月球车是一种在外太空极端恶劣环境下长时间自主运行、不可维修的轮式移动机器人,为准确预测车轮驱动电机故障运行时的牵引性能对于月球车的可靠性有重要意义.为确保月球车顺利完成任务,建立了电机正常运行时的电磁场仿真模型,在模型基础上针对开关管短路、开关管开路、霍尔位置信号恒值和绕组开路等分别建立了故障仿真模型,通过仿真确定了能够识别各种故障的特征波形,并绘制了电机的机械特性曲线.应用车辆地面力学理论对比分析了电机正常与故障运行时驱动轮牵引性能的变化.研究结果表明,当电机发生各种故障后,驱动轮的牵引性能均有不同程度的下降.可为带障运行条件下的多轮协调控制策略的制定提供了理论依据.%The lunar rover is a type of wheeled mobile robot which operates autonomously under the harsh space environment for a very long time and can not been properly maintained. It is important to study the traction perform-ances of driving wheels with faulty motors for research on the lunar rover's operational reliabilities. An electromagnet-ic field simulation model of the wheel motors under normal state was built based on Flux 10.3 and was modified to ac-commodate multifarious faults including switch faults, Hall sensor signal faults and winding faults. The characteristic waveforms for diagnosing the faults and the mechanical characteristic curves of the faulty motors were obtained in vir-tue of electromagnetic field simulation. The traction performances of driving wheels with natural and faulty motors were studied based on the wheel-terrain interaction model between rigid wheel and floppy soil. The results indicate that the traction capacities of lunar rover driving wheels with faulty motors diminished in different levels, which can provide some theoretical foundations for research on operational reliabilities and coordination control methods for lunar rover's wheels with faulty motors.
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