The phenomenon of frictional heat generation between mechanical devices and lunar soil in lunar exploration. Due to the condition that the lunar vacuum cannot convection heat dissipation, and the temperature control requirements of some lunar exploration equipment are relatively high, it is necessary to study the control laws behind friction and friction heat under different operating conditions. In this study, an experimental platform was set up to simulate the phenomenon of high-speed friction between metal and densely packed Lunar soil simulant in vacuum environment. Through the closed-loop control of contact pressure and interface friction velocity between metal and Lunar soil simulant, the relationship of friction coefficient with the increase of speed and pressure is obtained. In addition, a platinum resistance sensor is used to measure the heat generation efficiency and heat distribution coefficient during the interaction between the metal friction ring and the Lunar soil simulant. This study lays a foundation for the subsequent study of the tribological heat generation law of the lunar peel-metal under the conditions of the lunar surface, and has certain guiding significance for the design of lunar exploration equipment and the control of the tribological temperature in the lunar sampling.