Design Of Control System For Manned Lunar Rover

Manned lunar rover is one of the key technologies to realize manned lunar landing.It is an indispensable tool to assist astronauts in lunar exploration.Manned lunar rover can not only allow the astronauts to ride safely to reduce physical exertion,but also can overcome the unknown geography of the moon to expand the scope of the detection range in the moon,and can carry a large number of scientific instruments,lunar samples.In the moon table that unforeseen complexity of the geographical environment to perform the task of detection,requiring manned lunar rover must have a strong environmental adaptability and good athletic ability,so the manned lunar rover control system is the overall performance,safety Reliability and the key factors,to carry out research on manned lunar control technology,to explore the relevant design,analysis and testing,verification theory and technology,can provide theoretical and technical support for the development of China’s moon and future deep-space manned spacecraft,which has important Academic significance and engineering application value.As one of the important achievements in the development of new technology,the research and development of lunar rover include mechanical electronics,computer control,information,new materials,communication and other interdisciplinary and scientific fields.the control system is the core of the entire mobile system.In this paper,the prototype of manned lunar rover is taken as the research object.Based on the D-H coordinate modeling method,the positive kinematics model and the inverse kinematics model of the lunar rover are constructed.The lunar rover trajectory planning under different environments is studied according to the complexity of lunar surface topography.Based on the above,the control system hardware and software are designed,and the motion performance of the lunar rover is analyzed through the motion control ground test.According to the structural characteristics of the manned lunar rover,the rotation characteristics of the wheels are analyzed to establish the kinematics model based on the D-H matrix transformation.Based on the kinematic model,the lunar rover body speed and the driving speed and steering angle are analyzed.The kinematical equations of forward and inverse kinematics are given and the basic theoretical preparation for the control experiment of lunar rover is given.The lunar rover trajectory planning based on the model estimation is studied to solve the complex terrain condition on the lunar surface.The parametric trajectory is generated by solving the trajectory model under the constraint condition by numerical method.Based on the Visual C++ and Pewin32 Pro2 programming software,the manned lunar rover motion system was designed based on the modularized control method of manned lunar rover.The lunar rover system was developed with open and integrated as the target.control program.The lunar rover experimental environment is set up for the lunar rover simulated ground experiment.The motion model and moving speed of the prototype of mobile control system and the ground passability are tested to verify the lunar rover related analysis and calculation and the design of mobile control system and feasibility.