CE-3月球车筛网轮月面沉陷行为试验

doi:10.13229/j.cnki.jdxbgxb20180904

摘要/Abstract

摘要：

CE-3月球车在月面行驶时，车辙沉陷是判别其通过性的主要依据。本文通过土槽试验研究了CE-3月球车筛网轮的沉陷行为，试验结果表明：车轮表观沉陷量小于实际沉陷量，动态沉陷差值最大为19.8 mm，最小为3.7 mm，且沉陷差值随滑转率的增大而增大。根据试验数据，建立了预测沉陷差值的数学模型，并通过月球车内场试验进行验证，结果表明：模型3和模型4预测准确，精度分别为85%和84.5%。研究结果可为中国月球车通过性能评估、路径规划提供参考和依据。

关键词: 车辆工程, 月球车, 车轮沉陷, 筛网轮, 土槽试验

Abstract:

The trafficability of CE-3 Lunar rover can be evaluated by the sinkage of the wheels. In this research, the static and dynamic sinkage tests were conducted. The results show that the apparent sinkage is smaller than actual sinkage, and the difference of sinkage is affected by the slip ratio, wheel load and the regolith conditions. The maximal difference of sinkage was 19.8mm and the minimal difference was 3.7mm. A prediction model of the sinkage difference was built according to the test data, and verified by the field test of CE-3 rover. Results show that the accuracy of model 3 is 85%, and the accuracy of model 4 is 84.5%. The results are helpful to evaluate the trafficability and to plan the path for the CE-3 and CE-4 rovers.

Key words: vehicle engineering, lunar rovers, sinkage, mesh-wheel, soil bin test

中图分类号:

V416

陈百超,邹猛,党兆龙,黄晗,贾阳,石睿杨,李建桥. CE-3月球车筛网轮月面沉陷行为试验[J]. 吉林大学学报(工学版), 2019, 49(6): 1836-1843.

Bai-chao CHEN,Meng ZOU,Zhao-long DANG,Han HUANG,Yang JIA,Rui-yang SHI,Jian-qiao LI. Experiment on pressure⁃sinkage for mesh wheels of CE⁃3lunar rover on lunar regolith[J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(6): 1836-1843.

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参考文献

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参数	取值
中值粒径/μm	45
比重	2.73
容重/（g·cm^-3）	1.09~1.66
内聚力/kPa	0.078~0.489
内摩擦角/（°）	30.59~36.45
剪切变形模量/cm	1.63~1.92
变形指数	0.956~1.190
粘聚模量/（kN/m^N⁺¹）	7.73~387.73
摩擦模量/（kN/mⁿ⁺²）	762.85~15 599.84
含水率/%	0.32

状态	系数	静差1	静差2
松软	b₀	2.7523	5.4277
松软	b₁	0.1490	0.3390
自然	b₀	0.8234	3.5771
自然	b₁	0.2180	0.6230
合并	b₀	1.5820	4.5024
合并	b₁	0.1870	0.4720

状态	系数	动差1	动差2	动差3	动差4
松软	b₀	-6.2695	1.7397	3.9727	-0.1891
	b₁	0.8945	1.0998	0.3409	0.8771
	b₂	0	0	0	0.3310
自然	b₀	-2.6800	4.155	5.6126	2.4815
	b₁	0.8771	0.9772	0.2803	0.6837
	b₂	0	0	0	0.2697
紧实	b₀	-3.6593	1.5963	2.6427	-1.2923
	b₁	1.0896	0.8724	0.3173	0.8387
	b₂	0	0	0	0.3154
合并	b₀	-0.4654	2.5079	4.0514	0.3111
	b₁	0.6342	1.0016	0.3197	0.8018
	b₂	0	0	0	0.3113

指标	自然		松软
指标	5%	25%	5%	25%
实际沉陷/mm	7.66	15.36	14.01	18.25
表观沉陷/mm	3.32	3.51	7.68	3.61
实际差值/mm	4.34	11.84	6.33	14.64
动差2模型/mm	7.52	7.52	7.52	7.52
动差3模型/mm	5.65	12.04	5.65	12.04
动差4模型/mm	5.88	12.10	5.88	12.10