The invention belongs to the technical field of spaceflight exploration, and particularly relates to a loading lunar rover movement system which comprises a front driving assembly, a loading cabin, a pose sensor and a main driving assembly, and the main driving assembly comprises a main supporting rod, a rocker arm, a main wheel, a second force sensor, a main hydraulic cylinder barrel, a second servo valve and a second displacement sensor. And the loading cabin is inclined by virtue of the driving assembly. The invention further discloses an electromechanical hydraulic control simulation platform building method of the object-carrying lunar rover movement system, and the method comprises the steps that a kinematics module for calculating the expected displacement of a servo valve control cylinder according to the expected inclination angle of an object-carrying cabin; the actual displacement of the servo valve control cylinder is obtained through a servo valve control cylinder position control module; and a multi-body dynamics module is established, an electromechanical hydraulic control simulation platform of the system is established according to the module and signal circulation relation, and the simulation accuracy is verified. According to the invention, stable work of the loading cabin on the rugged road surface on the lunar surface can be realized, and the simulation platform building method is beneficial to design, test and optimization of equipment.

    本发明属于航天探测技术领域,具体涉及一种载物月球车运动系统,其包括前驱动组件、载物舱、位姿传感器和主驱动组件,主驱动组件包括主支撑杆、摇臂、主轮、第二力传感器、主液压缸筒、第二伺服阀和第二位移传感器,载物舱依靠驱动组件实现倾斜。本发明还公开一种载物月球车运动系统的机电液控制仿真平台搭建方法,包括针对载物舱期望倾斜角度,计算伺服阀控缸期望位移的运动学模块;通过伺服阀控缸位置控制模块,得到伺服阀控缸实际位移;建立多体动力学模块,根据模块及信号流转关系,建立系统的机电液控制仿真平台,并验证仿真准确性。本发明可实现月表崎岖路面的载物舱平稳工作,仿真平台搭建方法有助于设备的设计、测试和优化。


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    Title :

    Loading lunar rover motion system and electromechanical hydraulic control simulation platform building method thereof


    Additional title:

    载物月球车运动系统及其机电液控制仿真平台搭建方法


    Contributors:
    YU BIN (author) / LI XINRONG (author) / QIU HUA (author) / WANG CHENXU (author) / SUN QIANRAN (author) / LIU XU (author) / SHI GUOZHAO (author) / BA KAIXIAN (author) / KONG XIANGDONG (author)

    Publication date :

    2024-10-08


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / B62D MOTOR VEHICLES , Motorfahrzeuge / F15B SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL , Druckmittelbetriebene Systeme allgemein



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