航空航天与工程力学

行星车动力学建模及解算方法综述

  • 冷舒 ,
  • 居鹤华
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  • 南京航空航天大学 航天学院, 南京 210016

收稿日期: 2018-12-05

  网络出版日期: 2019-08-27

基金资助

国家自然科学基金资助项目(61673010)

Review of rover dynamics modeling methods

  • LENG Shu ,
  • JU Hehua
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  • College of Astronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China

Received date: 2018-12-05

  Online published: 2019-08-27

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。

本文引用格式

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 . DOI: 10.16511/j.cnki.qhdxxb.2019.26.010

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.

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