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清华大学学报(自然科学版)  2019, Vol. 59 Issue (9): 689-698    DOI: 10.16511/j.cnki.qhdxxb.2019.26.010
  航空航天与工程力学 本期目录 | 过刊浏览 | 高级检索 |
行星车动力学建模及解算方法综述
冷舒, 居鹤华
南京航空航天大学 航天学院, 南京 210016
Review of rover dynamics modeling methods
LENG Shu, JU Hehua
College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
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摘要 深空探测中行星车的动力学建模及实时解算是控制行星车安全行驶的基础。因行星车运动速度很慢,且通过摇臂结构组装而成,故其可以看作多刚体系统。该文介绍了多刚体动力学建模领域的主流方法,分析了上述方法的基本原理,并浅析它们的优缺点。同时因轮土力学的计算结果是行星车的外部作用力,故针对模型解算时存在的轮土力学问题进行调研,得到了钢轮软土模型的解决方案。通过总结上述方法,为行星车动力学建模与实时求解提供了解决思路。
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冷舒
居鹤华
关键词 深空探测行星车多刚体动力学建模轮土力学    
Abstract:Modeling of rover dynamics in real-time is key to controlling a rover for planetary exploration. The rover is typically modeled as a rigid body system because of its slow movement and the bogie-rocker structure. This paper introduces various rigid body dynamics analysis approaches and the advantages and disadvantages of these algorithms. Terramechanics is used to describe of the external forces on the rover system. The steel wheel and soft soil model is shown to be the most suitable model for describing the dynamics for real-time modeling of the rover dynamics.
Key wordsdeep space exploration    rover    multibody    dynamics modeling    terramechanics
收稿日期: 2018-12-05      出版日期: 2019-08-27
基金资助:国家自然科学基金资助项目(61673010)
通讯作者: 居鹤华,教授,E-mail:juhehua@163.com     E-mail: juhehua@163.com
引用本文:   
冷舒, 居鹤华. 行星车动力学建模及解算方法综述[J]. 清华大学学报(自然科学版), 2019, 59(9): 689-698.
LENG Shu, JU Hehua. Review of rover dynamics modeling methods. Journal of Tsinghua University(Science and Technology), 2019, 59(9): 689-698.
链接本文:  
http://jst.tsinghuajournals.com/CN/10.16511/j.cnki.qhdxxb.2019.26.010  或          http://jst.tsinghuajournals.com/CN/Y2019/V59/I9/689
  图1 国内外的部分行星车
  图2 行星车拓扑机构
  表1 NewtonGEuler递归法的改进方法
  图3 闭链刚体问题解决方法 [13]
  表2 递归算法的建模复杂度与计算复杂度
  图4 仿真软件
  表3 35自由度系统的平均计算时间对比
  图5 自由度变化时2种方法的计算时间对比结果[31]
  图6 轮土力学图 [32]
  表4 基本轮土参数
  图7 轮土几何关系
  表5 图7中补充的轮土参数
  图8 车轮坐标系统
  图9 平地实验对比结果[40]
  表6 2个实验的平均误差对比结果
  图10 2组实验对比[43]
  图11 轮土力学仿真模型
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