月球车驱动轮爬坡牵引性能预测

摘要

月球表面可通过性较差,预测月球车驱动轮的爬坡牵引性能,对于保证探测工作的正常进行有重要意义.在传统地面车辆理论与研究方法的基础上,考虑斜坡角度对浅层月壤应力分布的影响和轮刺作用,给出了刚性车轮与月壤的相互作用模型.通过实例,计算和分析了不同参数的变化对车轮牵引性能的影响.分析结果表明:车轮的挂钩牵引力和滚动阻转矩受到车轮滑转率、结构尺寸和轮刺高度等参数变化的影响；车轮驱动效率随滑转率变化呈现先增大后减小的趋势,在最优的滑转率区间内能获得较大值.分析结论为月球车车轮的设计和控制提供了参考.%It is hard for vehicles to move on the moon surface and the wheels of lunar rovers are easy to slide. It is significant to research on the vehicle-terramechanics on bumpy terrain, and the higher capabilities for locomotion systems are required. The wheel-terrain interaction model based on the soil' s press-sinkage and shear theories from Bekker and Jonasi is established considering the effect of wheel lugs and the influence on stress distribution in shallow layer soil caused by the slope angle. The factors affecting traction performance are studied and the calculation results indicate that the drawbar pull and impeditive torque are affected by the slope angle, the radius, the width, the slip ratio of the driving wheel and the height of wheel lugs, and the drive efficiency reaches the maximum in an optimal interval of slip ratio. The references to lunar rovers' design and control are provided.