宇航学报 ›› 2020, Vol. 41 ›› Issue (2): 136-146.doi: 10.3873/j.issn.1000-1328.2020.02.002

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地面力学在火星壤力学参数估计研究中的 进展与展望

薛龙,党兆龙,陈百超,李建桥,邹猛   

  1. 1. 江西农业大学工学院,南昌 330045;2. 江西省现代农业装备重点实验室,南昌 330045; 3. 中国空间技术研究院北京空间飞行总体设计部,北京 100094;4. 吉林大学工程仿生教育部重点实验室,长春 130022
  • 收稿日期:2018-12-07 修回日期:2019-04-22 出版日期:2020-02-15 发布日期:2020-02-25

Advances and Prospects of Martian Soil Parameter Identification Based on Terramechanics

XUE Long, DANG Zhao long, CHEN Bai chao, LI Jian qiao, ZOU Meng   

  1. 1. College of Engineering, Jiangxi Agricultural University, Nanchang 330045, China; 2. Jiangxi Key Laboratory of Modern Agricultural Equipment, Nanchang 330045, China; 3. Beijing Institute of Spacecraft System Engineering, China Academy of Space Technology, Beijing 100094, China; 4. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China
  • Received:2018-12-07 Revised:2019-04-22 Online:2020-02-15 Published:2020-02-25

摘要: 掌握火星土壤的力学参数是保障火星车顺利完成巡视探测的关键。通过对已成功开展的火星巡视探测任务进行汇总,探讨了复杂火星地貌对火星车移动性能的影响,分析了基于地面力学理论的火星土壤力学参数估计方法,包括:基于车轮的火星壤在轨力学参数估计方法和基于轮壤力学模型的力学参数辨识方法。最后,对未来关于地面力学在星壤力学参数评估进行了探讨。

关键词: 地面力学, 巡视探测器, 参数辨识, 滑转率, 挂钩牵引力

Abstract: Learning and mastering the knowledge of Martian soil is an important guarantee for wheeled mobile robots to travel on the unknown terrains during Mars exploration. This paper summarizes the successful explorations of Mars, identifies the surface and near surface hazard to rover mobility, and analyzes the importance of terramechanics for Mars exploration. Based on pressure sinkage model and shear model, the algorithms for online estimation of soil mechanical parameters are introduced, such as in situ Martian soil parameter identification using rovers’ wheel and parameter identification using wheel-soil interaction mechanics. Finally, the applications of terramechanics to the development of planetary rovers are discussed.

Key words: Terramechanics, Planetary rovers, Parameter identification, Slip ratio;Drawbar pull

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