|
|
论文:2020,Vol:38,Issue(6):1240-1248 |
|
|
引用本文： |
|
|
翟广龙, 黄铁球. 星球车刚性车轮在混合地形上牵引性能研究[J]. 西北工业大学学报 |
|
|
ZHAI Guanglong, HUANG Tieqiu. Exploring Tractive Performance of Planetary Rover's Rigid Wheels on Mixed Terrain[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 星球车刚性车轮在混合地形上牵引性能研究 |
|
| 翟广龙, 黄铁球 |
|
| 北京交通大学 机械与电子控制工程学院, 北京 100044 |
| 摘要: |
| 针对星球车刚性车轮在混合地形中牵引性能研究的不足，提出了一种对刚性车轮在混合地形中牵引性能的研究方法。对Wong-Reece模型的沉陷量和挂钩牵引力进行修正，建立刚轮-软土接触模型并实验验证；刚轮-硬石接触模型采用基于Hertz接触理论的含摩擦非线性弹簧阻尼模型。地面力学参数中新添加地形刚度以实现混合地形的设置和识别。基于星球车导航与动力学联合仿真平台扩展开发，编制相应仿真程序，形成含有2种轮地接触模型的整车动力学仿真能力。以火星车为例，通过MSC.Adams软件和自编程序建立火星车整车模型，分别在软土地形和混合地形中对其进行动力学仿真，给出牵引动力学特性。结果表明，在混合地形上火星车的车体速度波动较大，某些混合地形条件下火星车可获得更大的挂钩牵引力。 |
| 关键词:
刚性车轮
轮地接触
混合地形
牵引性能
|
|
| Exploring Tractive Performance of Planetary Rover's Rigid Wheels on Mixed Terrain |
|
| ZHAI Guanglong, HUANG Tieqiu |
|
| School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China |
| Abstract: |
| Based on insufficient studies of the tractive performance of a planetary rover's rigid wheels in soft soil and hard mixed soil terrains, a method for studying the tractive performance is presented. The Wong-Reece' interaction model was used as the dynamic model for wheel-soil contact. The sinkage model and the drawbar pull force model were modified and then verified with experimental results. Based on the Hertz contact theory, a nonlinear friction spring damping model was adopted as the wheel-bedrock contact model. An additional terrain hardness array was introduced for setting and recognizing the mixed terrain with ground mechanics parameters. With the platform for co-simulating the navigation and dynamics of a planetary rover, the simulation program was developed to dynamically simulate the whole planetary rover with two wheel-ground contact models. Taking the Mars rover as an example, its whole model was established with the MSC.Adams software. The dynamic simulation of the Mars rover on the soft terrain and mixed terrain was carried out respectively. The simulation results show that the Mars rover's velocity fluctuates greatly on the mixed terrain, and that the Mars rover gains greater drawbar pull force when traveling on the mixed terrain than on the only soil terrain. |
| Key words:
rigid wheel
wheel-ground contact
mixed terrain
performance
|
|
| 收稿日期: 2020-03-03
修回日期:
|
| DOI: 10.1051/jnwpu/20203861240 |
| 通讯作者: 黄铁球(1971-),北京交通大学副教授,主要从事机械多体动力学研究。e-mail:tqhuang@bjtu.edu.cn
Email：tqhuang@bjtu.edu.cn |
| 作者简介: 翟广龙(1993-),北京交通大学硕士研究生,主要从事轮壤接触动力学研究。
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] 肖福根, 庞贺伟. 月球地质形貌及其环境概述[J]. 航天器环境工程, 2003, 20(2):5-14 XIAO Fugen, PANG Hewei. Introduction to Lunar Geological Morphological Features and Lunar Environment[J]. Spacecraft Environment Engineering, 2003, 20(2):5-14(in Chinese)
[2] 欧阳自远, 肖福根. 火星及其环境[J]. 航天器环境工程, 2012, 29(6):591-601 OUYANG Ziyuan, XIAO Fugen. The Mars and Its Environment[J]. Spacecraft Environment Engineering, 2012, 29(6):591-601(in Chinese)
[3] 赵静, 魏世民, 唐玲, 等. 火星车行驶环境研究综述[J]. 载人航天, 2019, 25(2):256-264 ZHAO Jing, WEI Shimin, TANG Ling, et al. Review on Driving Environment of Mars Rover[J]. Manned Spaceflight, 2019, 25(2):256-264(in Chinese)
[4] BEKKER G M. Introduction to Terrain-Vehicle Systems[M]. Michigan:The University of Michigan Press, 1969
[5] WONG J Y, REECE A R. Prediction of Rigid Wheel Performance Based on the Analysis of Soil-Wheel Stresses:Part II. Performance of Towed Rigid Wheels[J]. Journal of Terramechanics, 1967, 4(2):7-25
[6] JANOSI Z, HANAMOTO B. Analytical Determination of Drawbar Pull as a Function of Slip for Tracked Vehicle in Deformable Soils[C]//Proceedings of the 1st International Conference of ISTVES, Torino, Italy, 1961:707-726
[7] 张博文, 黄铁球, 邢琰, 等. 星球车导航与动力学联合仿真平台设计研究[J]. 西北工业大学学报, 2019, 37(6):1184-1190 ZHANG Bowen, HUANG Tieqiu, XING Yan, et al. Design and Research Co-Simulation Platform of Navigation and Dynamics on Planetary Rovers[J]. Journal of Northwestern Polytechnical University, 2019, 37(6):1184-1190(in Chinese)
[8] 焦震. 基于地面力学的月球车动力学建模与仿真研究[D]. 哈尔滨:哈尔滨工业大学, 2009 JIAO Zhen. Dynamics Modelling and (ADAMS) Simulation for Lunar Rover Based on Terramechanics[D]. Harbin:Harbin Institute of Technology, 2009(in Chinese)
[9] IAGNEMMA K, SENATORE C, TREASE B, et al. Terramechanics Modeling of Mars Surface Exploration Rovers for Simulation and Parameter Estimation[C]//Proceedings of the ASME Design Engineering Technical Conference, 2011:1-8
[10] 葛平淑, 郭烈, 王孝兰, 等. 松软月面上月球车动力学建模及运动控制研究[J]. 计算机工程与应用, 2011,47(12):1-4 GE Pingshu, GUO Lie, WANG Xiaolan, et al. Dynamic Modeling and Motion Control for Lunar Rover on Loose Soil[J]. Computer Engineering and Applications, 2011, 47(12):1-4(in Chinese)
[11] 杨艳静, 樊世超, 向树红. 月球车轮与月面相互作用的两种仿真模型的比较与应用[J]. 航天器环境工程, 2009, 26(3):206-209 YANG Yanjing, FAN Shichao, XIANG Shuhong. Comparison and Application of Two Models for Wheel-Soil Interaction Simulation[J]. Spacecraft Environment Engineering, 2009, 26(3):206-209(in Chinese)
[12] 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
[13] IRANI R A, BAUER R J, WARKENTIN A. A Dynamic Terramechanic Model for Small Lightweight Vehicles with Rigid Wheels and Grousers Operating in Sandy Soil[J]. Journal of Terramechanics, 2011, 48(4):307-318
[14] 刘兴杰, 苏波, 江磊, 等. 火星表面土壤力学性能参数研究[J]. 载人航天, 2016, 22(4):459-465 LIU Xingjie, SU Bo, JIANG Lei, et al. Research on Soil Mechanical Properties of Martian Surface Soil[J]. Manned Spaceflight, 2016, 22(4):459-465(in Chinese)
[15] 高一佳. ADAMS中的接触和接触摩擦作用机制实例详解[J]. 汽车实用技术, 2017(6):64-66 GAO Yijia. Research of Mechanism of ADAMS Contact and Contact Friction[J]. Automobile Applied Technology, 2017(6):64-66(in Chinese) |
|
|
|
|
|
|
|
