丁亮亮,肖杰,宗魏,刘殿富,杨晓青,邹猛.与沉陷相关联的星球车挂钩牵引力模型研究[J].农业机械学报,2014,45(12):37-42.
Ding Liangliang,Xiao Jie,Zong We,Liu Dianfu,Yang Xiaoqing,Zuo Meng.Drawbar Pull Model of Planetary Rover Associated with Subsidence[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(12):37-42.
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与沉陷相关联的星球车挂钩牵引力模型研究   [下载全文]
Drawbar Pull Model of Planetary Rover Associated with Subsidence   [Download Pdf][in English]
投稿时间:2014-06-25  
DOI:10.6041/j.issn.1000-1298.2014.12.006
中文关键词:  星球车  沉陷预估  土槽试验  沉陷量  挂钩牵引力
基金项目:国家自然科学基金资助项目(51375199)和上海市科学技术委员会资助项目(12170700500)
作者单位
丁亮亮 上海宇航系统工程研究所 
肖杰 上海宇航系统工程研究所
上海市空间飞行器机构重点实验室 
宗魏 上海宇航系统工程研究所
上海市空间飞行器机构重点实验室 
刘殿富 上海宇航系统工程研究所 
杨晓青 上海宇航系统工程研究所 
邹猛 吉林大学 
中文摘要:通过轮壤作用关系的线性化推导,建立简洁的挂钩牵引力模型用于星球车在轨沉陷预估。以玉兔号月球车为例,利用其车轮土槽试验进行了模型修正和验证,从而建立了用于星球车在轨沉陷预估的模型,验算得到修正后的挂钩牵引力模型的拟合值与土槽实测值的误差小于9%。提出的模型可以为星球车在沉陷前进行预警评估,也可为发生沉陷后的地面模拟脱困试验提供沉陷状态数据。该研究方法还可用于轮式机械在沙漠、滩涂等松软地面执行各种操作的快速沉陷预估。
Ding Liangliang  Xiao Jie  Zong We  Liu Dianfu  Yang Xiaoqing  Zuo Meng
Shanghai Aerospace System Engineering Institute;Shanghai Aerospace System Engineering Institute;Shanghai Key Laboratory of Spacecraft Mechanism;Shanghai Aerospace System Engineering Institute;Shanghai Key Laboratory of Spacecraft Mechanism;Shanghai Aerospace System Engineering Institute;Shanghai Aerospace System Engineering Institute;Jilin University
Key Words:Planetary rover  Subsidence estimation  Soil-bin test  Sinkage  Drawbar pull
Abstract:There are many unexpected events when a rover is moving on a planet surface, and subsidence is one of the most fatal events which could result in the invalidation of the rover. It is very important to research subsidence prediction and intervention measures when encountering unpredictable excessive subsidence. Function relationship between wheel and soil is linearized to establish simple drawbar pull equation for subsidence estimation. “Yutu” lunar rover is taken as an example for revising equation by means of wheel soil-bin test and subsidence estimation function used to estimate subsidence online. Error between the calculation of the drawbar pull model and the measurement in soil bin test is less than 9%. The proposed model can be used to warn before the rover sinking, and provide the sinkage data for the earth-based simulation of breaking away from sink after the rover sinking. This method can also be used for rapid subsidence estimation when wheeled machinery performs various operations on the sand, beaches and other soft ground.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

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