滑转率对月球车车轮驱动力学特性的影响分析

应用车辆地面力学理论研究滑转率对月球车车轮挂钩牵引力、驱动效率以及功率消耗的影响。建立刚性车轮与松软月壤交互作用的动力学模型。通过实例对月球车车轮驱动动力学特性进行仿真分析。研究结果表明,车轮的挂钩牵引力、驱动效率以及驱动能耗均受到车轮滑转率的制约。存在一个最优的滑转率区间,在此区间内车轮可获得较大的挂钩牵引力、较高的驱动效率以及较低的驱动能耗。求取轮、地相对速度,对月球车车轮的地面摩擦力功率进行了估算。

This paper considers the calculation problem for the driving dynamic characteristics of the lunar rover wheels under the lunar conditions, based on the terramechanics theory. A dynamic model of the interaction between the lunar rover wheel and the soft lunar soil is established first. In view of the computational complexity with this model, a simplified model is presented. The traction trafficability for the wheel of a 6- wheeled rocker bogie lunar rover is analyzed. The analytical results indicate that there is a range of wheel slip ratio in which the wheel driving efficiency may reach the maximum while the wheel driving power consumption is low. An estimation of the driving power of the lunar wheel is deduced at the end of this paper.

中国科学院方向性预先研究资助项目(A050105)