The Analysis Of The Wheel-Soil Dynamics And Control About Lunar Rover Driving On The Slope

With the approaching of the launch time of China’s lunar rover, the analysis of the performance of lunar rover on complex lunar surface is important. We need to calculate the wheel-soil dynamics and confirm the lunar rover’s driving ability in order to make lunar rover have a good performance and pass obstacles successfully. To be able to control the lunar rover maintain a good performance in motion, it is needed to analyze the control methods. This paper analyzes and simplifies the wheel-soil dynamics model, through the analysis process of lunar rover driving on slopes, we get a reasonable control strategy, simulating and testing it in lunar rover virtual simulation system.Firstly, this paper analyzes traditional wheel-soil dynamic models, considers in details the lunar rover wheel contact characteristics with lunar soil in the low-gravity environment and points out the shortage of the existing dynamic model.Secondly, through comparing traditional based Bekker theory simplified model which has a big error, combining with Iagnemma simplified stress formula, this paper gets a new wheel-soil dynamic model which can fit China’s lunar rover and give it an experimental verification. Then this paper builds the dynamic model of lunar rover driving on slope. Consider the change of front and rear wheel contact with different lunar soil,this paper improves the traditional calculation of wheel’s subsidence, and make the improved settlement be more truly reflect the characteristics of lunar rover wheel.This paper builds a traction control system which based PID algorithm, through analyzing the movement and performance of lunar rover driving on slope, find reasonable control strategy about lunar rover driving on slope.Finally, through the lunar rover virtual simulation system, this paper tests and simulates the performance and control strategy which analyzed before.