月球车车轮驱动性能及其综合评价的研究
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摘要
作为月球车直接与月壤接触的部件,车轮不仅起到承载月球车的整体重量,产生牵引力,反馈必要的月面地形信息的作用,而且对月球车的运动能力、转向灵活性、适应月面地形的能力具有极其重要的影响。因此,深入研究轮-地接触力学特性,分析车轮的驱动性能,对于研制出高通过性的车轮,并对月球车整车动力学分析、仿真、路径规划等相关技术的研究具有重要的意义。本文主要进行月球车车轮在类月壤环境中的驱动性能理论、仿真与实验,以及车轮驱动性能综合评价的研究。
为了给车轮驱动性能的理论研究及仿真分析提供必要的沙土参数,并为月壤参数的测量提供方法参考,建立沙土参数与沙土抗剪切性能及承压性能间的理论表达式。根据理论公式中各参变量对测试系统的要求,搭建沙土参数及车轮驱动性能综合测试系统。利用该系统进行沙土的承压及剪切实验,对实验数据进行回归统计分析,获得实验用沙土参数。
基于地面力学理论建立车轮构型参数、沙土参数、载荷、滑转率和车轮牵引性能及转向性能间的数学模型,分析车轮构型参数对车轮牵引性能及转向性能的影响。通过实验验证该理论模型的在预测车轮挂钩牵引力、驱动转矩及转向阻力矩的正确性。该理论模型可作为车轮构型参数的优化设计及车轮驱动性能评价体系的基础。
利用散体力学极限平衡理论分析车轮的齿片与沙土接触时,沙土的变形及受力状况,以此分析齿片同沙土相互作用的力学模型,推导带有齿片车轮的牵引性能模型。通过分析多齿片同沙土同时接触时齿片切削沙土的最佳状态,建立齿片高度与齿片个数间合理组合的关系式。利用不同车轮滑转率下齿片参数对车轮牵引性能及转向性能影响的实验研究,得出直齿片参数、斜齿片参数及互成角度齿片参数对车轮驱动性能的影响关系。同时,分析车轮驱动性能及牵引效率随车轮滑转率的变化关系,为控制车轮驱动时滑转率的选择提供实验数据参考。该项研究为分析齿片参数对车轮驱动性能的影响,建立齿片同沙土接触力学仿真及合理选择齿片的参数提供数据参考与理论依据。
为了进一步直观有效地反映车轮在不同滑转率和齿片参数下与沙土接触时车轮对沙土的扰动特性,模拟低重力条件下齿片效应对车轮驱动特性的影响,建立基于离散元仿真的车轮运动特性仿真模型。通过仿真得到车轮与沙土颗粒接触时的应力分布关系,以及运动特性关系,并通过实验验证仿真模型的正确性。该仿真模型作为研究车轮驱动特性的一种方法,完善轮-地接触力学特性分析方法。
最后本论文在分析车轮驱动特性的理论研究、实验与仿真分析的基础上,进行车轮驱动性能评价指标及其综合评价的研究。基于量纲分析法确定车轮-月壤接触系统参数间的无量纲关系,确定车轮驱动性能评价指标,并建立车轮驱动性能综合评价的体系。基于该评价体系,综合评价不同宽径比车轮的驱动性能,为车轮构型的设计提供理论依据。
Wheel of the lunar rover, which contacts directly on the moon, can carry the whole weight of rover, generate traction force and feedback the necessary terrain information on the moon. It also has very important influence on moving ability, steering flexibility and adaptability on terrain. Thus, research on mechanical properties of wheel-terrain contact and actuating properties of wheel deeply has important significance to develop wheel with high performance. And it also is important for dynamic analysis, simulation, path planning, and relative technology of the whole rover. The dissertation mainly research on the actuating properties theory, simulation and experiment of the rover on homologous terrain. Evaluation method on actuating properties of the wheel is also a main part in it.
To provide necessary sand parameters for the research on actuating properties and simulation analysis of the wheel, theoretical expression between sand parameters and confined characteristics and shear properties of sand is established. According to the specification of each parameter in equation on the test system, integrated test system for actuating properties of wheel and sand parameters is put up. The system is employed for confined and shear test. Then sand parameters are obtained through regression statistics of test data.
Based on the theory of terrain mechanics, the mathematical model between wheel configuration, sand mechanical parameters, load, slip coefficient, traction performance and steering performance of wheel are built up. And the influence of wheel configuration parameters on the traction performance and steering performance are analyzed. Validity of the theory model is verified by experiments for predicting the drawbar force, steering torque and turning resistance torque. The theoretical model will be basis for optimization design of wheel configuration parameters and the evaluation system on wheel actuating properties.
Sand distortion and force status has been analyzed utilizing the limit equilibrium theory of granular mechanics when the grouser and sand contact. Based on it, mechanical model of interaction between grousers and sand is analyzed. And then the model for traction performance of wheel with grousers is derivation. Relation of rational combination between grouser height and number is established through analyzing best state of cutting sand while multi-tooth contacting sand simultaneously. Influence on traction performance and steering performance of wheel by grouser parameters has been studied through experiments with various slip coefficients. Then influence on the wheel actuating performance by parameters of straight grouser, oblique grouser and mutual-angle grouser is obtained. Simultaneously, to provide reference experiment data for selection of slip coefficients when control the wheel actuating, variation relationship wheel actuating performance and traction efficiency with slip coefficients is studied. The research can provide the reference data and theory basis for analyzing the influence on actuate performance of grouser parameters, establishing the contact mechanics simulation model between grousers and sand, and rational selection of grouser parameter.
To reflect perturbation properties of wheel on sand directly when wheel contacting with the sand with various slip coefficients and grouser parameters, simulation model of wheel moving properties based on discrete element is built up through imitating the influence of grousers on wheel actuating performance under low gravity. Stress distribution and moving characteristics are obtained through simulation when the wheel contacts with sand. The validity of simulation model is verified by experiments. As a method for researching on wheel actuating performance, this model perfects the method for analyzing t mechanical properties of wheel-terrain contact.
Finally, the research on actuating performance evaluation methods and indexes of wheel is proposed in this dissertation based on theoretical research, simulation and experiments of wheel actuating performance. Evaluation indexes of wheel actuating performance and dimensionless relation among parameters of wheel-terrain contact system are determined based on the dimensional analysis method. And the comprehensive evaluation system for actuating performance of wheel is built. Actuating performance of wheels with various width-radius ratios are evaluated comprehensively based on this evaluation system, which provides theory basis for design of wheel configuration.
为了给车轮驱动性能的理论研究及仿真分析提供必要的沙土参数,并为月壤参数的测量提供方法参考,建立沙土参数与沙土抗剪切性能及承压性能间的理论表达式。根据理论公式中各参变量对测试系统的要求,搭建沙土参数及车轮驱动性能综合测试系统。利用该系统进行沙土的承压及剪切实验,对实验数据进行回归统计分析,获得实验用沙土参数。
基于地面力学理论建立车轮构型参数、沙土参数、载荷、滑转率和车轮牵引性能及转向性能间的数学模型,分析车轮构型参数对车轮牵引性能及转向性能的影响。通过实验验证该理论模型的在预测车轮挂钩牵引力、驱动转矩及转向阻力矩的正确性。该理论模型可作为车轮构型参数的优化设计及车轮驱动性能评价体系的基础。
利用散体力学极限平衡理论分析车轮的齿片与沙土接触时,沙土的变形及受力状况,以此分析齿片同沙土相互作用的力学模型,推导带有齿片车轮的牵引性能模型。通过分析多齿片同沙土同时接触时齿片切削沙土的最佳状态,建立齿片高度与齿片个数间合理组合的关系式。利用不同车轮滑转率下齿片参数对车轮牵引性能及转向性能影响的实验研究,得出直齿片参数、斜齿片参数及互成角度齿片参数对车轮驱动性能的影响关系。同时,分析车轮驱动性能及牵引效率随车轮滑转率的变化关系,为控制车轮驱动时滑转率的选择提供实验数据参考。该项研究为分析齿片参数对车轮驱动性能的影响,建立齿片同沙土接触力学仿真及合理选择齿片的参数提供数据参考与理论依据。
为了进一步直观有效地反映车轮在不同滑转率和齿片参数下与沙土接触时车轮对沙土的扰动特性,模拟低重力条件下齿片效应对车轮驱动特性的影响,建立基于离散元仿真的车轮运动特性仿真模型。通过仿真得到车轮与沙土颗粒接触时的应力分布关系,以及运动特性关系,并通过实验验证仿真模型的正确性。该仿真模型作为研究车轮驱动特性的一种方法,完善轮-地接触力学特性分析方法。
最后本论文在分析车轮驱动特性的理论研究、实验与仿真分析的基础上,进行车轮驱动性能评价指标及其综合评价的研究。基于量纲分析法确定车轮-月壤接触系统参数间的无量纲关系,确定车轮驱动性能评价指标,并建立车轮驱动性能综合评价的体系。基于该评价体系,综合评价不同宽径比车轮的驱动性能,为车轮构型的设计提供理论依据。
Wheel of the lunar rover, which contacts directly on the moon, can carry the whole weight of rover, generate traction force and feedback the necessary terrain information on the moon. It also has very important influence on moving ability, steering flexibility and adaptability on terrain. Thus, research on mechanical properties of wheel-terrain contact and actuating properties of wheel deeply has important significance to develop wheel with high performance. And it also is important for dynamic analysis, simulation, path planning, and relative technology of the whole rover. The dissertation mainly research on the actuating properties theory, simulation and experiment of the rover on homologous terrain. Evaluation method on actuating properties of the wheel is also a main part in it.
To provide necessary sand parameters for the research on actuating properties and simulation analysis of the wheel, theoretical expression between sand parameters and confined characteristics and shear properties of sand is established. According to the specification of each parameter in equation on the test system, integrated test system for actuating properties of wheel and sand parameters is put up. The system is employed for confined and shear test. Then sand parameters are obtained through regression statistics of test data.
Based on the theory of terrain mechanics, the mathematical model between wheel configuration, sand mechanical parameters, load, slip coefficient, traction performance and steering performance of wheel are built up. And the influence of wheel configuration parameters on the traction performance and steering performance are analyzed. Validity of the theory model is verified by experiments for predicting the drawbar force, steering torque and turning resistance torque. The theoretical model will be basis for optimization design of wheel configuration parameters and the evaluation system on wheel actuating properties.
Sand distortion and force status has been analyzed utilizing the limit equilibrium theory of granular mechanics when the grouser and sand contact. Based on it, mechanical model of interaction between grousers and sand is analyzed. And then the model for traction performance of wheel with grousers is derivation. Relation of rational combination between grouser height and number is established through analyzing best state of cutting sand while multi-tooth contacting sand simultaneously. Influence on traction performance and steering performance of wheel by grouser parameters has been studied through experiments with various slip coefficients. Then influence on the wheel actuating performance by parameters of straight grouser, oblique grouser and mutual-angle grouser is obtained. Simultaneously, to provide reference experiment data for selection of slip coefficients when control the wheel actuating, variation relationship wheel actuating performance and traction efficiency with slip coefficients is studied. The research can provide the reference data and theory basis for analyzing the influence on actuate performance of grouser parameters, establishing the contact mechanics simulation model between grousers and sand, and rational selection of grouser parameter.
To reflect perturbation properties of wheel on sand directly when wheel contacting with the sand with various slip coefficients and grouser parameters, simulation model of wheel moving properties based on discrete element is built up through imitating the influence of grousers on wheel actuating performance under low gravity. Stress distribution and moving characteristics are obtained through simulation when the wheel contacts with sand. The validity of simulation model is verified by experiments. As a method for researching on wheel actuating performance, this model perfects the method for analyzing t mechanical properties of wheel-terrain contact.
Finally, the research on actuating performance evaluation methods and indexes of wheel is proposed in this dissertation based on theoretical research, simulation and experiments of wheel actuating performance. Evaluation indexes of wheel actuating performance and dimensionless relation among parameters of wheel-terrain contact system are determined based on the dimensional analysis method. And the comprehensive evaluation system for actuating performance of wheel is built. Actuating performance of wheels with various width-radius ratios are evaluated comprehensively based on this evaluation system, which provides theory basis for design of wheel configuration.
引文
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