کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
799050 1467294 2014 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Soil parameter modification used for boosting predictive fidelity of planetary rover’s slippage
ترجمه فارسی عنوان
اصلاح پارامترهای خاک برای تقویت وفاداری پیش بینی از لغزش سیاره ای استفاده می شود
کلمات کلیدی
پارامترهای خاک، تغییر، لغزش غیر خطی، شبیه سازی روور، روروکوردی سیاره ای
موضوعات مرتبط
مهندسی و علوم پایه علوم زمین و سیارات مهندسی ژئوتکنیک و زمین شناسی مهندسی
چکیده انگلیسی


• Sensitivities of each soil parameter to slippage is analyzed.
• Modification method is given aiming at rover’s slippage.
• Necessary constraints are proposed to ensure modification’s stability.
• Definition of effective coefficient is given based on Taylor’s formula.
• Experiments and simulations verify validity and quick-convergence of this method.

In a planetary exploration mission, a rover’s slippage badly limits its control performance. This paper presents an online method to modify the predictive errors for the slippage caused by the variability of the soil parameters and limitation of the predictive models. To modify the slippage appropriately, all of the soil parameters related to the predictive models are analyzed to estimate their sensitivities to slippage, and tests indicate that φ and K have the greatest influence on the slippage. Based on the differential principle, φ and K are decoupled and solved using the predictive model errors. To eliminate the errors in the modification process caused by the models’ nonlinearity, an effective coefficient is proposed, and its definition is given based on Taylor’s formula. To implement a more stable modification, some necessary constraints are presented. The validity of this method is verified using simulations and experiments. The results show that approximately three steps are needed to reach the convergence points; it has a good response with a fluctuation in the input slippage; a reasonable initial value will be beneficial for the modification. In summary, this method is effective at eliminating predictive slippage errors; the proposed effective coefficient and method are helpful at boosting the modification’s convergence speed and maintaining its stability.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Journal of Terramechanics - Volume 56, December 2014, Pages 173–184
نویسندگان
, , , , , ,