基于相似理论的星球车牵引通过性模型

doi:10.7527/S1000-6893.2015.0217

材料工程与机械制造

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

基于相似理论的星球车牵引通过性模型

黄晗¹, 李建桥¹, 党兆龙², 吴宝广¹, 邹猛¹

1. 吉林大学工程仿生教育部重点实验室, 长春 130025;
2. 中国空间技术研究院, 北京 100194

收稿日期:2015-06-09 修回日期:2015-07-25 出版日期:2016-06-15 发布日期:2015-08-05
通讯作者: 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:0431-85095575 E-mail:jqli@jlu.edu.cn E-mail:jqli@jlu.edu.cn
作者简介:黄晗男,博士研究生。主要研究方向:车辆地面力学。E-mail:huanghan452012@163.com
基金资助:
国家自然科学基金(51375199)

Planetary rover's tractive performance model based on similarity theory

HUANG Han¹, LI Jianqiao¹, DANG Zhaolong², WU Baoguang¹, ZOU Meng¹

1. Key Laboratory of Bionic Engineering(Ministry of Education), Jilin University, Changchun 130025, China;
2. China Academy of Space Technolegy, Beijing 100194, China

Received:2015-06-09 Revised:2015-07-25 Online:2016-06-15 Published:2015-08-05
Supported by:
National Natural Science Foundation of China (51375199)

摘要/Abstract

摘要：

深空探测车辆在星球表面巡视过程中,应避免过度沉陷,保障其可靠的通过性能具有重要意义。月球和火星表面重力加速度分别约为地球表面重力加速度的1/6和2/5,地面实现低重力环境的模拟具有一定局限性,因此基于相似理论进行轮壤相互作用系统的量纲分析,研制二分之一缩比模型车;开展缩比模型车轮壤试验,重点研究滑转条件下车轮沉陷行为和牵引特性;基于地面力学理论,结合轮壤接触应力分布的线性化方法,建立与沉陷和滑转率相关联的星球车挂钩牵引力预测模型。通过土槽试验数据对模型进行验证,结果表明该模型具有较高的准确性。能够为星球车通过性评估提供一定的理论技术基础。

关键词: 星球车, 相似理论, 计算模型, 沉陷量, 模拟月壤, 深空探测

Abstract:

It is important to ensure reliable mobility performance and avoid excessive sinkage for planetary rover. Gravity acceleration on the moon and mars is about one-sixth and two-fifths of the earth, respectively; however, there are certain limitations to simulate low gravity environment on the earth. Therefore, based on similarity principle and terramechanics theory, we present a dimensional analysis on wheel-soil system. A scaling planetary rover has been developed, which is used for eliminating the equivalent influence of the low gravity in the ground experiments. Soil bin tests of the planetary rover are conducted on two different terrains, and the sinkage and tractive characteristics of planetary model rover have also been analyzed. By combining the linearization approach on contact stress distribution between wheel and soil interface, a simplified drawbar pull model is established, which is related to the wheel sinkage and slip ratio. The model is validated through the soil bin testing data and results indicate that the proposed model has a higher accuracy in the mobility performance assessment, including wheel sinkage and drawbar pull.

Key words: planetary rover, similarity theory, calculation model, sinkage, simulant regolith, deep space exploration

中图分类号:

V476.3

黄晗, 李建桥, 党兆龙, 吴宝广, 邹猛. 基于相似理论的星球车牵引通过性模型[J]. 航空学报, 2016, 37(6): 1974-1982.

HUANG Han, LI Jianqiao, DANG Zhaolong, WU Baoguang, ZOU Meng. Planetary rover's tractive performance model based on similarity theory[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2016, 37(6): 1974-1982.

参考文献

[1] WONG J Y. Theory of ground vehicles[M]. Hoboken, NJ:John Wiley & Sons, 2008:133-134.
[2] WONG J Y. Terramechanics and off-road vehicle engineering[M]. 2nd ed. Oxford:Elsevier, 2010:84-85.
[3] 金大玮, 李建桥, 党兆龙, 等. 滑转条件下月球车轮沉陷模型研究[J]. 航空学报, 2013, 34(5):1215-1221. JIN D W, LI J Q, DANG Z L, et al. Study on model for sinkage of lunar rover wheel under the condition of slip[J]. Acta Aeronautica et Astronautica Sinica, 2013, 34(5):1215-1221(in Chinese).
[4] 崔平远, 徐瑞, 朱圣英, 等. 深空探测器自主技术发展现状与趋势[J]. 航空学报, 2014, 35(1):13-28. CUI P Y, XU R, ZHU S Y, et al. State of the art and development trends of on-board autonomy technology for deep space explorer[J]. Acta Aeronautica et Astronautica Sinica, 2014, 35(1):13-28(in Chinese).
[5] 徐文福, 梁斌, 李成, 等. 空间机器人微重力模拟实验系统研究综述[J]. 机器人, 2009, 31(1):88-96. XU W F, LIANG B, LI C, et al. A review on simulated micro-gravity experiment systems of space robot[J]. Robot, 2009, 31(1):88-96(in Chinese).
[6] KURODA Y, TESHIMA T, SATO Y, et al. Mobility performance evaluation of planetary rover with similarity model experiment[C]//2004 IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2004:2098-2103.
[7] WONG J Y. Predicting the performances of rigid rover wheels on extraterrestrial surfaces based on test results obtained on earth[J]. Journal of Terramechanics, 2012, 49(1):49-61.
[8] WONG J Y, KOBAYASHI T. Further study of the method of approach to testing the performance of extraterrestrial rovers/rover wheels on earth[J]. Journal of Terramechanics, 2012(in press).
[9] 江磊, 郭建娟, 陈传海. 基于相似理论的月球车牵引性能模型试验[J]. 中国机械工程, 2009, 23(20):2828-2831. JIANG L, GUO J J, CHEN C H. Scaling model experiment of lunar rover's mobility performance based on similarity model theory[J]. China Mechanical Engineering, 2009, 23(20):2828-2831(in Chinese).
[10] 李萌, 高峰, 孙鹏, 等. 基于相似理论的月球车月面牵引性能预测[J]. 北京航空航天大学学报, 2013, 39(2):230-234. LI M, GAO F, SUN P, et al. Prediction of lunar rover's moon tractive performance based on similitude theory[J]. Journal of Beijing University of Aeronautics and Astronautics, 2013, 39(2):230-234(in Chinese).
[11] REINA G, OJEDA L, MILELLA A, et al. Wheel slippage and sinkage detection for planetary rovers[J]. IEEE/ASME Transactions on Mechatronics, 2006, 11(2):185-195.
[12] LYASKO M. Slip sinkage effect in soil-vehicle mechanics[J]. Journal of Terramechanics, 2010, 47(1):21-31.
[13] 李建桥, 黄晗, 王颖, 等. 松软地面机器系统研究进展[J]. 农业机械学报, 2015, 46(5):130-145. LI J Q, HUANG H, WANG Y, et al. Development on research of soft-terrain machine systems[J].Transactions of the Chinese Society for Agricultural Machinery, 2015, 46(5):130-145(in Chinese).
[14] GAO H B, GUO J L, DING L, et al. Longitudinal skid model for wheels of planetary exploration rovers based on terramechanics[J]. Journal of Terramechanics, 2013, 50(5):327-343.
[15] DING L, GAO H B, DENG Z Q, et al. New perspective on characterizing pressure-sinkage relationship of terrains for estimating interaction mechanics[J]. Journal of Terramechanics, 2014, 52(2):57-76.
[16] TAHERI S, SANDU C, TAHERI S, et al. A technical survey on terramechanics models for tire-terrain interaction used in modeling and simulation of wheeled vehicles[J]. Journal of Terramechanics, 2015, 57(1):1-22.
[17] 丁亮亮, 肖杰, 宗魏, 等. 与沉陷相关联的星球车挂钩牵引力模型研究[J]. 农业机械学报, 2014, 45(12):37-42. DING L L, XIAO J, ZONG W, et al. Drawbar pull model of planetary rover associated with subsidence[J]. Transactions of the Chinese Society for Agricultural Machinery, 2014, 45(12):37-42(in Chinese).
[18] IAGNEMMA K, KANG S, SHIBLY H, et al. Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers[J]. IEEE Transactions on Robotics, 2004, 20(5):921-927.
[19] SHIBLY H, IAGNEMMA K, DUBOWSKY S. An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers[J]. Journal of Terramechanics, 2005, 42(1):1-13.
[20] 王洋, 李建桥, 党兆龙, 等. 松散地面上车辙表面的非接触式激光测量[J]. 农业机械学报, 2013, 44(7):264-268. WANG Y, LI J Q, DANG Z L, et al. Non-contact laser measurement of rutting surface on loose ground[J]. Transactions of the Chinese Society for Agricultural Machinery, 2013, 44(7):264-268(in Chinese).
[21] DING L, GAO H B, DENG Z Q, et al. Experimental study and analysis on driving wheels' performance for planetary exploration rovers moving in deformable soil[J]. Journal of Terramechanics, 2011, 48(1):27-45.
[22] 邹猛, 李建桥, 李因武, 等. 刚性轮-月壤相互作用预测模型及试验研究[J]. 农业工程学报, 2007, 23(12):119-123. ZOU M, LI J Q, LI Y W, et al. Prediction model and experimental study on the interaction of rigid wheel and lunar soil[J]. Chinese Society for Agricultural Machinery, 2007, 23(12):119-123(in Chinese).
[23] IIZUKA K, SATO Y, KURODA Y, et al. Experimental study of wheeled forms for lunar rover on slope terrain[C]//9th IEEE International Workshop on Advanced Motion Control. Piscataway, NJ:IEEE Press, 2006:266-271.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

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

基于相似理论的星球车牵引通过性模型

Planetary rover's tractive performance model based on similarity theory

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	徐国栋, 张丹蕾, 徐振东. 脉冲星特征频率信号的到达时间处理方法[J]. 航空学报, 2023, 44(3): 526185-526185.
[2]	曾佳进, 李军伟, 马宝印, 李春杰, 王宁飞. 火箭发动机燃烧室中燃烧噪声的计算模型[J]. 航空学报, 2023, 44(18): 128148-128148.
[3]	辛鹏飞, 李德伦, 刘鑫, 张沛, 陈磊, 刘宾. 小型星表探测机器人发展现状与趋势[J]. 航空学报, 2021, 42(1): 523897-523897.
[4]	解维华, 韩国凯, 孟松鹤, 杨强, 金华. 返回舱/空间探测器热防护结构发展现状与趋势[J]. 航空学报, 2019, 40(8): 22792-022792.
[5]	张福泽. 金属任意腐蚀损伤量的日历寿命计算模型和曲线[J]. 航空学报, 2017, 38(9): 221110-221110.
[6]	张福泽. 用腐蚀损伤计算金属日历寿命的原理和模型[J]. 航空学报, 2017, 38(11): 221111-221111.
[7]	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.
[8]	崔平远, 徐瑞, 朱圣英, 赵凡宇. 深空探测器自主技术发展现状与趋势[J]. 航空学报, 2014, 35(1): 13-28.
[9]	金大玮, 李建桥, 党兆龙, 陈百超, 邹猛. 滑转条件下月球车轮沉陷模型研究[J]. 航空学报, 2013, 34(5): 1215-1221.
[10]	邹猛, 李建桥, 何玲, 李豪, 张晓冬, 周桂芬. 不同粒径分布模拟月壤承压特性试验研究[J]. 航空学报, 2012, 33(12): 2338-2346.
[11]	郭兆元;王强;冯国泰. 涡轮气热弹耦合计算模型与算例[J]. 航空学报, 2009, 30(2): 213-219.
[12]	吕亚国;刘振侠;黄生勤;马明明. 机动过程中飞机通气系统性能计算研究[J]. 航空学报, 2007, 28(5): 1069-1072.
[13]	崔江;寿圣德. 动态气流温度的测量[J]. 航空学报, 1998, 19(5): 560-563.
[14]	刘东常. 有限元素法解轴压加筋板局部稳定性问题的研究[J]. 航空学报, 1981, 2(1): 38-49.
[15]	刘东常. 有限元素法解轴压加筋板局部稳定性问题的研究[J]. 航空学报, 1981, 2(1): 38-49.