月球车驱动轮爬坡性能的影响因素研究  

Research on Climbing Performance of Lunar Rover's Driving Wheel and Analysis of Affecting Factors

作　　者：王立[1] 刘景林[1] 吴喜桥[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710129

出　　处：《计算机仿真》2012年第8期55-58,共4页Computer Simulation

基　　金：陕西省自然基金重点项目资助(2011GZ013)

摘　　要：研究了驱动轮的滑转率、结构参数和载荷对月球车爬坡性能的影响。针对月表复杂路况下车辆通过性较差问题,为提高月球车爬坡性能,基于车辆地面力学中土壤的承压和剪切特性理论,建立了刚性驱动轮与月面斜坡松软月壤间的相互作用模型。通过车轮实例对月球车爬坡性能进行预测和分析。实验结果表明,增大驱动轮的滑转率、半径、宽度、轮刺高度和减小载荷能够增强月球车爬坡能力和提高车轮驱动效率,但随着爬坡能力的增强,车轮驱动效率呈现先增大后减小的趋势。研究结果为月球车轮结构设计以及控制策略的研究提供了参考。The influences of slip ratio, dimensions and equivalent load of lunar rover driving wheel on climbing performances were studied. In respect that the trafficability of lunar rover on complex terrain conditions of lunar sur- face was very low, a wheel -terrain interaction model between rigid driving wheel and soft lunar regolith was estab- lished based on the soil＇s press - sinkage and shear characteristics of traditional terramechanics theories for the sake of climbing performance melioration. A prototype wheel was calculated and the analytical results indicated that the climbing capacity of lunar rover was enhanced and the drive efficiency was improved with increased slip ratio, radius, width, lug height of driving wheel and mitigatory load, but the drive efficiency was improved firstly and then declined with the increase of climbing capacity. The references to lunar wheels＇ design and control were provided.

关 键 词：月球车 轮-地作用 爬坡性能 车轮驱动效率 

分 类 号：V417.6[航空宇航科学与技术—航空宇航推进理论与工程]