Studies On The Lunar Rover Driving And Control Technologies

The development of lunar rover is a complex systemic project involved many techniques of different areas. The driving control of lunar rover is one of the most important technologies. This thesis is to give a primary development of the technology.The kinematics analysis of the moving system of lunar rover is presented in this paper. In this procedure, the lengthways speed of each wheel, when the lunar rover is moving in common status, are calculated. Moreover, the same direction and converse difference steering for difference steering system with steering radius as the critical transfer condition is put forward. Then, we illustrate the driving motor and its control technique, which is another important component of driving system of lunar rover. Further more, we give a detail research on arc tracking of difference steering lunar rover. And give some simulation on the base of arc tracking theory.The adhesion force is one of the key factors of vehicle moving. Based on the confirmation of driving force of lunar rover, we analyze the relationship between adhesion coefficient of road surface and wheel slip. In our research, several types of wheel force model are referenced among them, and we select the polynomial model with exponential function as the wheel force model of the lunar rover.Comparing the wheel structure and moving environment, we analyze this illustration of the model of adhesion force and set each parameter. Vehicle model is the fundamental for the development of driving control for lunar rover. Based on the kinematics analysis of lunar rover, we build the whole vehicle model.On the base of kinematics analysis and the relationship of adhesion coefficient of road surface and wheel slip. This paper give a simulation to a single wheel, to show the kinematics characteristics of the wheel in case of fixed torque and fixed wheel slip, and get a conclusion that wheel slip has great influence on kinematics characteristics of lunar rover.On the base of stability analysis we get all the parameter used in wheel slip and velocity control and select a group of them work well. All of this can be...