Abstract:

The slopes are a typical terrain of the rugged lunar surface.Based on the analysis and improvement of the wheel-terrain interaction model,a lunar rover terramechanics model for climbing-up-slope was established.Taking into account the deformation of the front wheels on the lunar soil,the calculation of the front and rear wheels sinkages were proposed.Finally,with the analysis of the course of the lunar rover climbing up the slope,it can be concluded that when the slope angle exceeds 21.8°,the motion control strategy aimed at obstacle avoidance should be adopted.When the wheels have enough traction,the wheel's rotating speed can be controlled,so as to carry out the motion control strategy,which can enable the lunar rover to run at the optimal slip rate with the maximum driving efficiency.And the motion control strategy was simulated in a 3D visualization simulation platform of lunar rove and verified by experiments.

Key words: lunar rover, slope traversal, terramechanics model, motion control strategy

摘要：

坡道是崎岖月面环境的典型路况，在分析月球车轮地相互作用模型并对其进行修正的基础上,建立月球车坡道行驶地面力学模型。同时考虑前面车轮对月壤扰动变形的影响，提出了月球车行驶过程中前后车轮沉陷量的计算方法。最后通过分析月球车坡路行驶运动过程，得出如下结论：当坡度角大于21.8°时,应进行避障，而当月球车具有足够的车轮牵引力时，应控制车轮转速，使月球车在最佳滑转率下行驶。在月球车三维可视化仿真平台中进行了仿真验证和试验验证。

关键词: 月球车, 坡道行驶, 地面力学模型, 运动控制策略