NDLI: Motion-control-based analytical model for wheel-soil interaction mechanics of lunar rover

Content Provider	IEEE Xplore Digital Library
Author	Kerui Xia Liang Ding Haibo Gao Zongquan Deng
Copyright Year	2011
Description	Author affiliation: State Key Laboratory of Robotics and System, Harbin Institute of Technology, China (Kerui Xia; Liang Ding; Haibo Gao; Zongquan Deng)
Abstract	During rover lunar exploration missions (such as China's “Chang'e”), rovers are required to move autonomously on the loose lunar soil. Control methods based on the rigidity hypothesis can hardly be expected to satisfy these requirements practically so wheel-soil interaction mechanics should be taken into account. The currently used integral model based on wheel-soil interaction mechanics, however, is complicated, and it cannot be directly applied to the design of a lunar rover's controller. This paper presents a new simplified method of determining the wheel-soil interaction of lunar rovers by introducing a normal stress factor and the ratio of the forward region to the rear region, based on an analysis of the integral model and lunar soil parameters. As an example, numerical analysis is performed for a lunar rover wheel with a width of 165 mm and a radius of 135 mm. Based on a slip ratio as high as 0.4 and an entrance angle that varies from 10° to 40°, the results show that the maximum errors of the model for the calculation of normal force and drawbar pull force are less than 2%, while the maximum error of resistance torque is approximately 5%. When designing a rover's controller, the relationship between the driving torque of wheel T and the drawbar pull of wheel FDP is T = FDPr according to the rigidity hypothesis, a relationship that contradicts the terramechanics model. The proposed simplified model, which is verified by experiments, provides an important basis for the design of a control algorithm for a lunar rover that takes into account lunar wheel-soil interaction mechanics.
Starting Page	333
Ending Page	338
File Size	4773338
Page Count	6
File Format	PDF
ISBN	9781457703980
e-ISBN	9781457703997
DOI	10.1109/IFOST.2011.6021034
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Analytical models Torque terramechanics motion control Moon Force Wheels Soil lunar exploration Stress simplified model
Content Type	Text
Resource Type	Article

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