基于轮辙非接触测量的月壤非参数化识别方法
|
摘要
以非参数化的密实度对模拟月壤进行分级,分别定义为:松散、自然和密实状态,开展不同轮上载荷和滑转率条件下模型车牵引通过性试验,基于非接触测量提取轮辙特征参数表观沉陷和滑转率,分析表观沉陷随轮上载荷和模拟月壤力学状态的变化规律。以车轮驱动扭矩、轮上载荷、表观沉陷和滑转率为基础参数,建立多元标识量,提出4种识别准则,包括宽松、理想、偏严格和严格准则,建立非参数化的模拟月壤力学状态识别方法。基于模型车土槽试验数据,以模式识别的正确率、准确率和保守率为指标对识别方法进行评价,得到最优标识量和识别准则。识别方法验证结果表明:模拟月壤识别的准确率和保守率分别达到0.83和0.97,该方法能较为准确地识别模拟月壤力学状态。本文研究成果以期为面向低重力环境的月球车地面试验、性能评估以及对在轨月球车的地面任务支持提供技术指导。
The non-parametric classification for lunar simulant under tree compactness conditions was conducted,which were defined loose,natural and compact states respectively.Soil-bin tests on the trafficability of model rover were carried out under different wheel load and slip ratio conditions.The wheel apparent sinkage and slip ratio were derived based rut non-contact measurement,and the apparent sinkage was analyzed under different test conditions.Based on the driving torque,wheel load,apparent sinkage and slip ratio,72 polynary identification parameters and four identification criterions(slack,idea,partially strict and strict)were obtained,and non-parametric identification method for lunar regolith was established.According to the soil-bin test data,the identification method was assessed by considering the correct rate,accurate rate and conservative rate of patternrecognition,and the optimal identification parameters and criterion were derived.Experimental results show that the accurate rate and conservative rate of the identification method reach 0.83 and 0.9,respectively,which demonstrates that the proposed method can accurately and efficiently estimate the mechanical state of deformable terrain for planetary rover.The proposed method may provide technique reference for terrain tests,performance evaluation,mission support of planetary rover.
The non-parametric classification for lunar simulant under tree compactness conditions was conducted,which were defined loose,natural and compact states respectively.Soil-bin tests on the trafficability of model rover were carried out under different wheel load and slip ratio conditions.The wheel apparent sinkage and slip ratio were derived based rut non-contact measurement,and the apparent sinkage was analyzed under different test conditions.Based on the driving torque,wheel load,apparent sinkage and slip ratio,72 polynary identification parameters and four identification criterions(slack,idea,partially strict and strict)were obtained,and non-parametric identification method for lunar regolith was established.According to the soil-bin test data,the identification method was assessed by considering the correct rate,accurate rate and conservative rate of patternrecognition,and the optimal identification parameters and criterion were derived.Experimental results show that the accurate rate and conservative rate of the identification method reach 0.83 and 0.9,respectively,which demonstrates that the proposed method can accurately and efficiently estimate the mechanical state of deformable terrain for planetary rover.The proposed method may provide technique reference for terrain tests,performance evaluation,mission support of planetary rover.
引文
[1]Arvidson R E,Anderson R C,Bartlett P,et al.Localization and physical properties experiments conducted by Spirit at Gusev Crater[J].Science,2004,305(5685):821-824.
[2]Iagnemma K,Kang S,Shibly H,et al.Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers[J].IEEE Transactions on Robotics,2004,20(5):921-927.
[3]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.
[4]Kang S.Terrain parameter estimation andtraversability assessment for mobile robots[D].Cambridge:Department of Mechanical Engineering,Massachusetts Institute of Technology,2003.
[5]Xue L,Li J,Zou M,et al.In situ identification of shearing parameters for loose lunar soil using least squares support vector machine[J].Aerospace Science and Technology,2016,53(3):154-161.
[6]Liu K,Ayers P,Howard H,et al.Influence of turning radius on wheeled military vehicle induced rut formation[J].Journal of Terramechanics,2009,46(2):49-55.
[7]Liu K,Ayers P,Howard H,et al.Influence of soil and vehicle parameters on soil rut formation[J].Journal of Terramechanics,2010,47(3):143-150.
[8]Edlund J,Bergsten U,L9fgren B.Effects of two different forwarder steering and transmission drive systems on rut dimensions[J].Journal of Terramechanics,2012,49(5):291-297.
[9]李建桥,黄晗,党兆龙,等.轻载荷条件下的筛网轮沉陷[J].吉林大学学报:工学版,2015,45(1):167-173.Li Jian-qiao,Huang Han,Dang Zhao-long,et al.Sinkage of wire mesh wheel under light load[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(1):167-173.
[10]黄晗,李建桥,党兆龙,等.基于相似理论的星球车牵引通过性模型[J].航空学报,2016,37(6):1974-1982.Huang Han,Li Jian-qiao,Dang Zhao-long,et al.Planetary rover’s tractive performance model based on similarity theory[J].Acta Aeronautica et Astronautica Sinica,2016,37(6):1974-1982.
[11]邹猛,李建桥,张金换,等.月球车驱动轮在不同介质上的牵引性能[J].吉林大学学报:工学版,2010,40(1):25-29.Zou Meng,Li Jian-qiao,Zhang Jin-huan,et al.Traction ability of lunar rover's driving wheel on different soils[J].Journal of Jilin University(Engineering and Technology Edition),2010,40(1):25-29.
[12]李建桥,薛龙,邹猛,等.已有模拟火星壤力学性质分析及新火星壤研制[J].吉林大学学报:工学版,2016,46(1):172-178.Li Jian-qiao,Xue Long,Zou Meng,et al.Terramechanics characters and development of Martian stimulant regolith[J].Journal of Jilin University(Engineering and Technology Edition),2016,46(1):172-178.
[13]Gao H,Guo J,Ding L,et al.Longitudinal skid model for wheels of planetary exploration rovers based onterramechanics[J].Journal of Terramechanics,2013,50(5):327-343.
[14]Ding L,Gao H,Deng Z,et al.New perspective on characterizing pressure-sinkage relationship of terrains for estimating interaction mechanics[J].Journal of Terramechanics,2014,52(2):57-76.
[2]Iagnemma K,Kang S,Shibly H,et al.Online terrain parameter estimation for wheeled mobile robots with application to planetary rovers[J].IEEE Transactions on Robotics,2004,20(5):921-927.
[3]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.
[4]Kang S.Terrain parameter estimation andtraversability assessment for mobile robots[D].Cambridge:Department of Mechanical Engineering,Massachusetts Institute of Technology,2003.
[5]Xue L,Li J,Zou M,et al.In situ identification of shearing parameters for loose lunar soil using least squares support vector machine[J].Aerospace Science and Technology,2016,53(3):154-161.
[6]Liu K,Ayers P,Howard H,et al.Influence of turning radius on wheeled military vehicle induced rut formation[J].Journal of Terramechanics,2009,46(2):49-55.
[7]Liu K,Ayers P,Howard H,et al.Influence of soil and vehicle parameters on soil rut formation[J].Journal of Terramechanics,2010,47(3):143-150.
[8]Edlund J,Bergsten U,L9fgren B.Effects of two different forwarder steering and transmission drive systems on rut dimensions[J].Journal of Terramechanics,2012,49(5):291-297.
[9]李建桥,黄晗,党兆龙,等.轻载荷条件下的筛网轮沉陷[J].吉林大学学报:工学版,2015,45(1):167-173.Li Jian-qiao,Huang Han,Dang Zhao-long,et al.Sinkage of wire mesh wheel under light load[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(1):167-173.
[10]黄晗,李建桥,党兆龙,等.基于相似理论的星球车牵引通过性模型[J].航空学报,2016,37(6):1974-1982.Huang Han,Li Jian-qiao,Dang Zhao-long,et al.Planetary rover’s tractive performance model based on similarity theory[J].Acta Aeronautica et Astronautica Sinica,2016,37(6):1974-1982.
[11]邹猛,李建桥,张金换,等.月球车驱动轮在不同介质上的牵引性能[J].吉林大学学报:工学版,2010,40(1):25-29.Zou Meng,Li Jian-qiao,Zhang Jin-huan,et al.Traction ability of lunar rover's driving wheel on different soils[J].Journal of Jilin University(Engineering and Technology Edition),2010,40(1):25-29.
[12]李建桥,薛龙,邹猛,等.已有模拟火星壤力学性质分析及新火星壤研制[J].吉林大学学报:工学版,2016,46(1):172-178.Li Jian-qiao,Xue Long,Zou Meng,et al.Terramechanics characters and development of Martian stimulant regolith[J].Journal of Jilin University(Engineering and Technology Edition),2016,46(1):172-178.
[13]Gao H,Guo J,Ding L,et al.Longitudinal skid model for wheels of planetary exploration rovers based onterramechanics[J].Journal of Terramechanics,2013,50(5):327-343.
[14]Ding L,Gao H,Deng Z,et al.New perspective on characterizing pressure-sinkage relationship of terrains for estimating interaction mechanics[J].Journal of Terramechanics,2014,52(2):57-76.