Equivalent Acceleration Imitation for Single Wheel of Manned Lunar Rover by Varying Torque on Earth
Equivalent Acceleration Imitation for Single Wheel of Manned Lunar Rover by Varying Torque on Earth
复制标题
载人月球车单轮变扭矩地球等效加速度仿真
DOI：
10.1109/tmech.2019.2953330
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发表时间：
2020-02-01
影响因子：
6.4
通讯作者：
Wang, Yongfu
中科院分区：
文献类型：
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作者：
Liang, Zhongchao;Chen, Jie;Wang, Yongfu
由于重力的不同，同一辆载人月球车在地球和月球上表现出不同的加速度特性；因此，在月球上发现的加速度特性条件下，在地球上对宇航员进行训练具有重要意义。本文提出了一种针对单个车轮的加速度模拟新方法，在不同重力下使用相同的加速度驱动输入获得等效加速度，并基于具有网格表面的特殊金属车轮的力学模型推导了加速度模拟算法。为了降低算法的复杂性和提高算法的实时性，提出了仿真转矩比的拟合函数来调整加速度驱动输入与车轮驱动转矩之间的关系。最后，通过实验验证了加速度模拟算法，结果表明，在给定等效加速度驱动输入的情况下，具有模拟转矩比的车轮可以在地球上有效地近似月球上载人月球车单轮所经历的加速度。
Owing to different gravities, the same manned lunar rover shows different acceleration properties on the earth and the moon; therefore, it is of great significance for astronauts to be trained on the earth under the condition of the acceleration properties found on the moon. In this article, a novel acceleration imitation method focused on a single wheel is proposed to obtain equivalent acceleration when using the same acceleration driver input under different gravities, and the acceleration imitation algorithm is derived based on a mechanical model of a special metal wheel with a mesh surface. To reduce the complexity and improve the real-time properties of the algorithm, a fitting function for the imitation torque ratio is proposed to adjust the relationship between the acceleration driver input and the driving torque of the wheel. Finally, experiments were conducted to verify the acceleration imitation algorithm, and the results revealed that the wheel with an imitation torque ratio could effectively approximate on the earth the same acceleration experienced by a single wheel of a manned lunar rover on the moon, given equivalent acceleration driver inputs.