This project comes from the second phase of the lunar exploration project of a major national special project, and is an integral part of the detector system, one of the five major systems of the project. The research of this project breaks through key technologies such as integrated comprehensive design technology of space electronic equipment, mechanism drive control technology of lunar patrol mobile system, mast of structure and mechanism subsystem, and solar wing drive control technology, ensuring the successful realization of the lunar patrol mission of Chang'e-3. Its main innovations are as follows:

1. A highly reliable integrated controller design method with high functional density (0.0866 kg/unit) as the optimization goal is proposed. With a weight of 1.6 kg, 7W power consumption (excluding motor drive power consumption) achieves high-precision closed-loop control of 19 motors, solving the problem of lunar exploration missions. The design challenges of lightweight, integrated and integrated electronic equipment under the strict requirements of weight, size, and power consumption indicators.
2. For the first time in the field of space mechanism control, an adaptive drive control method for positive and reverse loads and an adaptive drive control method based on adjacent cross coupling were adopted The multi-wheel collaborative drive control method solves the coordinated work of multi-wheel movements and realizes reliable braking without brakes. And high-precision movement control of the lunar surface.
3. Adopt a stepper motor high-speed control technology based on the combination of variable subdivision resolution and variable flux linkage trajectory and load disturbance feed-forward. The compensated DC brushless motor low-speed control technology realizes high-speed starting of the stepper motor and low-speed control of the DC brushless motor.
4. For the first time in the field of space mechanism control, a method of data fusion from resolver and motor Hall signals was proposed, solving the problem of The distortion problem of the Hall signal achieves stable output of position/speed information of high-precision moving gear trains.
5. Adopting low-level chip upgrade screening test technology, invented a heat dissipation reinforcement device for high-power devices, which solves the problem of the problem in Facing the problem of reliable operation of electronic equipment in high temperature environments.
   The main technical indicators of this project are shown in the following table:
   serial number project technical indicators
   1 quality 1645.58g
   2 power consumption 6.565W
   3 Number of controlled motors 17 units (2 of which are dual-winding motors)
   4 functional density 0.0866kg/set motor
   5 sensor acquisition 14 resolvers, 13 temperature signals, 25 current signals,
   22-channel subsystem backup telemetry, 2-channel microswitches
   6 control cycle 20ms/19 sets of motor windings
   7 position control precision Except for the solar wing drive mechanism: 0.3°(3σ);
   Solar wing drive mechanism: 1°(3σ)
   8 speed control accuracy 0.3°/s (3σ)
   9 Maximum speed of stepping motor 5000°/s
   10 Minimum speed of BLDC motor 14.7r/min
   11 operating temperature range -35~+70℃
   During the development process of this project, 11 patents were applied, 4 of which have been authorized and 3 papers have been written. In my country's second phase of lunar exploration Chang'e-3 mission, the mechanism control and drive realized the motion control of all moving parts on the lunar rover platform, including a total of 17 mechanisms, including the mobile gear train, mast, robotic arm, and solar wing. The complete success of the Chang'e-3 mission achieved the first time the soft landing and patrol survey of my country's spacecraft on extraterrestrial bodies. It marked the full realization of the second goal of my country's lunar exploration project and was a milestone in the development of my country's aerospace industry. It is a new glory created by the China people on their journey to climb the world's scientific and technological peak. It is another outstanding contribution made by the Chinese nation to human exploration and utilization of space.