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

Abstract

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

CLC Number:

TU411

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.

Figures/Tables 17

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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°

Analysis of drawbar pull to CE⁃4 Lunar rover based on rutting image of wheel

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