基于车辙图像的CE-4月球车挂钩牵引力判别

doi:10.13229/j.cnki.jdxbgxb.20211193

摘要/Abstract

摘要：

为评估玉兔2号月球车月面行驶状态，提出了一种基于滑转率信息的月球车挂钩牵引力评价方法。该方法以玉兔2号月球车车轮与其地面原型车为试验对象，通过整车试验和土槽试验模拟玉兔2号月球行驶状态，以车辙信息、滑转率、轮上载荷作为输入参数，建立了沉陷量-滑转率、车辙间距-滑转率标定模型，并基于Matlab图像处理对滑转率进行识别。结果表明，玉兔2号月球车在月面特定区域D'、A、B'点行驶时的滑转率分别为10.45%、12.96%、19.70%，挂钩牵引力分别为177.03、181.62、194.47 N。地面试验和反演计算结果表明，玉兔2月球车在以上区域行驶状态良好。

关键词: 地面力学, 月球车, 月壤, 滑转率, 车辙

Abstract:

In order to assess the lunar surface trafficability of YuTu-2 lunar rover， a kind of method of lunar rover drawbar pull evaluation based on slip ration information was proposed. The wheel of the Yutu-2 lunar rover and its ground prototype were used as the test objects， the YuTu-2's lunar drive was simulated by the whole vehicle test and soil trough test. With the input parameters of rutting information， slip rate and wheel load， the calibration models of sinkage-slip rate and rut spacing-slip rate were established， the slip rate was identified by Matlab image processing. The results showed that the slip rate of the YuTu-2 lunar rover traveled in the specified area of the lunar surface at locations D'， A'， and B'， respectively is 10.45%， 12.96%， and 19.70%， and the drawbar pull is 177.03 N， 181.62 N， and 194.47 N.The ground test and inversion calculation results reveal that YuTu-2 travels well in the aforementioned region and satisfies the design requirements.

Key words: terramechanics, lunar rover, lunar soil, slip ratio, rutting

中图分类号:

TU411

胡震宇,申彦,王卫军,罗小桃,邹猛. 基于车辙图像的CE-4月球车挂钩牵引力判别[J]. 吉林大学学报(工学版), 2023, 53(9): 2474-2482.

Zhen-yu HU,Yan SHEN,Wei-jun WANG,Xiao-tao LUO,Meng ZOU. Analysis of drawbar pull to CE⁃4 Lunar rover based on rutting image of wheel[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(9): 2474-2482.

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类型	k_c/（kN·m^-（ⁿ^+1））	k_φ /（kN·m^-（ⁿ^+2））	n	c/kPa	φ/（°）	K/cm
SNJ-2	14	820	1.0	0.27	30.9	1.95
月壤	0~2.8	820	1.0	0~5.9	13~55	1.78

序号	输入条件	成像目标	支持中心规划结果	北京中心规划结果
1	巡视器处于D'点，姿态：	导航相机对休眠区域环拍	云台俯仰-28°，桅杆偏航从-170°到-10°，间隔-20°	云台俯仰-29°，桅杆偏航从-170°到-10°，间隔-20°
	偏航146.863°，
	俯仰-1.1°，
	滚动-0.35°
2	巡视器处于A点，姿态：	导航相机对A'点	云台俯仰-32°，桅杆偏航从-100°到20°、间隔20°	云台俯仰-32°，桅杆偏航从-100°到20°、间隔20°
	偏航-90.348°，
	俯仰2.749°，
	滚动-1.048°
3	巡视器处于B'点，姿态：	导航相机对C点	云台俯仰-28°，桅杆偏航从-170°到-10°，间隔20°	云台俯仰-29°，桅杆偏航从-170°到-10°，间隔20°
	偏航4.0543°，
	俯仰4.8095°，
	滚动-2.866°

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