基于轮地作用参数和PLSDA方法的月壤力学性能评估

doi:10.7527/S1000-6893.2014.0364

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基于轮地作用参数和PLSDA方法的月壤力学性能评估

薛龙^1,2, 邹猛¹, 李建桥¹, 党兆龙³, 黄晗¹, 陈百超³

1. 吉林大学工程仿生教育部重点实验室, 长春 130022;
2. 华东交通大学机电工程学院, 南昌 330045;
3. 中国空间技术研究院北京空间飞行器总体设计部, 北京 100094

收稿日期:2014-11-06 修回日期:2014-12-25 出版日期:2015-11-15 发布日期:2015-01-07
通讯作者: 邹猛,Tel.:0431-85095760,E-mail:zoumeng@jlu.edu.cn E-mail:zoumeng@jlu.edu.cn
作者简介:薛龙,男,博士研究生,副教授。主要研究方向:车辆地面力学。Tel:0431-85095760,E-mail:ultimata@163.com;邹猛,男,博士,副教授。主要研究方向:车辆地面力学。Tel:0431-85095760,E-mail:zoumeng@jlu.edu.cn;李建桥,男,博士,教授,博士生导师。主要研究方向:车辆地面力学。Tel:0431-85095760,E-mail:jqli@jlu.edu.cn
基金资助:
国家自然科学基金(51375199);中国空间技术研究院总体部资助项目(2012M520676);吉林大学国防预研基金(JDXJY20130207);工程仿生教育部重点实验室开放基金(K201406)

Mechanical performance estimation of lunar soil using wheel-soil interaction parameter and PLSDA

XUE Long^1,2, ZOU Meng¹, LI Jianqiao¹, DANG Zhaolong³, HUANG Han¹, CHEN Baichao³

1. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China;
2. School of Mechatronic Engineering, East China Jiaotong University, Nanchang 330045, China;
3. Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China

Received:2014-11-06 Revised:2014-12-25 Online:2015-11-15 Published:2015-01-07
Supported by:
National Natural Science Foundation of China (51375199);Foundation of China Academy of Space Technology (2012M520676);National Defense Pre-research Foundation of Jilin University (JDXJY20130207);Key Laboratory Opening Funding of Key Laboratory of Bionic Engineering of Ministry of Education (K201406)

摘要/Abstract

摘要：

为评估在轨月球车周边环境月壤力学性能,以月球车辙信息、轮上载荷和滑转率作为基本参数,提出了16个二元及三元标识量,结合偏最小二乘判别方法(PLSDA)建立评估月壤力学状态模型。根据容重对模拟月壤力学状态进行分级,分别为松软状态、自然状态和紧实状态。应用轮壤相互作用试验台共采集247组试验数据,每种模拟月壤状态的试验数据按照2:1比例随机划分为校正集样本和预测集样本,最终校正集和预测集样本个数分别为166和81个。考虑到原始数据值相差大和所提出部分标识量包含冗余信息的特点,因此在建立PLSDA模型时,应用均值中心化预处理方法对原始数据进行数据预处理,并优选10个标识量建立识别月壤力学状态的PLSDA模型,对应的校正集的准确率和预测集的准确率分别为90.96%和90.12%。结果表明,应用PLSDA方法并结合月球车的车辙信息、轮上载荷和滑转率以及优选标识量所建立的评估月壤力学状态判别模型,其计算快速准确,可用于月球车在轨评估车轮前方月壤的力学特性和通过性能评估。

关键词: 地面力学, 月球车, PLSDA, 滑转率, 沉陷量

Abstract:

In order to estimate the mechanical performance of lunar soil nearby a lunar roving vehicle and terrain traversability, partial least square discriminant analysis (PLSDA) method is adopted to estimate mechanical parameters of lunar soil combined with 16 binary and ternary signatures which are proposed based on the available information of a lunar roving vehicle, such as wheel load, slip ratio and wheel sinkage. In this paper, mechanical state of lunar soil simulant is divided into three kinds of bulk density:soft, normal and hard. A total of 247 test data of wheel-terrain interaction test bed are collected. Then these data are assigned to calibration set and prediction set at the ratio of 2:1 randomly, and the number of calibration set and prediction set are 166 and 81, respectively. Considering that there are obvious differences among raw data and some signatures contained useless information, the optimized model of discriminant analysis is developed using the data pretreatment of mean center and 10 optimized combination of signatures, and the accuracy of calibration set and prediction set are 90.96% and 90.12%, respectively. The result demonstrates that wheel load, slip ratio, wheel sinkage and selected signatures combined with PLSDA method are suitable to estimate the mechanical parameters of lunar soil quickly. And the method can be used for trafficability prediction of lunar roving vehicle on line.

Key words: terramechanics, lunar roving vehicle, PLSDA, slip ratio, sinkage

中图分类号:

V474.3

薛龙, 邹猛, 李建桥, 党兆龙, 黄晗, 陈百超. 基于轮地作用参数和PLSDA方法的月壤力学性能评估[J]. 航空学报, 2015, 36(11): 3751-3758.

XUE Long, ZOU Meng, LI Jianqiao, DANG Zhaolong, HUANG Han, CHEN Baichao. Mechanical performance estimation of lunar soil using wheel-soil interaction parameter and PLSDA[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2015, 36(11): 3751-3758.

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E-mail：hkxb@buaa.edu.cn

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主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

基于轮地作用参数和PLSDA方法的月壤力学性能评估

Mechanical performance estimation of lunar soil using wheel-soil interaction parameter and PLSDA

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