The limited energy stored in the polar rover greatly restricts the polar rover to execute a long distance exploration. For making full use of the Antarctic renewable wind energy, a long distance polar rover installed a multifunctional wind energy unit is introduced in this paper. The multifunctional wind energy unit combines the functions of wind driving and wind power generation, which can convert the force acting on the unit generated by the wind energy into the rover's driving force and the wind power at the same time. Based on the theory of aerodynamics, the quantitative relations among thrust force, torque, free stream velocity and blade parameters are established. Meanwhile, the mathematical expression between the thrust coefficient, power coefficient and attack angle and wind direction angle is deduced respectively. The research results in this paper provide the mechanical structure and theoretical reference for the unmanned polar rover to convert the Antarctic renewable wind energy into its own driving power.
Generating the coordinated tractive force of each wheel for the robot is an important control objective in order to ensure the wheels to be the driven wheel but not the towed wheel. The tractive force is different between the front wheel and the following rear wheel because of the wheel's unequal sinkage caused by the compaction of loose soil. In this study, the mathematical model of sinkage is established to investigate the influence of repetitive passing on wheel sinkage, and the wheels' tractive performance is deduced on basis of the terramechanics. The equal drawbar pull generated by all the wheels under the optimal efficiency analysis is defined as the index to evaluate the wheel's motion consistency, as well as the coordinated control objective of wheeled mobile robot on loose soil. Furthermore, dynamic model of a six-wheel mobile robot is established and the fuzzy sliding mode controller is designed. Meanwhile, the validity of the proposed modeling and control method is demonstrated through the ADAMS co-simulation model. The result shows that control system has good performance in simulation.
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