Mechanical parameters reverse estimation of lunar soil and experimental verification

In order to predict and control the traction trafficability of a lunar rover, an algorithm for mechanical parameters estimation of lunar soil based on linear-least squares method was presented to estimate two key mechanical parameters, i. e., internal cohesion and internal friction angle. The improved wheel-soil interaction model for lugged rigid wheel which considering the effect of wheel lugs on stress distribution was simplified; An algorithm was thus created to calculate internal cohesion and internal friction angle of the soil. Experimental data of wheel-soil interaction were imported into Matlab programs to estimate cohesion and internal friction angle of lunar soil simulant, and the estimated values are close to the measured values of lunar soil stimulant. The results of experimental verification indicate that the algorithm is accurate and effective, moreover, the algorithm also shows good stability and high arithmetic speed, which allows a lunar rover to estimate mechanical parameters of the lunar soil on site.