基于地面力学的月面巡视探测器动力学实时交互仿真研究

摘要

通过自主研发的探测器移动性能土槽试验台进行了驱动轮牵引性能测试,结合试验数据推导了基于滑转率的推土阻力修正模型.同时依据该模型及松软土壤下地面力学理论,在Visual C++9.0平台下利用Vortex API构建了月面巡视探测器动力学仿真系统.通过驱动轮——模拟月壤仿真结果与试验结果对比验证了其准确性,并在此基础上对月面巡视探测器整车进行了建模,应用键盘及鼠标操作实现了基于地面力学的实时交互仿真.%Traction capability experiments of a driving wheel were performed by using a wheel-terrain interaction test-bed. From the test data, an improved bulldozing resistance formula based on slip ratio of wheel was deduced. Meanwhile, according to the formula and terramechanies theories of soft soil, a lunar rover dynamic simulation system was built on Visual C + +9,0 platform by using Vortex API. By comparing simulation results and experiments results of the single driving wheel, it was shown that the formula and the dynamic simulation are reliable; the model of the whole lunar rover was also set up and the real-time interactive dynamic simulation is realized through keyboard and mouse.