吉林大学学报(工学版) ›› 2025, Vol. 55 ›› Issue (9): 2874-2882.doi: 10.13229/j.cnki.jdxbgxb.20250326

• 车辆工程·机械工程 • 上一篇    

基于单轮试验的高速星球车动力学仿真保真度优化

贾志成1(),金敬福1,董新桔1,韩丰地2,江晟2,齐迎春1,邹猛1()   

  1. 1.吉林大学 生物与农业工程学院，长春 130022
    2.长春理工大学 空间光电技术研究所，长春 130022
  • 收稿日期:2025-04-16 出版日期:2025-09-01 发布日期:2025-11-14
  • 通讯作者: 邹猛 E-mail:jiazc22@mails.jlu.edu.cn;zoumeng@jlu.edu.cn
  • 作者简介:贾志成（2000-），男，博士研究生.研究方向：高速无人星球车设计及控制.E-mail：jiazc22@mails.jlu.edu.cn
  • 基金资助:
    国家自然科学基金项目(52475019);国家自然科学基金项目(52075217)

Fidelity optimization of high⁃speed planetary rover dynamics simulation based on single⁃wheel experiment

Zhi-cheng JIA1(),Jing-fu JIN1,Xin-ju DONG1,Feng-di HAN2,Sheng JIANG2,Ying-chun QI1,Meng ZOU1()   

  1. 1.College of Biological and Agricultural Engineering，Jilin University，Changchun 130022，China
    2.Institute of Space Optoelectronic Technology，Changchun University of Science and Technology，Changchun 130022，China
  • Received:2025-04-16 Online:2025-09-01 Published:2025-11-14
  • Contact: Meng ZOU E-mail:jiazc22@mails.jlu.edu.cn;zoumeng@jlu.edu.cn

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摘要：

为提高高速星球车动力学仿真对行驶场景和状态的还原度，提出了一种基于单轮试验的整车动力学仿真方法。该方法将星球车单轮试验数据嵌入整车仿真中，以优化仿真保真度。首先，结合星球车动力学建模理论，分析了轮地接触力精度对整车动力学仿真的影响；其次，通过对星球车车轮进行受力分析，明确了挂钩牵引力、摩擦因数等试验-仿真的关联参数；再次，围绕关联参数系统地设计了单轮试验测量方案，确定基于单轮试验的整车动力学仿真原理和流程；最后，为验证该方法的有效性，基于高速星球车样机开展了单轮试验测试以获取参数，并进行整车仿真测试。仿真结果表明，该方法能更好地还原高速星球车起步加速、车身偏航等行驶状态和车轮受力变化，能有效提高整车动力学仿真结果的准确性。

关键词: 地面力学, 高速星球车, 车轮试验, 动力学仿真

Abstract:

In order to improve the reduction of driving scene and state in dynamic simulation of high-speed planetary rover， a rover dynamic simulation method based on single-wheel experiment is proposed. This method embeds the single-wheel experiment data of the planetary rover into the vehicle simulation to optimize the fidelity. Firstly， combined with the theory of planetary rover dynamics modeling， the influence of wheel-ground contact force accuracy on vehicle dynamics simulation is analyzed. Secondly， through the force analysis of the planetary rover wheel， the experiment-simulation associated parameters such as drawbar pull and friction coefficient are defined. Thirdly， the single-wheel experiment measurement scheme is systematically designed around the associated parameters， and the vehicle dynamics simulation principle and process based on single-wheel experiment are determined.Finally， in order to verify the effectiveness of this method， a single-wheel experiment was carried out based on the high-speed planetary rover prototype to obtain the parameter data， and the vehicle simulation test was carried out. The simulation results show that this method can better restore the driving state of high-speed planetary rover such as start acceleration， body yaw and wheel force change， and can effectively improve the accuracy of rover dynamics simulation results.

Key words: terramechanics, high-speed planetary rover, wheel experiment, dynamic simulation

中图分类号: 

  • V476

图1

星球车车轮受力分析"

图2

单轮试验台方案"

图3

单轮试验测量原理"

图4

整车动力学仿真流程图"

图5

车轮前进速度计算方法"

图6

单轮试验台"

图7

被试高速星球车车轮"

图8

单轮试验结果"

图9

用于仿真测试的高速星球车"

图10

基于单轮试验的星球车整车动力学仿真"

图11

整车仿真测试结果"

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