基于力反馈手柄的移动载人月球车操作控制系统  

Driving and control system for mobile manned lunar rover based on force feedback handle

作　　者：彭维锋 周烨康 谭丽芬[2] 唐子涵 李会军[1] 徐宝国[1] PENG Weifeng;ZHOU Yekang;TAN Lifen;TANG Zihan;LI Huijun;XU Baoguo(School of Instrument Science and Engineering,Southeast University,Nanjing 210096;National Key Laboratory of Human Factors Engineering,China Astronauts Research and Training Center,Beijing 100094)

机构地区：[1]东南大学仪器科学与工程学院,南京210096 [2]中国航天员科研训练中心人因工程国防科技重点实验室,北京100094

出　　处：《南京信息工程大学学报（自然科学版）》2021年第3期340-348,共9页Journal of Nanjing University of Information Science & Technology（Natural Science Edition）

基　　金：人因工程国防科技重点实验室开放基金(6142222200314)。

摘　　要：移动载人月球车相关技术的研究是我国未来载人登月探测的重要任务.根据载人月球车的需求,本文从航天员操作舒适度和操作工作空间出发,设计了一种面向载人月球车操作的力反馈手柄,在具体的场景设计下可以带给航天员力触觉感受,辅助航天员进行安全、有效的驾驶行为.基于力反馈手柄的移动载人月球车操作控制系统包含力反馈手柄、硬件系统、软件系统.力反馈手柄主要由二自由度旋转机构、手杆、带光编码器的直流电机组成;硬件系统为STM32单片机及相关接口电路,STM32作为下位机接收来自上位机的指令信号和力反馈信息,并且向上位机反馈手柄位置信息;为完成移动载人月球车操作控制系统的仿真测试,软件系统是基于unity3D所开发的月球车驾驶场景,搭载使用虚拟传感器,做出驾驶行为决策解算出相应的力反馈信息.实验结果表明,力反馈手柄能较好地辅助航天员操纵载人月球车,有效提升了载人月球车的驾驶效率和安全性.With the advances of China s space exploration,the research of related technologies including mobile manned lunar rover has been an important task for China s future manned lunar landing and exploration.This paper presents the design of a control system based on a force feedback handle for the driving of the mobile manned lunar rover according to the comfort and working space of the astronauts.Mainly composed of a 2-DOF rotating structure,a hand lever and a DC motor with optical encoder,the force feedback handle can give force and touch sensing to astronauts under the specifically designed environment,and assist astronauts to drive the rover safely and effectively.The hardware of the control system receives the command signal and force feedback information from the upper computer,then feeds back the position data of the handle to the upper computer.The software system builds the lunar rover driving scene based on unity3D,in which virtual sensors are used to make driving decisions and calculate the corresponding force feedback information.The simulation test results show that the force feedback handle can well assist astronauts to drive the mobile manned lunar rover,and effectively improve the driving efficiency and security of the mobile manned lunar rover.

关 键 词：力反馈 手柄 载人登月 载人月球车 UNITY3D 

分 类 号：TH703[机械工程—仪器科学与技术]