Selenographic gravity simulation system for ground traveling tests of exploration rover

Abstract

The invention discloses a selenographic gravity simulation system for ground traveling tests of an exploration rover, which comprises a two-dimensional supporting rack, a two-dimensional tracking platform, a position and orientation monitoring system, a constant tension mechanism, a similar hanger and a ground monitoring system. The selenographic gravity simulation system for ground traveling tests of the exploration rover utilizes single cable hanging technology, tracking system secondary control technology, force system closed loop tertiary control technology and the like, can be successively applied to ground tests of the exploration rover, and is used for completing various test tasks including movement performances, autonomous navigation, path planning, combined tests of a lander and the exploration rover and the like, and various technical indexes meet requirements of tests. In addition, the selenographic gravity simulation system provides conditions for comprehensively and sufficiently checking traveling ability of the exploration rover.

Description

technical field [0001] The invention belongs to the field of ground walking test of a lunar surface patrol device, and in particular relates to a lunar surface gravity simulation system used for the ground walking test of a lunar surface patrol device. Background technique [0002] With the development of my country's lunar exploration project, the development of the lunar surface patrol device has become the key to the entire lunar exploration program. The rover itself is a complex system. In order to ensure its normal driving on the lunar surface, it is necessary to comprehensively verify its walking ability on the ground, such as mobility, path planning and autonomous navigation, so as to examine the reliability of the rover. sex. In order to fully assess the walking performance of the rover, it is necessary to build gravity simulation equipment to provide low-gravity simulation for the lunar patrol probe during the test to assess the walking performance of the lunar pat...

AI Technical Summary

Problems solved by technology

[0005] 1) The movement of the suspended platform includes horizontal movement and rotational movement, and the control algorithm is complex

[0006] 2) There are eight slings hanging on the lower part of the suspension platform, and each sling is equipped with a retractable device. The system needs coordinated movement, which is complex and difficult to control

[0007] 3) The patrollers applicable to this system must have their own power supply and can be operated by remote control or manned, which cannot meet the needs of ground tests for patrollers with limited battery capacity and cannot be remotely controlled

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