Traction control and simulation of a integrative wheel for lunar rover

被引：0

作者：

Liu Jianjun ^{[1
]}

Chen Jianxin ^{[1
]}

机构：

[1] Chinese Acad Space Technol, Beijing Inst Control Engn, Beijing 100080, Peoples R China

来源：

PROCEEDINGS OF THE 24TH CHINESE CONTROL CONFERENCE, VOLS 1 AND 2 | 2005年

关键词：

lunar rover; slip ratio; traction control; wheel-soil mechanics; brushless DC motor;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

According to the basic mechanics of a rigid wheel on deformable terrain, this paper studies the behavior of a integrative wheel for lunar rover with attention to wheel-soil mechanics, and presents a simplified traction control and simulation method. This approach keeps the slip ratio within a small value, so that the rover can Successfully traverse over the obstacle without digging the soil or being stuck.

引用

页码：1434 / 1438

页数：5

共 7 条

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Shibly, H
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[3] IAGNEMMA K, 2003, VISUAL TACTILE VIBRA
[4] Reece A.R., 1965, Proceedings of the Institution of Mechanical Engineers, V180, P45, DOI DOI 10.1243/PIME_AUTO_1965_180_009_02
[5] An equivalent soil mechanics formulation for rigid wheels in deformable terrain, with application to planetary exploration rovers
Shibly, H
Iagnemma, K
Dubowsky, S
[J]. JOURNAL OF TERRAMECHANICS, 2005, 42 (01) : 1 - 13
[6] WONG J Y, 1967, J. Terramechanics, V4, P81, DOI DOI 10.1016/0022-4898(67)90105-X
[7] Wong J. Y., 2022, Theory of Ground Vehicles

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