月面巡视探测器纵向动力学研究与仿真

Longitudinal Dynamics and Simulation for Lunar Rover

针对月面巡视探测器(月球车)在复杂月面环境下的行驶性能作了系统研究。由于月球车的行走系统的性能直接影响其在月面上的行走行为,因此有必要对其进行爬坡、涉坑、越障等动态特性的仿真分析。根据传统的车辆地面力学的基本知识,推导了刚性轮在月壤上行驶的动力学模型,并针对一些典型路面进行了仿真分析。仿真预测结果显示,微重力下月球车的牵引与通过特性与在地球上有很大差别。

A study of the motion performance of the lunar rover under the moon＇s rough terrain was carried out in details.Because behaviors of the lunar rover were directly influenced by its walking system,it was necessary and significant to undertake simulation analysis of the dynamic behaviors.Based upon the traditional theory of terramechanics,the longitudinal dynamic modeling was made for the lunar rover on the moon regolith and computer simulations were performed for dynamic responses of the lunar rover in some typical prescribed spectrums.By numerical predictions,it is demonstrated that the traction behavior and terrain passability of the lunar rover in light gravity are distinguished from those in heavy gravity on the earth.