Non-parametric identification method for lunar regolith based on rut non-contact measurement

被引：0

作者：

Huang H. ^{[1
]}

Xu S.-C. ^{[1
]}

Zhang J.-H. ^{[1
]}

Zou M. ^{[2
]}

Li J.-Q. ^{[2
]}

机构：

[1] State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing

[2] Key Laboratory of Bionic Engineering, Ministry of Education, Jilin University, Changchun

来源：

Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition) | 2019年 / 49卷 / 02期

关键词：

Identification method; Lunar simulant; Terramechanics; Travelability; Vehicle engineering; Wheel rut;

D O I：

10.13229/j.cnki.jdxbgxb20171247

中图分类号：

学科分类号：

摘要：

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 pattern recognition, 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. © 2019, Jilin University Press. All right reserved.

引用

页码：366 / 374

页数：8

共 14 条

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