• 空间科学 •

### 载人月球车单轮月面直线加速行驶的模拟算法

1. 1. 东北大学机械工程与自动化学院，沈阳 110819；2. 哈尔滨工业大学机器人技术与系统国家重点实验室，哈尔滨 150080
• 收稿日期:2017-02-04 修回日期:2017-05-11 出版日期:2017-07-15 发布日期:2017-07-25
• 基金资助:

国家自然科学基金（51605082）；机器人技术与系统国家重点实验室开放基金(SKLRS2017KF07)；辽宁省博士科研启动基金（201601006）；沈阳市科技基金(F16226600)

### Imitation Algorithm of Single Wheel Linear Accelerating on Moon for Manned Lunar Rover

LIANG Zhong chao, WANG Yong fu, JIN Ma, GAO Hai bo, DENG Zong quan

1. 1. School of Mechanical Engineering and Automation, Northeastern University, Shenyang 110819, China;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150080, China
• Received:2017-02-04 Revised:2017-05-11 Online:2017-07-15 Published:2017-07-25

Abstract:

When the wheels of a manned lunar roving vehicle (LRV) are driven by the same torque both on the Earth and the Moon, the vehicle will produce the different linear acceleration caused by the different gravities. In view of the above questions, a single wheel is concentrated, and the force model of the vertical load, drawbar pull force, and driving torque is established. Then, by analyzing the moving condition of producing the same linear acceleration for a single wheel both on Earth and the Moon, the imitation algorithm for driving the wheel is derived. Finally, to verify the imitation algorithm, the linear accelerations of a single wheel under three conditions, including the lunar condition, the Earth condition with the imitation algorithm, and the Earth condition without the imitation algorithm, are compared. The comparison results show that the wheel on Earth driven by the torque using the imitation algorithm can produce the same linear acceleration with that of the wheel on the Moon. However, the wheel without using imitation algorithm cannot produce the same linear acceleration.