中文摘要：

坡路是崎岖月面环境的典型路况，在分析月球车轮地相互作用模型基础上，建立月球车坡路行驶地面力学模型。同时考虑到前面车轮对月壤扰动变形的影响，在表征不同车轮的沉陷量时，引入沉陷率系数。建立月球车三维可视化仿真平台，并通过对比仿真试验结果与实车试验数据，验证仿真的正确性。通过月球车坡路行驶运动过程仿真分析，给出月球车坡路行驶运动控制策略：当坡度角大于26．6。时，应进行避障，而当月球车具有足够的车轮牵引力时，应控制车轮速度，使月球车在最佳滑转率下行驶。

英文摘要：

The slopes are a typical terrain of the rugged lunar surface. Based on wheel-terrain interaction, a terramechanics model for slope travel of a lunar rover is established. In order to describe the soil sinkage of different wheels, the deformation of the front wheels on the lunar soil is taken into account and a sinkage rate coefficient is proposed. Thus the 3D visualization simulation platform of lunar rove is established. By comparing the real lunar rover prototype test results and simulation test results, the effectiveness of the virtual simulation is verified. With the analysis of the course of the lunar rover climbing up the slope, it can be concluded that when the slope angle exceeds 26.6°, the motion control strategy aimed at obstacle avoidance should be adopted. When the wheels have enough traction, the wheel＇s rotating speed can be controlled, so as to carry out the motion control strategy which can enable the lunar rover to run at the optimal slip rate with the maximum driving efficiency.