Owing to different gravities, the same manned lunar rover shows different acceleration properties on the earth and the moon; therefore, it is of great significance for astronauts to be trained on the earth under the condition of the acceleration properties found on the moon. In this article, a novel acceleration imitation method focused on a single wheel is proposed to obtain equivalent acceleration when using the same acceleration driver input under different gravities, and the acceleration imitation algorithm is derived based on a mechanical model of a special metal wheel with a mesh surface. To reduce the complexity and improve the real-time properties of the algorithm, a fitting function for the imitation torque ratio is proposed to adjust the relationship between the acceleration driver input and the driving torque of the wheel. Finally, experiments were conducted to verify the acceleration imitation algorithm, and the results revealed that the wheel with an imitation torque ratio could effectively approximate on the earth the same acceleration experienced by a single wheel of a manned lunar rover on the moon, given equivalent acceleration driver inputs.

中文翻译：

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改变地球扭矩对载人月球车单轮的等效加速度模仿

由于重力不同，同一载人月球车在地球和月球上显示出不同的加速度特性；因此，对宇航员在月球上发现的加速特性条件下在地球上进行训练具有重要意义。本文提出了一种新的针对单个车轮的加速度模仿方法，以在不同重力下使用相同的加速度驾驶员输入时获得等效加速度，并基于特殊金属车轮的力学模型推导了加速度模仿算法。网格表面。为了降低算法的复杂度并提高算法的实时性，提出了一种模拟扭矩比的拟合函数，以调整加速驾驶员输入与车轮驱动扭矩之间的关系。最后，