祝融号火星车前进越障性能试验与分析  

Test and Analysis on the Obstacle-climbing Performance of Zhu Rong Rover

作　　者：曹洪涛 申彦 潘冬[2] 袁宝峰[2] 刘岩松 邹猛 CAO Hongtao;SHEN Yan;PAN Dong;YUAN Baofeng;LIU Yansong;ZOU Meng(Key Lab for Bionics Engineering of Education Ministry,Jilin University,Changchun 130022;Institute of Spacecraft System Engineering,CAST,Beijing 100094)

机构地区：[1]吉林大学工程仿生教育部重点实验室,长春130022 [2]北京空间飞行器总体设计部,北京100094

出　　处：《机械工程学报》2023年第18期294-303,共10页Journal of Mechanical Engineering

基　　金：国家自然科学基金(51775233,52075217);载人航天预先研究(5010120180965)资助项目。

摘　　要：开展祝融号火星车前进越障性能地面模拟试验,可为其在火面复杂环境下巡视探测提供数据支撑和通过性判断依据。文章基于车辆地面力学理论,采用祝融号火星车地面模拟车,以行驶速度、石块数量及高度为试验因素;机构功率、电流为试验指标,进行火星车前进越障性能试验。结合试验与理论分析,祝融号火星车最终的越障能力h/D高于0.5;试验结果表明,整车平均功率及电流变化趋势规律性明显,越障时会出现明显的坡峰,可判断火星车何时越障、越障状态等;三种试验因素对整车功率及电流的变化具有正相关的关系,其中三种试验因素对试验指标影响的主次顺序为:行驶速度>越障数量>石块高度。速度由50 m/h增至100 m/h、200 m/h时,对平均功率增幅的影响在50%~200%,对平均电流增幅的影响在20%~60%。石块数量从0块增至6块时,平均功率增幅在20%~30%,平均电流增幅在19%~25%。石块高度在100 mm和200 mm时平均功率比50 mm时增大0%~10%和10%~20%。平均功率与电流增幅均在10%~20%。结果说明,火星车具有良好的越障性能,可越过200 mm障碍物,其车轮结构、机构设置均能应对严苛的行驶环境。The field tests of the forward obstacle-climbing performance of Zhurong Rover can provide data support and trafficability assessment basis for its safe patrol in the Mars complicated environment.Based on the terramechanics method,using Zhurong Rover ground simulation;Taking the velocity,height and number of stones as influence factor,the Mechanism power and electrical current as experimental indices,Carrying out the field tests of the Mars Rover's forward obstacle-climbing performance.Combining experiment and theoretical analysis,the final obstacle crossing ability h/D of Zhurong Mars rover is higher than 0.5.The influence of test factors on power,current and trafficability is analyzed and compared.The results indicate that Regular power and current changes can provide a basis for judging when the Zhurong Rover will obstacle negotiation and whether it can pass;The three test factors have a positive correlation with the change of the vehicle power and current,and the main order of the influence of the three test factors on the test index is:the driving speed>the number of obstacles>the height of stones.When the speed increases from 50 m/h to 100 m/h and 200 m/h,the impact on the average power increase is 50%-200%,and the impact on the average current increase is 20%-60%.When the number of stones increases from 0 to 6,the average power increases by 20%-30%and the average current increases by 19%-25%.The average power of 100 mm and 200 mm increases by 0%-10%and 10%-20%compared with 50 mm.The average power and current increase is 10%-20%.The results show that the rover has good obstacle-crossing performance and can cross 200 mm obstacles.Its wheel structure and mechanism Settings can cope with the harsh driving environment.

关 键 词：祝融号火星车 越障 地面力学 功率 电流 通过性评估 

分 类 号：V476[航空宇航科学与技术—飞行器设计]