| The performance testing of the rover's mobile system on the ground is an important part of the design and experimental verification of the rover.The performance test of the mobile system mainly includes the traction performance test and the fatigue resistance characteristics of the vacuum environment.The traction performance of the rover's mobile system is the main factor that affects the ability of the rover to complete its mission in the space environment.In this paper,the development of the test device is performed in the test of the traction performance of the rover of the rover.The study of the dynamic model of the wheel follow-up system and the research of the algorithm of the closed-loop control strategy of the test device are carried out,and the test verification is carried out to provide necessary for the future development of the rover model.Technical Support.In order to meet the test requirements for the traction performance of the rover's mobile system,a test device with wheel speed tracking and traction resistance loading capability of the rover's mobile system was developed.In the development process of this device,the mechanical system and electrical system design of the traction performance test device for the rover vehicle's mobile system were completed.The real-time control system of the test device was designed based on the Labview Real-time module,and the human-computer interaction software interface was designed.The test device's data acquisition,processing and experimental debugging and other functions.The hardware and software system design of the traction performance test device for the rover vehicle mobile system was completed.A kinematics analysis of the chain drive was performed for the wheel follow-up system in the test device.The characteristics of the chain drive were analyzed by analyzing the characteristics of the chain drive.The dynamic model of the wheel follower and the drag load system of the rover was established.The identification method of the system frictional drag torque is obtained.Based on the system dynamics study,the constant pull force closed-loop control law,the wheel speed follow-up control law and the synchronous control law are designed respectively for the traction resistance loading system and wheel follow-up system of the mobile system.And completed the stability analysis.In the experimental part of the traction performance test of the rover's mobile system,a chain drive test with constant-speed no-load and sinusoidal no-load tracking,as well as the synchronization of the mobile system and the chain drive and the loading test test of the traction resistance of the mobile system are adopted.No-load constant-speed chain transmission experiment,the test results show that: the chain transmission speed response error within 5%,the size of its own resistance torque is 0.37Nm;through the chain drive sinusoidal no-load tracking test experiment,the load motor repeatedly accelerated The speed tracking effect of deceleration;the simulative experimental results of the rover's mobile system and the test device show that the wheel follow-up system has a good follow-up tracking performance;the test results of the drag load on the rover's mobile system show that: the traction resistance is loaded.The error is within 5% and the test device meets the design specifications and functional requirements. |
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