【作者】 李卫华；

【导师】 高海波；

【作者基本信息】 哈尔滨工业大学 ， 航空宇航制造工程， 2011， 硕士

【摘要】 近些年来,全世界范围内掀起了新一轮的探月高潮,中国也提出了自己的“嫦娥”探月计划。月球车是“落月探测”中重要组成部分。基于预测显示的连续遥操作技术,能够实现对月球车的有效控制。本文主要针对月球车连续遥操作过程中的预测显示技术进行了研究。本文在已取得的轮地接触力学研究成果的基础上,基于加拿大CMLabs公司开发的Vortex动力学平台,针对月球车的移动系统开发出了一款实时高保真度月球车预测仿真平台——ROSTDyn,并对其实时性进行了测试,为连续遥操作的预测显示提供了基础平台。在该平台的基础上,针对基于预测显示进行月球车连续遥操作的一些关键技术进行了研究:对基于预测显示的连续遥操作系统进行了设计,分析了遥操作系统的中所存在的时延,同时对连续遥操作系统的工作流程进行了分析。本课题详细分析了遥操作过程中存在的预测误差,并基于月球车轮地相互作用力学模型,系统地研究了预测显示的模型误差在线修正理论,提出了预测模型在线修正算法,最后采用ROSTDyn预测仿真平台对其进行了验证。本文对于月球车的连续遥操作系统的稳定性和透明性也进行了理论分析和研究,为后续连续遥操作系统的实现提供理论指导。本文利用月球车原理样机对所开发的月球车预测仿真平台的预测精度进行验证。根据两组试验:爬坡试验和横过斜坡试验,对滑转率、沉陷量和轮地相互作用力等的试验结果和仿真结果进行了对比,证明ROSTDyn具有较高的预测精度,满足连续遥操作预测显示的需要。本文通过对预测显示仿真平台的研发,以及连续遥操作系统中的相关技术的研究,为后续基于预测显示进行月球车连续遥操作系统的实现奠定了基础。更多还原

【Abstract】 In recent years, a new round of lunar exploration springs up in the world scope. China also puts forward“Chang’e”plan to explore the lunar. The lunar rover is an important part of“Falling Lunar Exporation”project. Based on the pridictive display technology, the continuous teleoperation could control the lunar rover effectively. This article researchs on the pridictive display technology which exsits in the lunar rover continuous teleoperation.This article based on the achievement acquired on the terramechanics, using the software Vortex as a foundation platform which is developed by the CMLabs, Canada, developes a simulation platform for the lunar rover—ROSTDyn. Through the test, the simulation speed could reach to real-time. It supports a platform for the predictive display of the continuous teleoperation. Based on this platform, research is carried on some key technologies of teleoperation system: the design of this teleoperation system based on the pridictive display, the analysis of time-delay exsiting in this system, and the analysis of the working process of this system. This article emphasis on the analysises of the error between the prediction model and the real model. Based on the terramechanics model, the correction theory is researched, and the algorithm is raised which is based on the on-line correction of the prediction model, at last it is simulated and tested on ROSTDyn, and result demonsrates it is good. This article analyzes the stability and the transparency, and gives the conditions to accored with the stability and transparency, as a theory foundation of the implementation of this system.This article uses principle sample machine of the lunar rover to test the predictive precision of the developed simulation platform. This article designs two groups of experiments: climbing experiments and crossing-slope experiments, comparing the slip, the sinkage and the force between the wheel and the terrain of the experiment results and simulation results. The experiments shows the predictive precision of this platform is good, and could meet the need of the continuous teleoperation to the predictive display .This article supports a foundation for the implemention of the continuous teleoperation system for lunar rovers based on the pridictive dipay, through the development of the pridictive dipay platform and the research on the relative technologies.更多还原