Research On Magnetic Levitation Low Gravity Compensation System For Lunar Rover Based On Active Following

The lunar rover is the main tool for lunar missions such as exploration and inspection.The lunar gravity environment affects the mechanical performance of the rover.In order to ensure its performance,gravity compensation tests need to be conducted on the ground to test its mobility performance.Drawing on existing research ideas for low gravity simulation,taking into account factors such as magnetic field control,system stability,dynamic response,and applicability,a low gravity compensation system based on magnetic levitation is designed and its key performance is studied.Firstly,the overall design of the magnetic levitation low gravity simulation system was completed.Determine the working principle and composition of the system based on its functions and requirements;Compare and summarize the advantages and disadvantages of existing magnetic levitation methods,determine the electromagnetic magnetic levitation scheme,and design a magnetic levitation module;Analyze and summarize the main influencing parameters of magnetic levitation compensation force.Secondly,the attitude adjustment performance of the magnetic gap compensation mechanism was analyzed.Based on the DH parameter method,analyze the pose characteristics of lunar vehicles and establish a mathematical model for lunar vehicle pose;Through simulation,the posture of the lunar rover was analyzed.Based on the theory of coordinate transformation,establish a forward and backward solution model for the position of the compensation mechanism;The forward and inverse solution models were validated through numerical analysis,and the three motion characteristics of the compensation mechanism were verified;Based on the principle of d’Alembert virtual displacement,establish a dynamic model of the mechanism.Then,based on the control requirements of the low gravity system experiment,establish a magnetic levitation compensation force and following control model.Based on electromagnetic theory,establish a mathematical model for the magnetic levitatio n compensation force of the electromagnetic system,verify the compensation force mathematical model through electromagnetic simulation and theoretical comparison,and determine the current control strategy;And establish an electromagnetic system control model.A real-time active following control model is established based on position and speed control methods.The simulation results show that within the range of position error,the active position following control system tends to stabilize,and the acti ve following trajectory basically coincides with the expected trajectory.Finally,a stable magnetic levitation low gravity compensation control experiment was designed.Based on the magnetic levitation force control model,determine the control algorithm,design magnetic levitation compensation force control experiments,and verify the good dynamic stability and anti-interference performance of the magnetic levitation compensation force control system by designing single degree of freedom and multi degree of freedom magnetic levitation gravity compensation experiments.Through a combination of structural design,theoretical analysis,numerical analysis,simulation verification,and experimental research methods,the research shows that the magnetic levitation compensation force control system can achieve dynamic stability of the magnetic levitation compensation force.The paper designs a magnetic levitation low gravity compensation system scheme for lunar rovers that actively follows,which is feasible and innovative.