月球车轮壤作用模型研究

从Bekker和Wong的轮壤作用基础模型着手,通过与试验数据的对比,确认Wong的模型更适用于月球车刚性车轮;同时,通过对抓地爪排土效应进行理论分析,提出了理想状态下抓地爪排土的机理,并建立其数学模型.通过仿真计算表明:该模型能够修正Wong模型在动沉陷预测不准的问题;通过观测沉陷率试验曲线和沉陷仿真曲线的趋势,提出了沉陷率变参数假想模型可有效减小大滑转率情况下的分析偏差.通过上述修正建立的轮壤作用集中参数法模型,可进行月球车带抓地爪的刚性车轮与月壤相互作用的动力学分析.

Research on Lunar Rover Wheel-soil Interaction Model

Based on Bekker＇ s and Wong＇ s wheel-terrain interaction model, Wong＇ s model is more adapt to lunar rover with rigid wheel comparing with experiment datas. By theoretical analyses the effect of the squeezed out soil by the wheel thrust, the mechanism of the wheel thrust squeezed out soil under ideal conditions was proposed, and the mathematical model was founded. The result of simulating indicated that the model can revise the inaccurate of Wong＇ s model in predicting slipping sinkage. By observing the trend of the curves of sink ratio both in experiment and simulation, the supposition model of alterable parameters of sink ratio was proposed. This model can effectively reduce the windage of analysis under big slip ratio. Based on the revise of hereinbefore, the wheel-terrain model based on concentrative parameters method can carry out dynamics analysis of lunar rover with the rigid wheel with thrust interaction with lunar soil.