Research On Servo Cotrol System Of Track Device For Lunar Rover

The tracking system of lunar rover is a complex device which track and guide for lunar rover by visual servo control. The precision of the device depend on the control quality of the control system. The design and simulation of the servo controller had been researched based on the optical track device for lunar rover made by Dept. of Astronautics Engineering of HIT. The main research are following:Firstly, according to performance requirements, the control scheme is determined, and the control model are selected after analyzing the steady and dynamic characteristic. And the control equation are obtained. Decoupling scheme is given and is realized. The direction axis and the pitch axis are two independent servo control system after decoupling.Secondly, the design of control system are made on the basis of control requirements. The algorithm of position controller is the core for the tracking system. And the digital PID is applied. The simulations are performed for the direction and pitch controller with different PID parameter and different input signal. The simulation result had been studied.Finally, The friction model is applied after analyzing the mechanical structure of tracking system. The friction compensation had been obtained by differential feedforward applied to the output of position controller. The simulation show that the tracking precision had been improved greatly after feedforward. Therefore the approach is valid for this track system.