含可移动不规则形状硬石表面的星球车牵引性能研究  

Study on Traction Performance of Planetary Rover with Movable Irregular Rigid Rock Surface

作　　者：黄镕敏 黄铁球[1] HUANG Rongmin;HUANG Tieqiu(School of Mechanical,Electronic and Control Engineering,Beijing Jiaotong University,Beijing 100044,China)

机构地区：[1]北京交通大学机械与电子控制工程学院,北京100044

出　　处：《载人航天》2025年第1期1-10,共10页Manned Spaceflight

摘　　要：为探究含可移动不规则形状硬石的石-壤混合表面对星球车牵引力特性的影响,提出了一种适用于星球车在硬石-软土混合地形行驶的轮-石-壤动力学模型。通过简化硬石轮廓形状、提取关键形状参数,计算其长短轴比和表面曲率,将其形状拟合为多边形或椭圆。针对形状拟合后的硬石,基于Bekker压力沉陷模型和朗肯土压力模型,将硬石的长短轴比和移动方向上的推土面曲率作为硬石的形状参数,构建硬石与软土之间的动力学模型。使用C语言编写Adams子程序,计算硬石和刚轮的位移、受力曲线。3D打印出拟合后的硬石模型,检测分析刚轮碾压通过实际硬石和硬石模型的牵引力曲线,结果表明,两者的相对误差小于10%,验证了形状拟合方法的有效性;将硬石模型实验测量的力、位移及刚轮的牵引力数据与仿真结果比较,最大值处的相对误差小于15%,证明该轮-石-壤动力学模型能够准确反映刚轮的牵引力特性。To investigate the influence of rock-soil mixed surface with movable irregular rigid rock on the traction performance of the planetary rover,a wheel-rock-soil dynamic model for a planetary rover traveling on the mixed terrain of rigid rock and soft soil was proposed in this paper.The shape of rigid rock was fitted as polygon or ellipse by simplifying its contour shape,extracting key shape parameters,calculating its ratio of length-to-short axis and curvature of surface.Based on the Bek-ker pressure settlement model and Rankine Earth pressure model,the long-short axis ratio of rigid rock and the curvature of bulldozing surface in moving direction were taken as the shape parameters of rigid rock,the dynamic model between rigid rock and soft soil was established.Adams subroutine was written in C language to calculate the displacement and force curves of rigid stone and rigid wheel.The fitted rigid stone model was 3D printed out,the traction curve of the rigid wheel going through the actual rigid stone and rigid stone model were tested and analyzed.The relative error of the two models was less than 10%,which verified the validity of the shape fitting method.Compa-ring with the force,displacement and traction force of rigid wheel measured by experiment and simu-lation results,the maximum relative error was less than 15%.It is proved that the wheel-rock-soil dynamic model can accurately reflect the traction characteristics of rigid wheel.

关 键 词：硬石-软土混合地形 可移动硬石 不规则形状 刚轮 牵引性能 

分 类 号：V416.5[航空宇航科学与技术—航空宇航推进理论与工程]