Wheel slip-sinkage and its prediction model of lunar rover  

作　　者：丁亮 高海波 邓宗全 陶建国 

机构地区：[1]Aerospace Mechanism and Control Key Laboratory of Fundamental Science for National Defense,Harbin Institute of Technology [2]State Key Laboratory of Robotics and System,Ha rbin Institute of Technology

出　　处：《Journal of Central South University》2010年第1期129-135,共7页中南大学学报（英文版）

基　　金：Project(50975059) supported by the National Natural Science Foundation of China;Project(2006AA04Z231) supported by the National High-Tech Research and Development Program of China;Project(ZJG0709) supported by Key Natural Science Foundation of Heilongjiang Province of China;Project(B07018) supported by the Program of Introducing Talents of Discipline to University;Project (SKLRS200801A02) supported by Chinese State Key Laboratory of Robotics and System Foundation

摘　　要：In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios (0-0.6). The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar's rover lugged wheels (including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs) was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.In order to investigate wheel slip-sinkage problem, which is important for the design, control and simulation of lunar rovers, experiments were carried out with a wheel-soil interaction test system to measure the sinkage of three types of wheels in dimension with wheel lugs of different heights and numbers under a series of slip ratios （0-0.6）. The curves of wheel sinkage versus slip ratio were obtained and it was found that the sinkage with slip ratio of 0.6 is 3-7 times of the static sinkage. Based on the experimental results, the slip-sinkage principle of lunar＇s rover lugged wheels （including the sinkage caused by longitudinal flow and side flow of soil, and soil digging of wheel lugs） was analyzed, and corresponding calculation equations were derived. All the factors that can cause slip sinkage were considered to improve the conventional wheel-soil interaction model, and a formula of changing the sinkage exponent with the slip ratio was established. Mathematical model for calculating the sinkage of wheel according to vertical load and slip ratio was developed. Calculation results show that this model can predict the slip-sinkage of wheel with high precision, making up the deficiency of Wong-Reece model that mainly reflects longitudinal slip-sinkage.

关 键 词：lunar rover slip-sinkage loose lunar soil stress distribution slip ratio 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]