Design And Development Of Lunar Rover Attitude Simulation Device

As China’s lunar exploration project into the second stage, the lunar detect and inspectdevice,called as Lunar Rover, will land the lunar surface in the soft-landing detection and follow-uptasks, for in situ investigation of lunar resources to carry out month-based astronomical observations,and provide basic data for the choice of a lunar base.The object of this paper is a multi-DOF motion platform simulating the Lunar Rover attitudes,applied to ground physical simulation of the detection devices installed on the Lunar Rover andimplementing multi-DOF servo control, providing experimental verification and simulation supportfor the Lunar Rover detection program. It plays an important role in device validation, evaluation andimprovement of the Lunar Rover. Combining the research of the simulator, this paper establishedkinematic and kinetic model of the multi-DOF platform and electrical and mechanical model of theuniaxial system, and analyze controlling project, controlling rule, controlling loop and realizing,reproducing the motion states quickly and efficiently.On the basis of mechanism analysis, this paper designed multi-closed-loop Robust feedbackcontroller and Robust feedforward controller for the uniaxial system and multivariable controller ofthe multi-DOF platform, to improve system stability, immunity and tracking capability. This articlealso described a two-axis servo turntable disturbance isolation principle and controller design.Control system software and control cabinet of the attitude simulator were also introduced anddiscoursed. The control simulation system was designed, based on the simulation system digitalsimulation and hardware in loop simulation including virtual controller, sensor and executor werecarried out.Performance test of the Lunar Rover attitude simulator had been undergone, the resultsdemonstrated that the requirements of the controller for the multi-DOF attitudes simulator weresatisfied.