宇航学报 ›› 2017, Vol. 38 ›› Issue (7): 772-778.doi: 10.3873/j.issn.1000-1328.2017.07.014

• 空间科学 • 上一篇    

载人月球车单轮月面直线加速行驶的模拟算法

梁忠超,王永富,金马,高海波,邓宗全   

  1. 1. 东北大学机械工程与自动化学院,沈阳 110819;2. 哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨 150080
  • 收稿日期:2017-02-04 修回日期:2017-05-11 出版日期:2017-07-15 发布日期:2017-07-25
  • 基金资助:

    国家自然科学基金(51605082);机器人技术与系统国家重点实验室开放基金(SKLRS2017KF07);辽宁省博士科研启动基金(201601006);沈阳市科技基金(F16226600)

Imitation Algorithm of Single Wheel Linear Accelerating on Moon for Manned Lunar Rover

LIANG Zhong chao, WANG Yong fu, JIN Ma, GAO Hai bo, DENG Zong quan   

  1. 1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China;
    2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
  • Received:2017-02-04 Revised:2017-05-11 Online:2017-07-15 Published:2017-07-25

摘要:

当载人月球车(LRV)的车轮在地面与月面使用相同的驱动方式时,重力加速度的不同会导致其产生完全不同的直线运动加速度。针对上述问题,以单个车轮为研究目标,首先建立车轮垂直载荷、挂钩牵引力、驱动力矩的力学模型,分析月面与地面重力条件下能够产生相同直线加速度的车轮运动条件,然后推导同直线加速度运动时车轮力矩驱动的模拟算法。最后,对比月面、地面采用模拟算法、地面不采用模拟算法的三种情况下单个车轮直线加速度,验证模拟算法。计算结果表明:采用模拟算法驱动的地面车轮在与月面同质量或同垂直载荷情况下均可保持相同的直线运动加速度,而不使用模拟算法的地面车轮无法获得相同的直线加速度。

关键词: 载人月球车, 地面力学, 直线加速, 模拟算法

Abstract:

When the wheels of a manned lunar roving vehicle (LRV) are driven by the same torque both on the Earth and the Moon, the vehicle will produce the different linear acceleration caused by the different gravities. In view of the above questions, a single wheel is concentrated, and the force model of the vertical load, drawbar pull force, and driving torque is established. Then, by analyzing the moving condition of producing the same linear acceleration for a single wheel both on Earth and the Moon, the imitation algorithm for driving the wheel is derived. Finally, to verify the imitation algorithm, the linear accelerations of a single wheel under three conditions, including the lunar condition, the Earth condition with the imitation algorithm, and the Earth condition without the imitation algorithm, are compared. The comparison results show that the wheel on Earth driven by the torque using the imitation algorithm can produce the same linear acceleration with that of the wheel on the Moon. However, the wheel without using imitation algorithm cannot produce the same linear acceleration.

Key words: Manned lunar rover, Terramechanics, Linear accelerating, Imitation algorithm

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