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为了分析月球车在月表环境下的振动特性,将其作为一个刚柔耦合多体系统,基于三维实体造型和多体动力学分析软件建立了刚柔耦合动力学模型。根据美国国家航空航天局的研究,建立了月球表面位移功率谱数学模型,结合谐波叠加法获得了月表不平度。以六轮月球车样机JLUIV-6为研究对象,通过典型越障工况试验验证了所建模型的可靠性。以月面不平度作为振动激励对所建立的动力学模型进行了仿真,分析了月球车车体的振动响应及振动加速度幅频特性。结果表明,月球车在0.8～1.8Hz处存在明显的共振区域,为月球车系统设计及优化提供了依据。
In order to analyze the vibration characteristics of lunar rover in lunar surface environment, the rigid-flexible coupled dynamic model was established based on three-dimensional solid modeling and multi-body dynamics analysis software. According to the research of NASA, the lunar surface displacement power spectrum mathematical model is established, and the lunar surface roughness is obtained by the harmonic superposition method. The prototype of the six-wheeled lunar rover, JLUIV-6, is taken as the research object. The reliability of the proposed model is verified by typical cross-over working conditions. The dynamic model of the lunar rover was simulated with the lunar surface irregularity as vibration excitation, and the vibration response and amplitude-frequency characteristics of the lunar rover were analyzed. The results show that the lunar rover has obvious resonance region at 0.8 ~ 1.8Hz, which provides the basis for the design and optimization of lunar rover system.