A new type design of lunar rover suspension structure and its neural network control system

被引：11

作者：

Yang, Lu ^{[1
,2
]}

Cai, Bowen ^{[1
,2
]}

Zhang, Ronghui ^{[3
,4
,5
]}

Li, Kening ^{[6
]}

Wang, Rongben ^{[6
]}

机构：

[1] Tianjin Univ Technol, Sch Mech Engn, Tianjin Key Lab Adv Mechatron Syst Design & Intel, Xiqing, Tianjin, Peoples R China

[2] Tianjin Univ Technol, Natl Demonstrat Ctr Expt Mech & Elect Engn Educ, Xiqing, Tianjin, Peoples R China

[3] Sun Yat Sen Univ, Sch Engn, Guangdong Key Lab Intelligent Transportat Syst, Guangzhou, Guangdong, Peoples R China

[4] Sun Yat Sen Univ, Sch Engn, Res Ctr Intelligent Transportat Syst, Guangzhou, Guangdong, Peoples R China

[5] Xinjiang Nor West Star Informat Technol Co Ltd, Xinjiang Lab Percept & Control Technol IOT, Urumqi, Peoples R China

[6] Jilin Univ, Coll Transportat, Changchun, Jilin, Peoples R China

来源：

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS | 2018年 / 35卷 / 01期

基金：

中国国家自然科学基金;

关键词：

Lunar rover; suspension design; ADAMS; vehicle dynamics simulation; neural network; ELECTRIC VEHICLE;

D O I：

10.3233/JIFS-169586

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Suspension design is one of the important parts in the research field on lunar rover mobile system. To conduct detailed dynamic analysis on the new type of suspension, this paper presents a new type of six link double ring lunar rover suspension model based on ADAMS virtual simulation software. And, this paper designs the lunar rover path tracking neural network controller. Simulation and test results show that the new lunar rover suspension has strong ground adaptability, obstacle surmounting capability and anti-overturning ability compared to classic suspension, and the neural network controller based on the new suspension has good tracking ability. The research results provide a reference for autonomous navigation control on lunar rover.

引用

页码：269 / 281

页数：13

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