Study on the Speed Stability of Wheel Drive Mechanism used in Lunar Rover

Xiao Jie; Zeng Lingbin; Zhang Xiaowei; Liu Dianfu; Zou Huaiwu

doi:10.16578/j.issn.1004.2539.2015.01.008

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Study on the Speed Stability of Wheel Drive Mechanism used in Lunar Rover

更新时间：2022-10-20

- Study on the Speed Stability of Wheel Drive Mechanism used in Lunar Rover
- Vol. 39, Issue 1, Pages: 25-30(2015)
- 作者机构：
  
  1. 上海宇航系统工程研究所
  2. 上海市空间飞行器机构重点实验室
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2015.01.008
  CLC：
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[1]肖杰,曾令斌,张晓伟,刘殿富,邹怀武.月面巡视器车轮驱动机构速度稳定性研究[J].机械传动,2015,39(01):25-30.

Xiao Jie, Zeng Lingbin, Zhang Xiaowei, et al. Study on the Speed Stability of Wheel Drive Mechanism used in Lunar Rover. [J]. 39(1):25-30(2015)
[1]肖杰,曾令斌,张晓伟,刘殿富,邹怀武.月面巡视器车轮驱动机构速度稳定性研究[J].机械传动,2015,39(01):25-30. DOI： 10.16578/j.issn.1004.2539.2015.01.008.

Xiao Jie, Zeng Lingbin, Zhang Xiaowei, et al. Study on the Speed Stability of Wheel Drive Mechanism used in Lunar Rover. [J]. 39(1):25-30(2015) DOI： 10.16578/j.issn.1004.2539.2015.01.008.

摘要

嫦娥三号月面巡视器车轮驱动机构采用闭环控制的三级行星减速器。针对研制中发生的车轮驱动机构速度稳定性不满足设计目标的问题,系统分析闭环控制的行星减速器速度稳定性影响因素,重点归纳用于提高行星轮系均载性的方法和措施,据此进行问题排查和仿真分析而将问题定位为第一级太阳轮径向跳动超差。进而提出改进第一级太阳轮为浮动设计和提高第一级太阳轮加工精度两套解决方案,并分别进行分析验证表明两套方案均可满足任务需求,第二套方案具有更小的体积和质量而被选为实施方案。对改进后的车轮驱动机构进行常温常压、高温真空和低温真空等地面模拟试验表明其具有良好的速度稳定性,月面巡视器在月表行进过程的遥测参数亦证实了该改进方法的有效性。

Abstract

The 3-stage planetary reducer with closed-loop control is adopted in CE-3 lunar rover wheel drive mechanism.Aiming at the problem that the speed stability of drive mechanism does not satisfy the design requirements,the factors affecting the speed stability of planetary reducer are systematically analyzed,and methods and measures minimizing the inequality of load sharing of planetary gear sets are studied carefully.Through troubleshooting and numerical simulations,the causation is uncovered as follows:the first stage sun gear radial runout exceeds the allowed range.Then two solutions are proposed:the first one is to redesign the first stage sun gear into a floating sun gear,the second one is to improve the machining precision of the first stage sun gear.And the second solution is adopted because it is smaller and lighter than the first one.Then much ground simulation tests which are conducted at the room condition,high-temperature vacuum condition and low-temperature vacuum condition demonstrate that the speed stability of drive mechanism satisfies the design requirements.At last,the effectiveness of the proposed method is validated by the telemetry parameters of lunar rover moving on the moon surface.

关键词

行星减速器速度稳定性闭环控制月面巡视器

Keywords

Planetary reducerSpeed stabilityClosed-loop controlLunar rover

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