Imitation Algorithm of Single Wheel Linear Accelerating on Moon for Manned Lunar Rover

When the wheels of a manned lunar roving vehicle (LRV) are driven by the same torque both on the Earth and the Moon, the vehicle will produce the different linear acceleration caused by the different gravities. In view of the above questions, a single wheel is concentrated, and the force model of the vertical load, drawbar pull force, and driving torque is established. Then, by analyzing the moving condition of producing the same linear acceleration for a single wheel both on Earth and the Moon, the imitation algorithm for driving the wheel is derived. Finally, to verify the imitation algorithm, the linear accelerations of a single wheel under three conditions, including the lunar condition, the Earth condition with the imitation algorithm, and the Earth condition without the imitation algorithm, are compared. The comparison results show that the wheel on Earth driven by the torque using the imitation algorithm can produce the same linear acceleration with that of the wheel on the Moon. However, the wheel without using imitation algorithm cannot produce the same linear acceleration.