滑转条件下星球车坡面通过性评估试验

发布时间：2018-03-24 21:00

本文选题：车辆　切入点：车轮　出处：《农业工程学报》2016年16期

【摘要】：星球车是执行深空探测任务的主要移动平台,针对星球表面崎岖地形地貌,开展滑转条件下星球车坡面沉陷研究,确保其安全通过性能具有重要意义。基于传统地面力学研究方法,以速度和坡度为试验因素,车轮滑转率和沉陷为试验指标,开展滑转条件下的缩比星球车坡面沉陷试验;分析了试验因素对各车轮滑转率影响,以及不同滑转率和速度条件下沉陷变化规律,建立了滑转率关于坡度的一元二次模型。结果表明,模型车前轮和中间轮的滑转率随速度和坡度变化趋势总体趋于一致,与后轮滑转率变化趋势明显不同。坡度为25°时,前轮和中间轮滑转率最大值达到92.3%,后轮相应的最大滑转率为61.8%。试验条件下,各车轮沉陷最大值分别为33.1 mm(前轮)、33.9 mm(中间轮)和13.6 mm(后轮);当滑转率的范围为25%~60%时,前轮和中间轮沉陷增加的较为平缓,平均增加率为22.5%,对于后轮滑转率超过35%后,沉陷变化较小,波动范围为-1.3~1.8 mm;速度对各车轮沉陷的影响明显较滑转率的小,沉陷的相对变化率范围为-12.5%~10.7%。该研究可为低重力环境下星球车研制、坡面通过性评估提供参考。
[Abstract]:Star vehicle is the main mobile platform for deep space exploration. In view of the rugged terrain and landform of the planet surface, the slope subsidence of the planet vehicle under the condition of sliding is studied. It is of great significance to ensure its safe passing performance. Based on the traditional research methods of ground mechanics, taking the speed and slope as the test factors and the wheel skidding rate and subsidence as the test indexes, the slope subsidence test of the planet vehicle under the condition of skidding is carried out. In this paper, the influence of test factors on the wheel slip rate of each vehicle is analyzed, and the variation law of subsidence under different slip rate and speed is analyzed. A quadratic model of slip ratio with respect to slope is established. The results show that, The slip rate of the front wheel and the middle wheel of the model car tends to be consistent with the speed and the slope, which is obviously different from the change trend of the rear wheel slip rate. When the slope is 25 掳, the slip rate of the model car tends to be the same as that of the rear wheel. The maximum slip rate of the front wheel and the middle wheel is 92.3 and the corresponding maximum slip rate of the rear wheel is 61.8. Under the test conditions, the maximum subsidence of each wheel is 33.1 mm (the front wheel is 33.9 mm (middle wheel) and 13.6 mm (rear wheel wheel); when the slip rate ranges from 25 to 60 mm, The settlement of front wheel and middle wheel increased slightly, the average increase rate was 22.5%. When the rate of rotation of rear wheel was over 35%, the change of subsidence was relatively small, and the fluctuation range was -1.3 mm, and the influence of velocity on the subsidence of each wheel was obviously smaller than that of slip rate. The relative rate of change of subsidence ranges from -12.5 to 10.7.The study can be used as a reference for the development of planetary vehicles in low-gravity environment and the evaluation of slope pass.
【作者单位】：吉林大学工程仿生教育部重点实验室;中国空间技术研究院;
【基金】：国家自然科学基金资助项目(51375199)
【分类号】：V476

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