基于刚柔耦合模型的月球车振动特性仿真

Analysis of lunar rover vibration characteristics based on rigid-flexible coupled model

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 the lunar rover on the lunar surface environment, a rigid-flexible coupling dynamic model was built based on the 3-D modeling and the multi-body dynamics analysis software. A mathematical model was established for the lunar surface displacement power spectrum based on the NASA research. The lunar surface roughness was obtained using the harmonic superposition method. Taking the 6-wheeled lunar rover JLUIV-6 as research object, the reliability of the proposed model was validated by the typical obstacle crossing test. The vibration simulation under the excitation of the lunar surface roughness was performed using the proposed dynamic model, the vibration response of the rover body and the amplitude-frequency characteristic of the vibration acceleration were analyzed. The results showed that the lunar rover resonance frequency is within the interval of 0.8- 1.8 Hz, thus provides a basis for the design and optimization of the lunar rover suspension.