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月球车在月面行驶时,为保证月球车的通过性能,应尽量避免沉陷。然而传统车辆沉陷量数学模型不适用于动态滑转条件下的月球车,为此对月球车行驶时车轮沉陷量的计算模型进行了研究。基于车辆地面力学理论,从模拟月壤力学参数和滑转率两个方面,在适合于刚性轮静态沉陷计算模型基础上建立了适用于滑转条件下月球车轮的沉陷计算模型。通过轮壤土槽试验,将试验测得的月球车轮沉陷量与模型计算得到的沉陷量进行比较,验证了修正模型的正确性。所研究的模型能够为滑转条件下月球车沉陷量的预测提供理论技术基础。
Lunar rover in the lunar surface, in order to ensure the passing of the rover performance, should try to avoid subsidence. However, the mathematical model of traditional vehicle subsidence is not suitable for lunar rover with dynamic slip condition. Therefore, the calculation model of wheel subsidence when lunar rover is studied is studied. Based on the theory of vehicle ground mechanics, a subsidence calculation model suitable for the lunar wheel under slip condition is established on the basis of the calculation model of the static settlement of the rigid wheel from two aspects of simulating lunar soil mechanics parameters and slip rate. Through the soil loess test, the lunar wheel settlement measured by the model is compared with the settlement calculated by the model to verify the correctness of the modified model. The model can provide a theoretical and technical basis for prediction of lunar rover settlement under slip condition.