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星球车转向沉陷量是其转向力学研究的基础,可以对星球车转向机构设计、车轮转向控制及仿真提供支持。利用星球车单轮测试台进行车轮原地转向沉陷量测试试验,分析了垂直载荷和轮刺高度等因素对沉陷量的影响。结合试验数据对传统转向沉陷量模型进行分析,发现通过改变沉陷指数可以极大的提高沉陷量的计算精度。进而对沉陷指数进行辨识和分析,并推导出两种沉陷指数的理论计算模型。基于沉陷指数模型推导了修正的沉陷量计算模型,其对于沉陷量的预测结果与试验数据相比最大相对误差约为5%,确定系数大于0.97,证明该模型可以反映车轮转向过程中由于土壤压实和流动等因素引起的动态沉陷。
The reduction of planetary car to subsidence is the basis of its steering mechanics research, which can provide support for planetary car steering mechanism design, wheel steering control and simulation. The test of on-the-spot turning and subsidence of wheel was carried out by using the single wheel test table of planetary car. The influence of vertical load and wheel height on the settlement was analyzed. Combined with the experimental data to analyze the traditional steering subsidence model, it is found that the calculation accuracy of subsidence can be greatly improved by changing the subsidence index. Then the subsidence index is identified and analyzed, and two theoretical models of subsidence index are deduced. Based on the subsidence index model, the revised calculation model of subsidence is deduced. The maximum relative error between prediction results of subsidence and experimental data is about 5%, and the determination coefficient is greater than 0.97. It proves that the model can reflect the soil pressure Dynamic subsidence caused by factors such as real and flow.