中文摘要：

通过轮壤作用关系的线性化推导,建立简洁的挂钩牵引力模型用于星球车在轨沉陷预估。以玉兔号月球车为例,利用其车轮土槽试验进行了模型修正和验证,从而建立了用于星球车在轨沉陷预估的模型,验算得到修正后的挂钩牵引力模型的拟合值与土槽实测值的误差小于9%。提出的模型可以为星球车在沉陷前进行预警评估,也可为发生沉陷后的地面模拟脱困试验提供沉陷状态数据。该研究方法还可用于轮式机械在沙漠、滩涂等松软地面执行各种操作的快速沉陷预估。

英文摘要：

There are many unexpected events when a rover is moving on a planet surface,and subsidence is one of the most fatal events which could result in the invalidation of the rover. It is very important to research subsidence prediction and intervention measures when encountering unpredictable excessive subsidence. Function relationship between wheel and soil is linearized to establish simple drawbar pull equation for subsidence estimation. ＂Yutu＂lunar rover is taken as an example for revising equation by means of wheel soil-bin test and subsidence estimation function used to estimate subsidence online. Error between the calculation of the drawbar pull model and the measurement in soil bin test is less than 9%.The proposed model can be used to warn before the rover sinking,and provide the sinkage data for the earth-based simulation of breaking away from sink after the rover sinking. This method can also be used for rapid subsidence estimation when wheeled machinery performs various operations on the sand,beaches and other soft ground.