Dynamoelectric controlled integrated wheel of inspection tour prober for moon surface

A detector and electromechanical technology, applied in the field of lunar patrol detector wheels, can solve the problem that the wheels do not have autonomous thermal control, and achieve the effects of improving autonomy and reliability, saving cabin space, and reducing the number of

Inactive Publication Date: 2008-01-23
BEIJING INST OF CONTROL ENG
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  • Abstract
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Problems solved by technology

At the same time, the wheel provided by the invention does not have the function of autonomous thermal control

Method used

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  • Dynamoelectric controlled integrated wheel of inspection tour prober for moon surface
  • Dynamoelectric controlled integrated wheel of inspection tour prober for moon surface
  • Dynamoelectric controlled integrated wheel of inspection tour prober for moon surface

Examples

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Embodiment Construction

[0034] 1. Working process

[0035] As shown in Figure 1, the upper computer combines the results of environmental perception to perform local path planning, and obtains the motion commands of each wheel through motion control decomposition. The drive control unit receives instructions from the host computer through the electrical connector, and at the same time obtains a bus power supply through the electrical connector. The power supply and distribution circuit converts the primary bus power supply to the required secondary power supply through DC / DC, and supplies it to various components. The controller receives the instructions from the host computer and solves the instructions to form machine language. Under the constraints of the operation mode, combined with the commutation logic of the open-loop operation of the drive motor and the PID algorithm of the closed-loop control of the motor speed and torque, the controller gives the control The level signal is converted into...

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Abstract

A lunar exploration rover electric-mechanic-control integration wheel is provided, which integrates a mechanical transmission unit, a drive control unit and a thermal control unit. To satisfy the requirements of the rover on the miniaturization and low energy consumption, the drive control unit is put in the wheel and communicated with an IPC through interfaces, and receives the control instruction to drive the mechanical transmission unit to control the rotation of the wheel, which not only reduces the quantities of outer leads but also improves the independence and the stability of the wheel and saves the inner cabin space of the rover; the thermal control unit is positioned on the outer surface of the wheel hub to make the wheel have the independent thermal control function and control the working temperature in the wheel at any time according to the change of the ambient temperature to increase the viability of the wheel under changeable environment. The electric-mechanic-control integration wheel can not only be used for the lunar exploration rover but also can be used for other planetary surface detectors.

Description

technical field [0001] The invention relates to a wheel of a lunar surface inspection detector integrating structure, drive, control and thermal control, which belongs to the field of electromechanical integration. Background technique [0002] In the mission of patrolling the lunar surface, the detector must work on the lunar surface for three lunar days and experience the test of high and low temperature and vacuum. consumption needs. [0003] Abroad, the planetary surface probes represented by the "Rocky", "Spirit" and "Opportunity" developed by the JPL laboratory in the United States and the "Moon-1" and "Moon-2" developed by the former Soviet Union are in the wheel design. Generally, the actuator and the wheel hub are mechanically integrated, and the drive control unit is placed inside the detector cabin. The wheel does not use thermal control or participate in the overall thermal control, so it does not have independent viability, and introduces more external leads. ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/16
Inventor 余志鸿贾永左光
Owner BEIJING INST OF CONTROL ENG
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