基于车辙图像的CE-4月球车挂钩牵引力判别  

Analysis of drawbar pull to CE⁃4 Lunar rover based on rutting image of wheel

作　　者：胡震宇 申彦 王卫军 罗小桃 邹猛 HU Zhen-yu;SHEN Yan;WANG Wei-jun;LUO Xiao-tao;ZOU Meng(Shanghai Aerospace System Engineering Institute,Shanghai 201109,China;Joint Lab for Planetary Terramechanicsand Bionics Engineering,Shanghai 201109,China;Key Laboratory of Bionics Engineering,Ministry of Education,Jilin University,Changchun 130022,China)

机构地区：[1]上海航天系统工程研究所,上海201109 [2]行星地面力学与工程仿生联合实验室,上海201109 [3]吉林大学工程仿生教育部重点实验室,长春130022

出　　处：《吉林大学学报（工学版）》2023年第9期2474-2482,共9页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(51775233,52075217);吉林省科技厅重点项目(20200401144GX)。

摘　　要：为评估玉兔2号月球车月面行驶状态,提出了一种基于滑转率信息的月球车挂钩牵引力评价方法。该方法以玉兔2号月球车车轮与其地面原型车为试验对象,通过整车试验和土槽试验模拟玉兔2号月球行驶状态,以车辙信息、滑转率、轮上载荷作为输入参数,建立了沉陷量-滑转率、车辙间距-滑转率标定模型,并基于Matlab图像处理对滑转率进行识别。结果表明,玉兔2号月球车在月面特定区域D′、A、B′点行驶时的滑转率分别为10.45%、12.96%、19.70%,挂钩牵引力分别为177.03、181.62、194.47 N。地面试验和反演计算结果表明,玉兔2月球车在以上区域行驶状态良好。In order to assess the lunar surface trafficability of YuTu-2 lunar rover,a kind of method of lunar rover drawbar pull evaluation based on slip ration information was proposed.The wheel of the Yutu-2 lunar rover and its ground prototype were used as the test objects,the YuTu-2′s lunar drive was simulated by the whole vehicle test and soil trough test.With the input parameters of rutting information,slip rate and wheel load,the calibration models of sinkage-slip rate and rut spacing-slip rate were established,the slip rate was identified by Matlab image processing.The results showed that the slip rate of the YuTu-2 lunar rover traveled in the specified area of the lunar surface at locations D′,A′,and B′,respectively is 10.45%,12.96%,and 19.70%,and the drawbar pull is 177.03 N,181.62 N,and 194.47 N.The ground test and inversion calculation results reveal that YuTu-2 travels well in the aforementioned region and satisfies the design requirements.

关 键 词：地面力学 月球车 月壤 滑转率 车辙 

分 类 号：TU411[建筑科学—岩土工程]