According to the manned lunar rover moving system capable of dealing with multiple faults and the fault dealing method, (1) when steering is damaged, wheels run normally; when steering fails but reverse driving can be achieved, the fault wheel is locked after steering and returning, and the whole vehicle adopts non-fault wheel steering; and when steering fails and reverse driving cannot be achieved, if the steering angle does not reach the limit angle when the fault wheel is locked, steering is achieved through a non-fault wheel, and if the steering angle is the limit angle when the fault wheel is locked, steering is achieved through a differential or torque coordinated distribution mode. (2) if the driving assembly is damaged and the wheel surface is not damaged, the fault wheel is driven and unlocked to be in a follow-up state; when steering is not damaged, four-wheel steering is adopted, and the steering angle of a fault wheel is adjusted to be matched with the friction braking force of each wheel and the lunar surface to achieve braking; and (3) when the wheel surface of the wheel is damaged, if steering does not fail or fails but reverse driving can be carried out, the fault wheel is steered, returned, locked and inserted into the spare wheel, and if steering fails and reverse driving cannot be carried out, the fault wheel is removed and then inserted into the spare wheel for driving.

    一种可应对多故障的载人月球车移动系统及故障应对方法,(1)转向损坏时,车轮正常行驶;转向失效但可反驱时,将故障轮转向回正后锁定,整车采用非故障轮转向;转向失效且不可反驱时,若故障轮抱死时转向角度未到极限角度,采用非故障轮实现转向,若抱死时转向角度为极限角度,采用差速或力矩协调分配的方式实现转向。(2)驱动组件损坏,车轮面未损坏,将故障轮驱动解锁为随动状态;转向未损坏时采用4轮转向且调整故障轮转角以匹配各车轮与月面的摩擦制动力实现制动,转向损坏时步骤(1);(3)车轮轮面损坏时,如果转向未故障或失效但可反驱,则将故障轮转向回正锁定,插入备用轮,若转向失效且不可反驱,则拆除故障轮后插入备用轮行驶。


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    Title :

    Manned lunar rover moving system capable of dealing with multiple faults and fault dealing method


    Additional title:

    一种可应对多故障的载人月球车移动系统及故障应对方法


    Contributors:
    NIU FULIANG (author) / WANG KANG (author) / NI WENCHENG (author) / CHEN MING (author) / WANG YAOBING (author) / PAN BO (author) / LIANG CHANGCHUN (author) / LI DELUN (author) / WANG RUI (author) / CAO JIANFEI (author)

    Publication date :

    2025-01-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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