Motion-Control-Based Analytical Model for WheelSoil Interaction mechanics of Lunar Rover
During rover lunar exploration missions (such as Chinas Change), rovers are required to move autonomously on the loose lunar soil. Control methods based on the rigidity hypothesis can hardly be expected to satisfy these requirements practically so wheel-soil interaction mechanics should be taken into account. The currently used integral model based on wheel-soil interaction mechanics, however, is complicated, and it cannot be directly applied to the design or a lunar rovers controller. This paper presents a new simplified method of determining the wheel-soil interaction of lunar rovers by introducing a normal stress factor and the ratio of the forward region to the rear region, based on an analysis of the integral model and lunar soil parameters. As an example, numerical analysis is performed for a lunar rover wheel with a width of 165 mm and a radius of 135 mm. Based on a slip ratio as high as 0.4 and an entrance angle that varies from 10° to 40°, the results show that the maximum errors of the model for the calculation of normal force and drawbar pull force are less than 2％, while the maximum error of resistance torque is approximately 5％. When designing a rovers controller, the relationship between the driving torque of wheel T and the drawbar pull of wheel FDP is T = FDPr according to the rigidity hypothesis, a relationship that contradicts the terramechanics model. The proposed simplified model, which is verified by experiments, provides an important basis for the design of a control algorithm for a lunar rover that takes into account lunar wheel-soil interaction mechanics.
lunar exploration terramechanics motion control simplified model
Kerui Xia Liang Ding Haibo Gao Zongquan Deng
State Key Laboratory of Robotics and System,Harbin Institute of Technology Harbin,China
国际会议
The 6th International Forum on Strategic Technology(IFOST 2011)(第六届国际战略技术论坛)
哈尔滨
英文
333-338
2011-08-22（万方平台首次上网日期，不代表论文的发表时间）