Theoretical and Experimental Investigations on High-Precision Micro-Low-Gravity Simulation Technology for Lunar Mobile Vehicle
Abstract
:1. Introduction
2. Theoretical Model and Methods
2.1. Design of Micro-Low-Gravity Simulation System for Lunar Vehicle
2.2. Principle of Magnetic Quasi-Zero Stiffness
2.3. M-QZS Vertical Constant Force System
2.3.1. Dynamic Model
2.3.2. Control System Design and Active Control Strategy
2.4. Dynamic Simulation of Micro-Low-Gravity Simulation System
3. Design and Performance Evaluation Experiment
3.1. System Architecture
3.1.1. Structure Composition
3.1.2. Integrated Control System
3.2. Test Method
4. Results and Discussion
4.1. Simulation Results
4.2. Experimental Results
4.3. Discussion
5. Conclusions
- The non-contact/frictionless M-QZS mechanism was combined with the stroke amplification structure, which realized high-precision and high-dynamic constant force maintenance in the vertical direction. It provided a new method for the micro-low-gravity simulation test of lunar vehicles on the ground.
- A position control method based on fuzzy PID parameter tuning was proposed, and the dynamic characteristics of the system were simulated and analyzed using joint simulation technology, which verified the feasibility and accuracy of the control model.
- The prototype of the micro-low-gravity simulation test system for the lunar vehicle was built, and landing buffer tests under different external forces were carried out. The results show that the system had good stability and high accuracy under different external loads. The force sensitivity was better than 0.1%, and the constant force error was less than 0.1%. The test object bounced up many times during the landing buffer test, which successfully reproduced the phenomenon of the lunar vehicle touchdown rebound during landing in a slight micro-low-gravity environment.
- Later, the research on vertical adaptive adjustment during horizontal movement of the lunar vehicle will be carried out. The performance of the test system to maintain vertical constant force accuracy will be further verified when the lunar vehicle walks on the undulating road surface in the next step.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Conflicts of Interest
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Parameters | Value |
---|---|
external force (N) | 0.98 |
mass of lunar vehicle (kg) | 94.5 |
falling height (mm) | 170 |
Parts | Parameters | Value |
---|---|---|
Servo motor | Power (kW) | 7.5 |
Torque (Nm) | 48 | |
rated speed (rpm) | 1500 | |
Turn-screw | Stroke (mm) | 480 |
Lead (mm) | 50 |
Parameters | Value |
---|---|
mass of the weight (kg) | 0.1 |
1 | |
10 | |
20 | |
mass of the lunar vehicle (kg) | 94.5 |
falling height (mm) | 170 |
Falling Parameters | Simulation | Experimental |
---|---|---|
Acceleration (g) | 0.001058 | 0.00106 ± 0.001 |
Max velocity (mm/s) | 58.504 | 59.37 |
First rebound period (s) | 10.59 | 10.39 |
First rebound amplitude (mm) | 264.73 | 262.15 |
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Hou, W.; Hao, Y.; Wang, C.; Chen, L.; Li, G.; Zhao, B.; Wang, H.; Wei, Q.; Xu, S.; Feng, K.; et al. Theoretical and Experimental Investigations on High-Precision Micro-Low-Gravity Simulation Technology for Lunar Mobile Vehicle. Sensors 2023, 23, 3458. https://doi.org/10.3390/s23073458
Hou W, Hao Y, Wang C, Chen L, Li G, Zhao B, Wang H, Wei Q, Xu S, Feng K, et al. Theoretical and Experimental Investigations on High-Precision Micro-Low-Gravity Simulation Technology for Lunar Mobile Vehicle. Sensors. 2023; 23(7):3458. https://doi.org/10.3390/s23073458
Chicago/Turabian StyleHou, Weijie, Yongbo Hao, Chang Wang, Lei Chen, Guangping Li, Baoshan Zhao, Hao Wang, Qingqing Wei, Shuo Xu, Kai Feng, and et al. 2023. "Theoretical and Experimental Investigations on High-Precision Micro-Low-Gravity Simulation Technology for Lunar Mobile Vehicle" Sensors 23, no. 7: 3458. https://doi.org/10.3390/s23073458