基于地面力学的月面巡视探测器动力学实时交互仿真研究

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振动与冲击 ›› 2011, Vol. 30 ›› Issue (7) : 192-196,.

论文

基于地面力学的月面巡视探测器动力学实时交互仿真研究

王哲1; 高峰1; 陈志伟2; 孙鹏1

作者信息 +

Study of Real-time Interactive Dynamics Simulation for Lunar Rover based on Terramechanics

WANG Zhe1; GAO Feng1; CHEN Zhiwei2; SUN Peng1

Author information +

文章历史 +

摘要

通过自主研发的探测器移动性能土槽试验台进行了驱动轮牵引性能测试，结合试验数据推导了基于滑转率的推土阻力修正模型。同时依据该模型及松软土壤下地面力学理论，在Visual C++9.0平台下利用Vortex API构建了月面巡视探测器动力学仿真系统。通过驱动轮--模拟月壤仿真结果与试验结果对比验证了其准确性，并在此基础上对月面巡视探测器整车进行了建模，应用键盘及鼠标操作实现了基于地面力学的实时交互仿真。

Abstract

Traction capability experiments of driving wheel were performed by using the wheel-terrain interaction test-bed. From the test data, the paper deduced an improved bulldozing resistance formula which was based on slip ratio of wheel. Meanwhile, according to the formula and terramechanics theories of soft soil, the lunar rover dynamic simulation was built and performed in the Visual C++9.0 platform by using Vortex API. By comparing simulation results and experiments results of the single driving wheel, it was show that the formula and the dynamic simulation are reliable. In this platform model of the whole lunar rover was also set up and the real-time interactive control are realizable through keyboard and mouse.

导出引用

王哲;高峰;陈志伟;孙鹏. 基于地面力学的月面巡视探测器动力学实时交互仿真研究[J]. 振动与冲击, 2011, 30(7): 192-196,

WANG Zhe; GAO Feng; CHEN Zhiwei; SUN Peng. Study of Real-time Interactive Dynamics Simulation for Lunar Rover based on Terramechanics[J]. Journal of Vibration and Shock, 2011, 30(7): 192-196,