月壤力学参数反求及试验验证
首发时间:2010-05-24
摘要:为了预测月球车的牵引力并进行牵引控制,提出了一种基于线性最小二乘法的月壤力学参数估计算法,对内聚力和内摩擦角这两个关键的月壤力学参数进行反求。充分考虑了轮刺效应对轮下土壤应力分布的影响,改进了原有的刚性光轮的轮土交互作用模型,并对模型作进一步简化,建立了内聚力和内摩擦角的求解算法。将车轮与模拟月壤交互作用试验中的测量数据输入利用该算法编制的Matlab程序中,反求出内聚力和内摩擦角,该参数反求值与模拟月壤的实测值较为接近。试验验证的结果表明该算法准确有效,且具有较好的稳定性和较高的运算速度,可用于月球车进行月壤力学参数的在线估计。
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Mechanical parameters reverse estimation of lunar soil and experimental verification
Abstract:In order to predict and control the traction trafficability of a lunar rover, an algorithm for mechanical parameters estimation of lunar soil basing on linear-least squares method was presented, two key mechanical parameters, cohesion and internal friction angle were reversely estimated. Taking full account of wheel lug effect on stress distribution between wheel and soil, the original wheel-soil interaction model of rigid wheel was modified and further simplified, an algorithm was thus created to calculate cohesion and internal friction angle. Experimental data of wheel-soil interaction were put into Matlab programs to estimate cohesion and internal friction angle of lunar soil simulant, and the estimated values are close to the measured values of lunar soil stimulant. The result of experimental verification indicates that the algorithm is accurate and effective, moreover, the algorithm also shows good stability and high arithmetic speed, which allows a lunar rover for online mechanical parameters estimation of lunar soil.
Keywords: lunar rover lunar soil wheel-soil interaction mechanical parameter
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