月球车与月壤交互作用的离散元-多体动力学耦合建模与分析

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振动与冲击 ›› 2024, Vol. 43 ›› Issue (4) : 239-249.

论文

徐鸿，雷波，刘锦阳

作者信息 +

DEM-MBD coupled modelling and analysis for the mutual interaction of lunar rover and moon soil

XU Hong, LEI Bo, LIU Jinyang

Author information +

文章历史 +

摘要

目前，对于散体颗粒物质与复杂机械系统的耦合作用研究，面临着跨尺度、计算规模庞大以及非光滑表面的接触检测困难等问题。为了探究月球车与月壤交互作用，首先对颗粒-多体耦合系统动力学建模与接触算法进行研究。分别用离散元方法和多体动力学笛卡尔方法建立了散体球形颗粒和含约束多体系统的动力学模型，并基于Hertz-Mindlin模型计算颗粒与刚体的接触力，在此基础上给出顺序耦合策略，建立了离散元和多体耦合的动力学模型。针对月球车齿状车轮的非光滑表面与颗粒之间接触检测规模庞大的问题，提出了非光滑形状物体的分区域局部检测方法，降低了局部检测的规模。通过对比圆柱体冲击颗粒的实验和仿真结果，验证了离散元-多体耦合模型的准确性。在耦合动力学建模和接触算法研究的基础上，对具有齿状车轮的月球车在月壤上行驶过程进行动力学仿真，研究不同驱动参数下的系统动力学特性以及不同轮胎形状对行驶运动的影响，研究结果表明，交错形轮齿的月球车相较直齿形轮齿前进距离多14%，前进效率较高，该研究对月球车的设计具有理论指导意义。

Abstract

At present, the study of the coupling interaction between the granular matter and the complex mechanical systems is faced with challenges such as multiscale, large computational costs, and difficulties in contact detection on non-smooth surfaces. In order to investigate the interaction between the lunar rover and the moon soil, the coupled dynamic modelling and contact detection algorithm for the granular matter and the multibody system are studied firstly. The dynamics of the granular spherical particles and the constrained multibody systems are modeled by the discrete element method (DEM) and the Cartesian method of the multibody dynamics (MBD), respectively, and the contact forces between the granular particles and the rigid bodies are calculated based on the Hertz-Mindlin model. On this basis, a sequential coupling strategy is presented and DEM-MBD coupled dynamic model is established. Concerning the large-scale contact detection between the non-smooth surface of the rover’s toothed wheels and the particles, a sub-regional local detection strategy is proposed to handle the contacts between the objects with non-smooth shapes, which can reduce the scale of local detection. The accuracy of the proposed theoretical model is verified through the comparison of the experimental and simulation results of a rigid cylinder impacting granular matter. Based on the proposed coupled dynamic modelling and the contact detection algorithm, dynamics simulation for the driving process of the lunar rover with toothed wheels on the lunar soil is carried out to study the dynamic characteristics under different driving parameters and the influence of different tire shapes on the driving motion. The research results show that the lunar rover with staggered teeth has a 14% longer forward distance compared to straight teet and has higher forward efficiency, which provides some theoretical guidance for the design of the lunar rover.

导出引用

徐鸿，雷波，刘锦阳. 月球车与月壤交互作用的离散元-多体动力学耦合建模与分析[J]. 振动与冲击, 2024, 43(4): 239-249

XU Hong, LEI Bo, LIU Jinyang. DEM-MBD coupled modelling and analysis for the mutual interaction of lunar rover and moon soil[J]. Journal of Vibration and Shock, 2024, 43(4): 239-249

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