Control System Of Single Wheel Testing Bedstand Based On LabVIEW Design And Research

A planetary rover is a probe used in planetary exploration,and its design and research challenges mainly come from the adverse environment of extraterrestrial celestial bodies,which affect the motion and control of the rover.Conducting research on the mechanical performance of different structural forms of lunar rover wheels on lunar soil,selecting suitable lunar rover wheel materials and structural forms,is of great significance for optimizing lunar rover performance and improving its obstacle-crossing,turning,and climbing capabilities.Firstly,this article analyzes the research status of domestic and foreign planetary rover wheel testing platforms and determines a general mechanical structure and control system scheme for a multifunctional lunar rover single-wheel testing platform based on mission requirements.According to the overall scheme,the detailed design of the testing platform’s mechanical structure,electrical control,and data acquisition system is carried out,and the main components of the control system are selected.The design of the system’s electrical control cabinet and control circuit is also completed.Secondly,based on the functional requirements of the single-wheel testing platform,the design goals of the system control software are determined.Using the Lab VIEW development platform,the control software’s usage process and front panel main interface are designed,and the software is divided into four modules:human-computer interaction,motion control,data display and recording,and operation status detection.Based on the communication protocol of the main components,the program design and implementation of each module’s back panel are completed.Then,after completing the functional testing of the testing platform’s main components,the testing platform is constructed and functionally debugged.Improvements are made to the shortcomings found during the debugging process.In order to solve the problem that the control accuracy of the simulated resistance moment of the intermediate shaft drive system is low during the function commissioning of the passive slip mode,the intermediate axle,wheel axle drive system,and the overall mathematical model of the testing platform are established.Based on the system’s mathematical model,the surplus torque characteristics and influencing factors are analyzed,providing a theoretical basis for the selection and effectiveness verification of surplus torque suppression strategies.Finally,a composite PID controller based on RBF neural network is designed.Using RBF neural network to approximate the process output identification information of the system and provides it to the PID controller to achieve parameter self-tuning.Without relying on the system’s precise mathematical model,the surplus torque of the system is suppressed.A simulation experiment of a sine displacement disturbance under constant torque command loading is conducted.The effectiveness and rationality of the designed neural network adaptive PID controller are verified by comparing it with no control strategy and traditional PID control strategy.Finally,the neural network adaptive PID controller is programmed in LabVIEW to improve the system’s control accuracy.