中文摘要：

载人月球探测是无人月球探测的必然发展趋势，载人月球车是载人月球探测中必不可少的探测工具和手段。宇航员驾驶载人月球车进行月面探测任务，在进行转向行驶时，车轮实际速度方向与滚动方向不一致，此时土壤对车轮产生侧向力的作用。载人月球车车轮运行在月球真空、大温差、松软月面土壤的恶劣条件下，与传统地面橡胶车轮不同，采用弹性筛网形式的车轮。基于一般刚性车轮的侧向力模型，引入三个应力修正系数，其中包括两个侧向附着力计算的应力修正系数和一个侧向推土力计算的应力修正系数。通过推导得到载人月球车弹性筛网车轮的侧向力数学模型，利用参数辨识得到应力修正系数的求解公式。对比理论修正模型与试验结果，验证了载人月球车弹性筛网轮侧向力理论模型的准确性。

英文摘要：

Manned lunar exploration is an inevitable trend of unmanned exploration, and the lunar roving vehicle （LRV） is a dispensable tool in the process of the manned lunar exploration. When the astronauts drive and steer the LRV, the actual moving direction of LRV＇s wheel will be different from the rolling direction, and the soil will impact lateral force on the wheel. The wheel of LRV is different from the traditional rubber tire on the earth, and it has mesh surface and deformable property because of the LRV working under the severe environments of vacuum, large temperature difference, and soft soil. Based on the normal rigid wheel model, the lateral force model of LRV is proposed by introducing three pressure modified coefficients, which contain two coefficients for the lateral cohesive force calculation and one for the lateral bulldozing force calculation. The lateral force model of the LRV＇s wheel is deduced using above three modified coefficients, and these coefficients are identified in the experiments. Finally, the modified lateral force model of LRV＇s wheel is verified by comparing the theoretical model with the experiment results