月面巡视探测器

为了对巡视探测器的移动能力、导航与控制能力进行充分试验,在唐家岭航天城建设了月面巡视探测器试验场.利用火山灰来模拟月壤,同时构建了典型月表地形地貌,并模拟了着陆区的背景星空和光照条件.     

基于轮地作用参数和PLSDA方法的月壤力学性能评估

为评估在轨月球车周边环境月壤力学性能,以月球车辙信息、轮上载荷和滑转率作为基本参数,提出了16个二元及三元标识量,结合偏最小二乘判别方法(PLSDA)建立评估月壤力学状态模型。根据容重对模拟月壤力学状态进行分级,分别为松软状态、自然状态和紧实状态。应用轮壤相互作用试验台共采集247组试验数据,每种模拟月壤状态的试验数据按照2:1比例随机划分为校正集样本和预测集样本,最终校正集和预测集样本个数分别为166和81个。考虑到原始数据值相差大和所提出部分标识量包含冗余信息的特点,因此在建立PLSDA模型时,应用均值中心化预处理方法对原始数据进行数据预处理,并优选10个标识量建立识别月壤力学状态的PLSDA模型,对应的校正集的准确率和预测集的准确率分别为90.96%和90.12%。结果表明,应用PLSDA方法并结合月球车的车辙信息、轮上载荷和滑转率以及优选标识量所建立的评估月壤力学状态判别模型,其计算快速准确,可用于月球车在轨评估车轮前方月壤的力学特性和通过性能评估。     

深空探测着陆器数字化设计及着陆性能影响因素

以对称分布四腿悬架式月球着陆器为研究对象,建立了着陆器软着陆过程六自由度动力学模型并改进了月壤摩擦系数模型;在以上动力学模型基础上,以月球着陆器为例编制了着陆器软着陆六自由度动力学分析程序,利用该程序分析了探测器全机月面软着陆性能,重点研究了动力学模型中的月面等效弹性系数、月面摩擦系数和月面倾斜角度等参数对探测器着陆性能的影响。研究表明上述影响因素对着陆器着陆缓冲性能影响显著,通过对以上参数的合理选择可以有效缓解月球探测器月面软着陆的着陆冲击过载。     

燃气冲破式易碎盖冲击载荷与变形预测

采用高精度数值模拟技术对开盖前发射箱内冲击波演化规律、后盖不同开盖时刻前箱盖载荷分布以及不同载荷加载方式下前盖承压变形进行了计算分析。研究结果表明：冲击波以约450 m/s的速度在箱内沿轴向传播，棱台箱盖中心区域压力大于斜面区域。后盖开盖时间距离发动机点火时间越长，燃气到达前盖的压力峰值越大，综合考虑箱内设备的安全与开盖可靠性，在0.95 ms时刻开盖时性能最优。通过对棱台型易碎前盖燃气载荷分布研究，应按照平台区域和斜面区域进行分区域变形预测，相比较平均载荷加载更有利于盖体薄弱部位设计。     

月球巡视探测器自主定向算法研究

月球巡视探测器自主导航是其能在月面执行探测任务的关键,而定向又是月球巡视探测器自主导航的一个重要组成部分,其定向精度将直接影响到月球巡视探测器定位性能。将CCD(ChargeCoupleDevice)太阳敏感器应用到月球巡视探测器上,用太阳敏感器测量太阳位置矢量,结合加速度计测量的重力矢量,利用QUEST算法推算了月球巡视探测器的姿态和航向,为月球巡视探测器构建了一套适用于长时间、长距离导航的绝对定向方案,通过理论分析和实际推算描述了该定向方案的具体实现过程,最后以仿真结果验证了该方案的可行性,为下一步月球巡视探测器定位研究提供了技术参考。     

嫦娥探测器分段渐倾转移机构设计

巡视探测器转移机构是在地外空间环境执行巡视探测器转移释放任务的空间机构。与美国、苏联转移任务不同，中国探月工程（CLEP）二期着陆器采用腿式着陆缓冲机构及巡视器顶部搭载方式，转移任务沿着陆器周向展开距离及巡视器释放高度增加，转移难度增大。在设计阶段，转移机构是否符合探测任务严苛的工程约束及设计指标；在执行阶段，转移机构能否在月面非确知环境下正常展开、转移过程是否稳定可靠，是嫦娥探测器顺利完成探测任务的关键。为保障月球后续任务及火星探测任务中转移机构的设计需要，根据巡视器转移系统特点，以探月二期工程中首次探索并成功自主设计定型的嫦娥分段渐倾转移机构为例，对巡视器转移系统的组成、任务需求及设计约束予以阐述，并结合参研人员经验，对机构研制方案的选取、关键环节设计、工程状态及任务验证情况进行说明，以为后续工作及相关工程提供参考。     

航空发动机风扇叶尖径向间隙数值分析

采用流-固-热耦合计算方法,综合考虑离心载荷、温度载荷和气动载荷影响,对某改型发动机的风扇转子和风扇机匣进行数值分析,获得了发动机三个典型状态点下,风扇转子和风扇机匣的压力、温度及结构变形分布;通过对风扇转子和风扇机匣两者变形的叠加,获得了风扇叶尖径向间隙分布。计算结果显示:该型发动机在原型机设计点和转速最高状态下,风扇叶尖与风扇机匣内壁面发生碰磨;而在温度载荷最大状态下,风扇叶尖与风扇机匣内壁面始终存在间隙,这会影响到该状态点下的风扇效率,需在后续设计中予以考虑。     

模拟月壤对蓝细菌生长特性的影响

阐明地球生物在月球环境中的适应性是未来月球探索和基地构建所面临的重要课题,为此以蓝细菌为实验材料,对其在模拟月壤cas-1中的生长状态进行了研究,从生长速率、细胞形态、细胞色素含量等方面表征了月壤对蓝细菌适应性的影响。实验结果表明,四种实验蓝细菌的生长能够适应模拟月壤的影响,其生长速率在模拟月壤处理中保持与常规培养基相似的生长曲线;模拟月壤颗粒上附着生长的菌体形态与对照相比无明显变化;模拟月壤处理后的菌体内色素含量与对照条件下培养的结果无显著差异。该结果对于未来开发月壤资源和构建月球基地受控生态生保系统具有重要意义。     

脉冲发动机中隔层工作过程的数值分析及试验

为了实现固体火箭发动机的脉冲启动功能,设计了一种软质隔层结构(PSD),数值模拟了隔层的承压及打开过程,得到其应力应变场分布。当隔层承受来自I脉冲10MPa内压作用时,隔层及药柱的最大主应力及应变都在安全范围内,从而证明了该结构承压可靠性;利用扩展有限元XFEM技术模拟了隔层的破坏过程,隔层在II脉冲1.3MPa内压下打开,且打开形式可靠。设计了承压和打开单项试验,验证了数值模拟的准确性,并说明该结构承压、打开及密封性能均满足设计要求,隔层结构可以应用于实际的脉冲发动机之中。     

月面巡视探测器组合导航定位系统研究

月面巡视探测器自主导航定位能力是在月面进行巡视和探测的关键,而基于捷联系统（INS）、太阳敏感器和里程计（OD）的组合导航定位技术是实现月面自主导航的较理想的技术方案。研究了由微机械捷联系统、COMS数字式太阳敏感器和码盘式里程计组成的组合导航定位系统,采用卡尔曼滤波算法进行信息融合,并对样机进行了火山灰场地的实地测试,验证了设计方案的可行性和组合导航系统精度。     

Synthesis and characterization of geopolymer from lunar regolith simulant based on natural volcanic scoria

In this study, a new GVS（Ground Volcanic Scoria） lunar regolith simulant was produced. The similarity between GVS and lunar soil was proved by comparison with Apollo lunar soil samples and other commercial lunar soil simulants. Then, GVS lunar regolith simulant was investigated as the source material for preparing geopolymer to produce building material for lunar colony construction. To study the possibility of preparing geopolymer from GVS lunar regolith simulant and the optimum activator formu...     

滑转条件下月球车轮沉陷模型研究

 月球车在月面行驶时,为保证月球车的通过性能,应尽量避免沉陷。然而传统车辆沉陷量数学模型不适用于动态滑转条件下的月球车,为此对月球车行驶时车轮沉陷量的计算模型进行了研究。基于车辆地面力学理论,从模拟月壤力学参数和滑转率两个方面,在适合于刚性轮静态沉陷计算模型基础上建立了适用于滑转条件下月球车轮的沉陷计算模型。通过轮壤土槽试验,将试验测得的月球车轮沉陷量与模型计算得到的沉陷量进行比较,验证了修正模型的正确性。所研究的模型能够为滑转条件下月球车沉陷量的预测提供理论技术基础。     

Multi-state autonomous drilling for lunar exploration

Due to the lack of information of subsurface lunar regolith stratification which varies along depth, the drilling device may encounter lunar soil and lunar rock randomly in the drilling process. To meet the load safety requirements of unmanned sampling mission under limited orbital resources, the control strategy of autonomous drilling should adapt to the indeterminable lunar environments. Based on the analysis of two types of typical drilling media (i.e., lunar soil and lunar rock), this paper proposes a multi-state control strategy for autonomous lunar drilling. To represent the working circumstances in the lunar subsurface and reduce the complexity of the control algo-rithm, lunar drilling process was categorized into three drilling states:the interface detection, initi-ation of drilling parameters for recognition and drilling medium recognition. Support vector machine (SVM) and continuous wavelet transform were employed for the online recognition of dril-ling media and interface, respectively. Finite state machine was utilized to control the transition among different drilling states. To verify the effectiveness of the multi-state control strategy, drilling experiments were implemented with multi-layered drilling media constructed by lunar soil simulant and lunar rock simulant. The results reveal that the multi-state control method is capable of detect-ing drilling state variation and adjusting drilling parameters timely under vibration interferences. The multi-state control method provides a feasible reference for the control of extraterrestrial autonomous drilling.     

月面巡视机器人快速安全路径规划

为提高月面巡视机器人自主探测任务的效率及安全性,提出了一种基于月面数字高程地图的大范围自主探测快速安全路径规划算法。首先根据获取的月面数字高程地图设计了一种地形可通过性分析方法,并生成了欧几里得距离地图（EDM）为安全路径规划提供参考。然后针对A^*算法解决月面巡视探测问题时搜索速度慢、未考虑路径安全性的问题,提出了FSA^*算法,改进了A^*算法的搜索机制以适用于月面大范围路径的快速搜索,并结合EDM地图设计了一种安全启发式函数,可使生成路径尽量远离危险区域,提高了巡视机器人自主探测过程的安全性。最后选取月球艾特肯盆地区域作为仿真场景,验证了该算法的有效性。     

Influence of lunar regolith compressibility on sampling performance of thick wall spiral drills

A 2 m class robotic drill was sent to the Moon and successfully collected and returned regolith samples in late 2020 by China. It was a typical thick wall spiral drill (TWSD) with a hollow auger containing a complex coring system to retain subsurface regolith samples. Before the robotic drill was launched, a series of laboratory tests were carried out to investigate and predict the possible drilling loads it may encounter in the lunar environment. This work presents how the sampling performance of the TWSD is affected by the regolith compressibility. Experiments and analysis during the drilling and sampling process in a simulated lunar regolith environment were conducted. The compressibility of a typical lunar regolith simulant (LRS) was measured through uni-directional compression tests to study the relationship between its inner regolith stress and bulk density. A theoretical model was established to elucidate the cutting discharge behavior by auger flights based on the aforementioned relationship. Experiments were conducted with the LRS, and the results show that the sampling performance is greatly affected by the flux of the drilled cuttings into the spiral flight channels. This work helped in scheduling reasonable drilling parameters to promote the sampling performance of the robotic drill in the Chinese Chang'E 5 mission.     

月球风化层钻取采样过程密实度分类研究

钻取采样是月球风化层土壤样品获取的重要方式，密实度是重要的风化层月壤原位特性，对钻进过程中的策略制定有重要影响。本文结合钻取采样过程特点，提出了通过采样机构的力、速度、电流、温度等传感器获取的瞬时信息感知月壤密实度的方法，利用深度学习方法构建一类适应于可变长度序列数据的门控型循环神经网络，实现钻进过程月壤密实度在线分类。研究表明，该分类方法在风化层钻进过程中月壤密实度感知滞后时间约为33 s，对未知序列数据识别正确率大于89.36%，具有较高的分类精度和泛化能力。     

A Pre-Landing Assessment of Regolith Properties at the InSight Landing Site

This article discusses relevant physical properties of the regolith at the Mars InSight landing site as understood prior to landing of the spacecraft. InSight will land in the northern lowland plains of Mars, close to the equator, where the regolith is estimated to be \(\geq3\mbox{--}5~\mbox{m}\) thick. These investigations of physical properties have relied on data collected from Mars orbital measurements, previously collected lander and rover data, results of studies of data and samples from Apollo lunar missions, laboratory measurements on regolith simulants, and theoretical studies. The investigations include changes in properties with depth and temperature. Mechanical properties investigated include density, grain-size distribution, cohesion, and angle of internal friction. Thermophysical properties include thermal inertia, surface emissivity and albedo, thermal conductivity and diffusivity, and specific heat. Regolith elastic properties not only include parameters that control seismic wave velocities in the immediate vicinity of the Insight lander but also coupling of the lander and other potential noise sources to the InSight broadband seismometer. The related properties include Poisson’s ratio, P- and S-wave velocities, Young’s modulus, and seismic attenuation. Finally, mass diffusivity was investigated to estimate gas movements in the regolith driven by atmospheric pressure changes. Physical properties presented here are all to some degree speculative. However, they form a basis for interpretation of the early data to be returned from the InSight mission.     

玉兔号巡视器导航定位中的多目标管理方法

基于多目标管理方法,阐述了玉兔号巡视器定位多目标管理的概念。兼顾技术成熟度、定位效率、冗余验证和阶段化分层管理等原则,对玉兔号巡视器着陆点和导航点的定位方法进行建模及分析比较,给出对应的定位方案。最后,将基于此多目标管理方法制定的方案,应用于玉兔号巡视器的定位任务,定位精度优于亚像素级,相对定位精度优于4％。