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LRV OPERATIONS

HANDBOOK

APPENDIX A

(PERFORMANCE DATA)

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OPEPATIONS HANDBOOK

DATA) (NASA) 120 p

REVISION 1

APRIL 19, 19 1 I

00/98

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17581

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LSOO6-OO2-2H

LUNAR ROVING VEHICLE

OPERATIONS HANDBOOK

CONTRACT NAS8-25145

APPROVED:

I

PREPARED BY THE BOEING COMPANY

LRV SYSTEMS ENGINEERING

HUNTSVILLE, ALABAMA

PREFACE

This document is the first revision issue of the Appendix A

(Performance Data) to the LRV Operations Handbook. This appendix

will be maintsined on a controlled bssis by the Systems Engineering

Division of the Apollo Spacecraft Program Office, with change pages

issued as required.

It is requested that any comments to the data content, require-

ments for additional data, and distribution changes be sent to PD4/

Mr. J. W. Mistrot, extension 4667.

REV

LTR

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AMEND

NO.

I

DES(_IPTION

REVISIONS

DATE

LSOO6-OO2-2HLUNAR ROVINGVEHICLEOPERATIONSHANDBOOK

APPENDIX A

SECTION

1.0I.I1.21.31.4

2.02.12.22,32.42.52.62.72.82.92.10

3.03.13.23.33.43.5

3.63.73.83.93.10

4.04.14.24.34.4

5.05.15.25.35.4

b.O6.1

TABLE OF CONTENTS

INTRODUCTIONPURPOSECONTENTAMENDMENTSSELECTED ABBREVIATIONS AND ACRONYMS

CONFIGURATIONCHASSIS CONFIGURATIONSUSPENSIONSYSTEM CONFIGURATIONSTEERING SYSTEM CONFIGURATIONTRACTION DRIVE CONFIGURATIONWHEELCONFIGURATIONCREWSTATION CONFIGURATIONPOWERSYSTEMCONFIGURATIONNAVIGATION SYSTEM CONFIGURATIONTHERMALCONTROLCONFIGURATIONPAYLOAD INTERFACES

CONSTRAINTS AND OPERATIONAL LIMITATIONSCHASSIS SUBSYSTEM CONSTRAINTSSUSPENSION SUBSYSTEM CONSTRAINTS

MOBILITY SUBSYSTEM CONSTRAINTSELECTRICAL POWER SUBSYSTEM CONSTRAINTSNAVIGATION SUBSYSTEM CONSTRAINTSDISPLAY AND CONTROLS SUBSYSTEM CONSTRAINTSCREW STATION SUBSYSTEM CONSTRAINTSVEHICLE DYNAMIC OPERATION CONSTRAINTSPARKING CONSTRAINTSTHERMAL CONSTRAINTS

SUBSYSTEMPERFORMANCEDATAMOBILITY SUBSYSTEMPERFORMANCEELECTRICAL SUBSYSTEMPERFORMANCENAVIGATION SUBSYSTEMPERFORMANCEDISPLAYS AND CONTROLSSUBSYSTEMPERFORMANCE

VEHICLE PERFORMANCE DATA

VEHICLE DYNAMIC RESPONSERANGE, SPEED, LURAIN CAPABILITYTHERMAL PERFORMANCECONTROLLABILITY

SPECIFIC VEHICLE DATALRV-I

PAGE

A-IA-IA-IA-IA-I

A-2A-2A-2A-2A-2A-2A-2A-3A-3A-3A-3

A-23A-23A-23A-23A-23A-25A-25A-26A-26A-26A-26

A-46A-46A-59A-67A-75

A-79A-79A-82

A-83A-83

A-93A-93

Mission Basic Date 2/5/71 Cnange Date 4119/71

LSOO6-OO2-2HLUNAR ROVING VEHICLE

OPERATIONS HANDBOOKAPPENDIX A

LIST OF FIGURES

FIGURE NO. PAGE

2-I

2-22-32-4

2-52-62-72-82-92-102-112-122-132-143-I3-23-33-43-5

3-6

3-7

3-I0

3-11

3-12

3-13

LRV CONFIGURATION WITHOUT STOWED PAYLOADLRV DIMENSIONSLRV CHASSISLRV SUSPENSION SYSTEM

LRV STEERING SYSTEMLRV TRACTION DRIVELRV WHEELLRV WHEEL DEFLECTION VS LOADLRV DRIVE CONTROLLRV CREW STATION COMPONENTSLRV BATTERY AND DUST COVER ASSEMBLYLRV NAVIGATION COr_PONENTSLRV THE_IAL CONTROLPAYLOAD INTERFACESCREW STATION LIMIT LOADS (HANDHOLDS & TOEHOLDS)CREW STATION LIMIT LOADS (SEATS & FOOTRESTS)GROSS WEIGHT ALLOWABLE C.G. ENVELOPEVEHICLE STATIC STABILITYLATERAL LIMIT VELOCITY FOR OVERTURNING FROM

COLLISION WITH IMMOVABLE OBJECTLRV SLIDING LIMIT VELOCITY AS A FUNCTION OF

TURNING RADIUS AND SLOPE ANGLE FOR A 0.8COEFFICIENT OF FRICTION

LRV SLIDING LIMIT VELOCITY AS A FUNCTION OFTURNING RADIUS AND SLOPE ANGLE FOR A 0.6

COEFFICIENT OF FRICTIONLRV OVERTURNING LIMIT VELOCITY AS A FUNCTION OF

TURNING RADIUS AND SLOPE ANGLEMAXIMUM BUMP HEIGHTS WHICH CAN BE ENCOUNTERED

WITHOUT CAUSING OVERTURN AS A FUNCTION OFVELOCITY AND SLOPE

TURNING RADIUS REQUIRED FOR LOCATING C.G, OUTSIDENORMAL POSITION FOR PREVENTION OF OVERTURN ON0 ° SLOPE

TURNING RADIUS REQUIRED FOR LOCATING C.G. OUTSIDENORMAL POSITION FOR PREVENTION OF OVERTURN ONI0 o SLOPE

TURNING RADIUS REQUIRED FOR LOCATING C.G. OUTSIDENORMAL POSITION FOR PREVENTION OF OVERTURN ON20 ° SLOPE

TURNING RADIUS REQUIEED FOR LOCATING C.G. ABOVENORMAL POSITION FOR PREVENTION OF OVERTURN ON0 ° SLOPE

A-4A-5A-6A-7A-8A-9A-IOA-I 1A-12A-14A-16A-17A-18A-19A-27A-28A-29A-31A-32

A-33

A-34

A-35

A-36

A-37

A-38

A-39

A-40

Basic D_te 2/5/71 Change Date 4/19/71 ?uge oAiiM_sl0n J

LSOO6-OO2-2H

LUNAR ROVING VEHICLEOPERATIONS HANDBOOK

APPENDIX A

LIST OF FIGURES

(Continued)

FIGURE NO.

3-14

3-15

3-16

3-174-I4-24..34-4

4-5

4-6

4-7

4-8

4-9

4-10

4-11

4-12

4-134-14

4-15

4-16

4-17

TURNING RADIUS REQUIRED FOR LOCATING C.G. ABOVENORMAL POSITION FOR PREVENTION OF OVERTURN ONI0 ° SLOPE

TURNING RADIUS REQUIRED FOR LOCATING C.G. ABOVENORMAL POSITION FOR PREVENTION OF OVERTURN ON20 ° SLOPE

SAFE DRIVING CORRIDOR IN CASE_OF STEERING FAILUREAS A FUNCTION OF VELOCITY, SLOPE, AND STEERINGAPPLICATION

FARKING ORIENTATION CONSTRAINTS

VEHICLE POWER CONSt:MPTION V% SPEED - 0 ° SLOPE

VEHICLE POWER CONSUMPTION VS SPEEb - 5° SLOPE

VEHICLE POWER CONSUMPTION VS SPEED -.lO° SLOPE

LRV TRACTION DRIVE PERFORMANCE (DC MOTOR-HARMONIC

DRIVE-DRIVE CONTROLLER) FULL VOLTAGE (36 V)PERFORMANCE

BATTERY CURRENT VS SPEED

TR#.CTION DRIVE-RATE (IF TEMPERATURE INCREASE VS

SOLAR ELEW_.TION ANGLE (FRONT WHEEL)

TP,ACTION DRIVE-RATE OF TEMPERATURE INCREASE VS

ZENITH ANC_LE (LEFT FRONT WHEEL)TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS

ZFNITH ANGLE (LEFT REAR WHEEL)TRACTION DRIVE-RATE OF TEMPEP.ATURE INCREASE VS

7ENITH ANGLE (RIGHT FRONT WHEEL)TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS

ZENITH ANGLE (RIGHT RLAR WHEEL)TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS

SPEED (FRONT WHEEL)

TRACTION DRIVE-RATE OF TEMPERATURE INCREASE VS

SLOPL (FRONT WHEEL)VOLTAGE VS CURRENT DRAW PER BATTERY

BATTERY VOLTAGE VS STATE OF CHARGE

[_ATTERY RATE or- TEMrERATURE INCREASE WITF CURRENT

DRAIN (RIGHT BATTERY; i.e., BAITERY #2)B#TTERY RAIE OF TEMPERATURE INCREASE WIT_ CURI)ENT

DRAIN (LEFT BATTERY; i.e., BATTERY #l)

BATTERY RAIE OF TEf.;PFRATURE CHANGE (DIJST COVERS

OPEN, LEFT BATTERY; i.e., BAITERY #1)

PAGE

A-41

A-42

A-43

A-4_A-47A--4E

A-4t'

A-50

A-51A-52

A-53

A-5_

A-55

A-5G

A-57

A-58

A.-6_IA-61A-62

A-63

A-6._

Mission J Basic Date 2/5/71 Change Date 4/19/71 ?uge #,i_.,ii

LSOO6-OO2-2H


APPENDIX A

FIGURE NO.

4-18

4-194-2O4-214-224-234-24

4-254-264-27

4-28

4-295-I

5-25-35-45-5

5-65-75-85-9

6-I6-26-36-46-56-66-76-8

LIST OF FIGURES

(Continued)

PAGE

BATTERY RATE OF TEMPERATURE CHANGE (DUST COVERS A-65OPEN, RIGHT BATTERY; I.E., BATTERY #2)

DISTRIBUTION LOSSES A-66

DGU POWER CONSUMPTION A-68DGU DRIFT RATE VS TEMPERATURE A-69NAVIGATION BEARING ERROR AS A FUNCTION OF DGU DRIFT A-70SSD AZIMUTH CORRECTION FOR VEHICLE ROLL A-71CORRECTED SSD ANGLE FOR VEHICLE PITCH - SUN ANGLE lO° A-72CORRECTED SSD ANGLE FOR VEHICLE PITCH - SUN ANGLE 25° A-73CORRECTED SSD ANGLE FOR VEHICLE PITCH - SUN ANGLE 40° A-74TORQUE REQUIRED TO ROTATE HAND CONTROLLER FOR A-76

THROTTLE CONTROL

TORQUE REQUIRED TO ROTATE HAND CONTROLLER FOR A-77STEERING CONTROL

BRAKE CONTROL FORCE VS DISPLACEMENT A-78VERTICAL ACCELERATION AT LRV SEATS AS A FUNCTION OF A-80

VELOCITY AND LURAIN TYPE

LRV DAMPING POWER LOSSES A-85EFFECT OF SPEED ON LRV RANGE A-86EFFECT OF WEIGHT CHANGE ON RANGE FOR FOUR LURAIN TYPES A-87EFFECT OF WEIGHT CHANGE ON MAXIMUM VELOCITY FOR FOUR A-88

LURAIN TYPES

SLOPE CLIMBING CAPABILITY FOR VARYING C.G. LOCATION A-89STOPPING DISTANCE VS SPEED A-90POWER SPECTRAL DENSITY FOR LUNAR SURFACE ROUGHNESS A-glEFFECT OF WEIGHT CHANGE ON CONTROLLABILITY FOR FOUR A-92

LURAIN TYPES

TRACTION DRIVE CHARACTERISTICS FOR LF .DRIVEUNIT A-94TRACTION DRIVE CHARACTERISTICS FOR RF DRIVE UNIT A-95TRACTION DRIVE CHARACTERISTICS FOR LR DRIVE UNIT A-96TRACTION DRIVE CHARACTERISTICS FOR RR DRIVE UNIT A-97

METER CALIBRATION - MOTOR TEMPERATURE A-102METER CALIBRATION - BATTERY TEMPERATURE A-103GYRO DRIFT RATE, LRV-I METER CALIBRATION - AMP HOUR A-104METER CALIBRATION - VOLTS/AMPS A-105

Mission J Basic Date 215171 Cnange Date 4/19/71 Puge __Aiv

LSOO6-OO2-2HLUNARROVINGVEHICLEOPERATIONSHANDBOOK

APPENDIXA

TABLENO.

3-I

3-11

3-111

5-I

5-11

5-Ill

5-1V

6-I

6-II

6-III

6-IV

LISTOFTABLES

PAYLOADLIMITATIONS

COMPONENTTEMPERATURELIMITS

SPEEDRESTRICTIONSTOPREVENTEXCEEDINGSTRUCTURALDESIGNLOADS

VIBRATIONENVIRONMENTATLRVPAYLOADINTERFACES

LRVSTEADYSTATEPOWERCONSUMPTION

LRVSPEEDCAPABILITY

LRVCONTROLLABILITYSPEEDLIMITS

LRV-INAVIGATIONSYSTEMPOWERCONSUMPTION

LRV-IWEIGHT,C.G. ANDMOMENTSOFINERTIA

LRV-ILUNAROPERJ_TIONALWEIGHTDISTRIBUTION-STATIC,LEVELLURAINCONDITION

SUMMARYOFLRV-IMOBILITYPARAMETERS

PAGE

A-24

A-30

A-44

A-81

A-82

A-83

A-84

A-98

A-99

A-lO0

A-lOl

Mission J Basic Date 215171 Change Date 4119/71 Page Av

LSOO6-OO2-2HLUNAR ROVING VEHICLEOPERATIONSHANDBOOK

APPENDIX A

1.0 INTRODUCTION

I.I PURPOSE

This document is intended to supply LRV performance data necessary for missionplanning and flight control personnel to adequately plan and control operationof the LRV on the lunar surface. The data contained herein is to be used inconjunction with the LRV Operations Handbook which contains crew operatingprocedures, timelines and system description.

1.2 CONTENT

This Appendix A contains data on LRV configuration and defines constraints andoperation_limitations of the various vehicle subsystems. In addition subsystemsperformance data are provided as well as overall vehicle performance data. Thefinal section of the Appendix contains data defining constraints and performancedata unique to each individual LRV.

1.3 AMENDMENTS

Amendments to data contained in the appendix will be issued as additional databecomes available from LRV test programs and/or as more refined data becomesavailable from updated analyses. When such amendments are issued, they willbe approved and signed by the MSFC LRV Program Manager. MSFC will then trans-mit one printing master of each amendment to MSC. Reproduction and controlof amendment distribution at MSC will be accomplished by MSC.

1.4 SELEClED ABBREVIATIONS AND ACRONYMS

The following abbreviations and acronyms are used throughout this docun_nt:

DCE - Drive Controller ElectronicsDGU - Directional Gyro UnitGCTA - Ground Controlled Television AssemblyIPI - Integrated Position IndicatorKPII - Kilometers per HourLCRU - Lunar Communications Rela_yUnitLRV - Lunar Roving VehicleNSS - Navigation SubsystemPSD - Power Spectral DensityPWM - Pulse Width Modulator

SPU - Signal Processipg LlnitTBD - To be Determined

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 Puge mA-I


APPENDIX A

2.0 CONFIGURATION

The illustrations included in this section describe the configuration of the

Lunar Roving Vehicle, details and locations of major vehicle subsystems, andimportant dimensions of the vehicle elements. Figure 2-I describes the basicLRV configuration and identifies and locates the principal LRV subsystems.Stowed payload is not shown installed on the vehicle but payload mountin!_interfaces are identified. Important LRV overall di_nsions are shown onFigure 2-2.

2.1 CHASSIS CONFIGURATION

The configuration details and principal dimensions of the LRV chassis areshown on Figure 2-3. The floor panels are shown removed to provide detallson the primary and secondary structural members.

2.2 SUSPENSION SYSTEM CONFIGURATION

Major components of the LRV Suspension System are shown and identified onFigure 2-4. The torsion bars serve to unfold the wheels during the deploymentoperations and to provide both contour following and chassis resiliency duringoperation on the lurain.

2.3 STEERING SYSTEM CONFIGURATION

Major components of the LRV Steering System are shown and identified onFigure 2-5. Only one decoupling ring is provided for each steering system,fore and aft. The aft decoupling ring is located on the right side of the

vehicle; the front decoupling ring is located on the left side of the vehicle.

2.4 TRACTION DRIVE CONFIGURATION

Internal configuration of the LRV Traction Drive is shown on Figure 2-6.

2.5 LRV WHEEL CONFIGURATION

The LRV Wheel construction details and critical dimensions are shown on Figure

2-7. The decoupling devices are actuated to provide free-wheeling capabilityin the event of drive seizure. Wheel deflection characteristics are shown in

Figure 2-8.

2.6 LRV CREW STATION CONFIGURATION

The major components comprising the LRV Crew Station are identified and loca-ted on Figure2-1OA. The layout and dimensional characteristics of the controland display console portion of the Crew Station are shown on Figure2-1OB.

MissionJ Basic Date 2/5/71 Cnange Date 4/19/71 Puge _A-2


APPENDIXA

2.7 LRVPOWERSYSTEMCONFIGURATION

Theconfiguration of the typical LRVBattery and Dust CoverAssemblyisdefined in Figure 2-11. Battery dimensionsare provided on this figure.

2.8 LRVNAVIGATIONSYSTEMCONFIGURATION

The componentscomprising the LRVNavigation Systemare identified and locatedon Figure 2-12. Control and Display Consolemounteditems included in theNavigation Systemare shownon Figure 2-10B.

2.9 LRVTHERMALCONTROLCONFIGURATION

Themajor componentsOf the LRVThermalControl Systemare identified andlocated on Figure 2-13. Thedust coversare raised to permit radiation ofheat from the spaceradiators.

2.10 LRVPAYLOADINTERFACES

ThePayloadInterfaces with the LRVare shownon Figures 2-14A, 2-14B, 2-14C,and2-14D. Portions of the interface connectorswhich are not part of thebasic LRVsystembut which are permanentlyinstalled on the LRVare identifiedon these figures.

Mission J Basic Date 2/5/71 Cnange Date4119/71

LSOO6-OO2-2H


APPENDIX A

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Mission J Basic Date 2/5/71 Cnanqe Date 4/19/71 Page _A-4

LSOO6-002_2H


APPENDIX A

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LSOO6-OO2-2H


APPENDIX A

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Mission J Basic Date 2/5/71 Change Date 4/19/71 Puge A-6

LSOO6-OO2-2H


APPENDIX A

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Mibsl0n Basic Date 2/5/71 Cnange Date4119171

LSOO6-OO2-2H


APPENDIX A

__. MOTOR

SECTOR l _ _FEEDBACK POT

1_ 'I L___-

,.______,_._1L "

\ ,_ I_, "__ r _-TIE ROD ARM

/ f _,_ _ ___ _\ CONNECTION

\ /

REAR STEERING

RING

DECOUPLINGRING

FIGURE 2-5 LRV STEERING SYSTEM

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 i>_ge A-8

LSOO6-OO2-2H


OPERATIONS HANDBOOK

APPENDIX A

DECOUPLING MECI

CIRCULAR SPLINE

HARMONIC

WAVE GENERATOR

FLEXIBLE SPLINE

WHEEL

BRAKEAS

BEARING

__ ,,,,,..@'_--__ __.y]r

IVE MOTOR

l.

.I1

f

SUSPENSION SYSTEM

ATTACH FITTINGS

WHEEL HUB

FIGURE 2-6 LRV TRACTION DRIVE

A-9Mission J Basic Date 2/5/71 Change Date 4/19/71 ,P_ge

LSOO6-OO2-2H


APPENDIX A

VIEW A-A

--TREAD

r OUTER

WHEEL DECOUPLINGDEVICES

32.19 DIA.

INNERFRAME

(BUMP STOP)

TIRE OUTERFRAME

FIGURE 2-7 LRV WHEEL

Mission J Basic Date 2/5/71 Change Date 4/Ig/7l Puge __A'lO

LSOO6-OO2-2HLUNARI_OVINGVEHICLEOPERATIONSHANDBOOK

APPENDIXA

RADIALWHEELLOAD(LBS)

600

400

200

135

63

DESIGNLIMI' LOAD

Z

i--il"-

,.Jl.a.

ZH

Z mm

l ].75 2 3 3.25

RADIAL DEFLECTION(INCHES)

4 4.15

FIGURE 2-8 LRV WHEEL DEFLECTION VS LOAD

A-11

LSOO6-OO2-2H


APPENDIX A

y __,._ PITC,H PIVOT

_" STEI_R

a .625 14" VERTICAL iooPOINT

iii '-- -- FORWARI__NEUIRA L

I"I \L_ -"=,=

FIGURE 2-9A LRV DRIVE CONTROL - HAND CONTROLLER

Mission J Basic Date 2/5/71 Change Date 4/19/71 7_ge A.__12

LSOO6-OO2-2H


APPENDIX A

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A-13X_,_s_un J Basic D_te 2/5/71 Cnanqe Date 4/19/71 _,,g_.

LSOO6-OO2-2H


APPENDIX A

DISPLAY AND CONTROL CONSOLE

EPLOYABLE

SECTION

FENDERS

(4 PL)

FOOTREST(2 PL)

ARM REST

BLSS ATTACHMENT STRAP

DEPLOYABLESECTION

VELCRO FOR PLSSLATERAL RESTRAINT

(2 PL)

SEATASSEMBLY

(2 PL)

PLSS VERTICAL

SUPPORT (2 PL)

OUTBOARD HANDHOLD

(2 PL)

INBOARD HANDHOLD(2 PL}

TOEHOLD ,(2 PL)

SEAT BELT (2PL)

FIGURE 2-10A LRV CREW STATION COMPONENTS

i_,g=. A-14,v,i:;_:r J l.:÷si_ n.,r. 2/5/71 c_.n,. "l,_t,. 4/19/71

LSOO6-002-2FI

LUNAR ROVING VEHICLEOPERATIONSHANDBOOK

APPENDIX A

r '_ . -ICAUTION/WARMING LATCH--% • I J(DISCARDEDAFTERLRV f \ _. 6" • ;-_'_ 2" --_DEPLOYMENT)/'_,_1 1_ _. ._.] l

[ __-- -- --" -1 ALARM I

m//Atuu¢ AnuAI-n,vn--'ll l_4"(/If |/, ,', /, // // // _'T r-_--r /I // ¢'_ ,_IA,,_- ........ ;II - -t' It--_/'// • i- ,I, , - II I/ i/ /r- _(ALARM ]

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POSITION " J : , , _ -win- ,d_INDICATOR r _ J ' '-: _ ' ,-A. 1,._ _,._.

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FIGURE 2-9A LRV CREW STATION COMPONENTS - CONTROL AND DISPLAY CONSOLE

Mission J Basic Date 2/5/71 Cnanqe Date 4/19/71 ._.gu__A-15

LSOO6-002-2H


APPENDIX A

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SCREW

FIGURE 2-11 LRV BATTERY AND DUST COVER ASSEMBLY

Mission J Basic Date 2/5/71 Change Date 4/19/71 Puge mA-16

LSOO6-OO2-2H


APPENDIX A

SPEEDMETER

SUN -'--ISHADOWDEVICE

DIRECTIONAL--- 1

GYRO UNIT /

-ODOMETER

(ALL 4 WHEELSI

INTEGRATED

POSITIONINDICATOR

ATTITUDEINDICATOR

SIGNALPROCESSINGUNIT

FIGURE 2-12 LRV NAVIGATION COMPONENTS

Mission _R_;,.'c __,:t-_ 2/5/71 ,.-_an_.,_ nat_4/19/71 _,,g_ A...-I7

LSOO6-OO2-2HLUNARROVINGVEHICLEOPERATIONSIIANDBOOK

APPENDIXA

DRIVECONTROLELECTRONICSANDTHERMALCONTROLUNIT

SPACE RADIATOR

GYRO(DGU)

DUST COVER BATTERY NO. 1

INSULATION BLANKEI15 LAYERS OFALUMINIZED MYLARAND NYLON NETTINGWITH BETA CLOTHEXTERNAL SURFACES

GYRO THERMAL STRAP

BATTERY NO. 1

FUSIBLE MASS & THERMAL STRAP

SIGNAL PROCESSING UNIT

(SPU) (DUST COVER NOT SHOWN)

BATTERY NO, 2

DUST COVER,BATTERY NO. 2

FIGURE 2-13 LRV THERMAL CONTROL

Mission J Basic D_te 2/5/71 Cnanqe Date 4/19/71 _ogu A-I_

LSOO6-OO2-2H

LUNARROVINGVEHICLEOPERATIONSHANDBOOK

APPENDIXA

COLORTVCAMERA

HI GAIN"S" BANDANTENNA

/

CONNECTIONTO THE LOW-GAIN

ANTENNA -----.D_ \\•_OR_AR _ .jRECEPTACLE /

//

j /

•

(TYPICAL FOR HIGH GAIN /

ANTENNA AND TV CAMERA) _

FIGURE 2-14A PAYLOAD INTERFACE-LCRU, HIGH GAIN ANTENNA, TV CAMERA INTERFACES

M_slon J Basic Date 2/5/71 Change Date 4/19/7] ?_ge __A-19

LSOO6-002-2H


APPENDIX A

HIGH GAIN ANTENNAAND GCTA ADAPTERINSERT (REMAINS ONLRV AT ALL TIMES)

LCRU OR GCTA CONNECTOR(DISCONNECTED FROM DUMMYCONNECTOR/DUST CAP BEFORE INSTALLING LCRU)

DUMMYCONNECTOR/DUST CAP(REMOVED AND DISCARDEDBEFORE INSTALLING HIGIIGAIN ANTENNA OR GCTA)

LRV FWD CHASSIS

--_GCTA POWER CONNECTOR

DETAIL A(TYPICAL 2 P'LACES)

LRV AUXILIARY CONNECTOR/LCRU CABLE POWER CONNECTOR

CABLE TIE-DOWN STRAPS Y,.'_ (SEE DETAIL A)

!

LCRU CONNECTOR

LCRU/TVlLRVCABLE

FIGURE 2-14B PAYLOAD INTERFACE ° LCRU/TV/LRV CABLE STOWAGE

A-20Mission J Gasic D_te 2/5/71 Cnan_e Date 4/19f71 ',,ge

LSOO6-OO2-2H



16 MM DATA ACQUISITIONCAMERA

LOWANTENNA

TO ROTATE AZIMUTH SETTING,GRASP HANDLE, PUSH DOWN

TO UNLOCK, TURN TO DESIREDSETTING AND RELEASE. STAFFLOCKS IN LAST POSITION.

LRV INBOARDHANDHOLD

PUSH BUTTON TO

RELEASE AND/ORREMOVE STAFFFROM HANDHOLD

)

FIGURE 2-14C PAYLOAD INTLRFACE - LOW GAIN ANTENNA AND16 MM DAC INTERFACE

Ml_slon Basic Date 2/5/71 Change Date 4/19/71 Puge A-21


APPENDIXA

LLETSUPPORTPOST(STOWED.).

i

POST TIEDOWN TAB

R. H. ADAPTER

REAR CHASSIS

FIGURE 2-14D PAYLOAD INTERFACE - LRV REAR PAYLOAD PALLET ADAPTERS

Mission J Basic Date 2/5/71 Change Date 4/19/71 :_ge A-22


OPERATIONS HANDBOOKAPPEr_DIX A

3.0 CONSTRAINTS AND OPERATIONAL LIMITATIONS

The LRV must be operated in such a manner as not to exceed the constraints and oper-ational limitations of the following subsystems:

3.1 CHASSIS SUBSYSTEM CONSTRAINTS

The constraints which apply to the chassis are concerned with loads imparted to thevarious chassis members. In order to control these loads, limitations are imposed

on location of stowed payload items. To preserve the factor of safety of 1.5 theLRV shall be loaded such that the loads in the chassis payload zones do not exceedthe maximum loads shown in Table 3-I. Overloading the vehicle beyond the total970 Ib. limit will also result in performance degradation as shown in Section 5.

The chassis frame is constructed of thin wall aluminum rectangular tubes which are

scalloped in certain areas for weight saving. These thin wall areas are subjectto damage from high-impact loads beyond the designed-for conditions. Therefore,the chassis should not be subjected to such use as supporting rock samples forbreaking apart the rocks with geologic tools wherein the geologic tools could strikethe chassis.

3.2 SUSPENSION SUBSYSTEM CONSTRAINTS

The suspension system is designed for a factor of safety of 1.5 based on a maximumgross weight LRV of 1500 lb. with the C.G. of the gross weight falling such thatnot more than 55% of the total weight is supported by the front or rear wheels.The factor of safety will be reduced if the LRV is loaded in such a manner thatthese limits are exceeded.

Suspension system thermal constraints are defined in paragraph 3.10.

3.3 MOBILITY SUBSYSTEM CONSTRAINTS

The only constraints concerned with the wheels, traction drives, steering and hand

controller are limitations caused by component capability discussed in Section 4

and by thermal limitations discussed in paragraph 3.10.

3.4 ELECTRICAL POWER SUBSYSTEM CONSTRAINTS

3.4.1 Batteries

The power subsystem is designed to use both batteries simultaneously on an approxi-

mate-equal load basis, i.e. one front and one rear traction drive should be operatedfrom one battery and the other front and other rear traction drives operated from the

other battery. Likewise the front steering motor should be operated from one

battery and the rear steering motor from the other battery. Only in a contingency

mode should all loads be transferred to one battery, since battery heat rise increases

with increase in battery current. This consideration is discussed in 4.2.

Mission J Basic Date 215/71 Change Date 4/19/711 • P_ge __A-23



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P-,ge



3.0 Continued

3.4.2 Switches and Circuit Breakers

To provide maximum crew safety ir event of undetected failure of drive logiccomponents, the following restrictions should be adhered to in sequentialselection of switch positions:

a. The two STEERING and four DRIVE POWER switches should be in the OFF position whenchanging position of the +I5VDC switch.

b. The +I5VDC PRIM or +15¥DC SEC circuit breaker should be closed and the + 15VDC

switc-h in PRIM or SE-C position, respectively, before operating the two STEERINGand four DRIVE POWER switches.

Proper order for selection of all circuit breakers and switches is given in Section2 of the basic LRV Operations Handbook.

3.5 NAVIGATION SUBSYSTEM CONSTRAINTS

a. The GYRO TORQUING switch is not to be kept in the LEFT or RIGHT position formore than two minutes. Aftertwo minutes on, the switch must be kept OFF fora minimum of five minutesto prevent damage to the torquing motor.

b. The navigation subsystem input voltage must not be allowed to be less than30 VDC to prevent excessive computation and display errors and to preventdamage to navigation equipment if the under-voltage situation is prolonged.If the VOLTS indicator indicates less than 60 the NAV POWER circuit breaker

should be opened. The VOLTS indicator should be checked periodically (at leasteach 15 minutes) to verify readings of not less than 60.

NOTE

Navigation readings should be reported and recorded by MCC beforeclosing the NAV POWER circuit breaker. Reapplication of powerwill cause loss of display retention.

c. NAV POWER should be on for at least 3 minutes before driving the LRV to allow

the directional gyro to reach operating spin speed.

d. The LRV must be level within + 6 ° in pitch and roll and parked downsun within+ 3 ° during navigation initiaTization and update to achieve required systemaccuracy.

3.6 DISPLAY AND CONTROLS SUBSYSTEM CONSTRAINTS

Crew procedures for operating the displays and controls are contained in the basicLRV Operations Handbook.

No constraints exist other than those already listed in 3.4 and 3.5.

A-25

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 P_ge


APPENDIX A

3.7 CREWSTATION SUBSYSTEMCONSTRAINTS

No constraints to crew station operation exist when operated in accordance withthe crew procedures in Section 2 of the basic LRV Operations Handbook.

These procedures are based on the crew station structural capability. To main-tain the safety factor of 1.5 the loads imposed on crew station components shouldnot exceed the values shown in Figures 3-I and 3-2.

3.8 VEHICLE DYNAMIC OPERATIONCONSTRAINTS

The LRV is designed with inherent stability characteristics of wide wheel track andlow center of gravity. Static stability limits are shown in Figure 3-4. Overturnof the vehicle is a remote possibility, occurring only under severe conditions ofextremely tight turns at high speeds on steep slopes or collision with immovableobjects. Speeds, slopes, turning radii limits, and obstacle height to preventoverturn and sliding are shown in Figures 3-5 through 3-9. These curves are basedon the C.G. of the loaded vehicle falling within the envelope shown on Figure 3-3.The required increase in turning radius for preventing overturn caused by locatingthe loaded LRV C.G. outside the Figure 3-3 envelope is shown in Figures 3-1Othrough 3-15. Maximum allowable speeds to prevent exceeding structural designloads are shown in Table 3-111. The safe driving corridor for driving with onesteering assembly failed is shown in Figure 3-16.

3.9 PARKING CONSTRAINTS

3.9.1 During-Traverse Parking

There are no orientation constraints imposed on parking in sunlightduring traverses. The LRV must not be parked in shadow for longerthan 2 hours to prevent display and control console electronics damage.

Switch and circuit breaker positions for short-term parking are given in the basicLRV Operations Handbook.

3.9.2 Between-Traverses Parking

To prevent thermal damage to the control and display console instruments and tobe compatible with LCRU thermal requirements the LRV must be parked in sunlightoriented relative to the sun azimuth in accordance with Figure 3-17 when parkingthe LRV between sorties.

3.10 THERMAL CONSTRAINTS

The LRV is designed for operation in the lunar day at sun elevation angles ofgreater than Five degrees. All qualification tests have been conducted to thelunar environment temperature levels expected to be encountered by the LRV.Operations on the moon should be restricted to maintain components within thesetemperature limits. Temperature limits for specific components are defined inTable 3-11.

Mission J Basic Date 2/5/71 Cnange Date4119171 A-26

?_ge

LSOO6-OO2-2H


APPENDIX A

I00 Ib

HANDHOLD

J I00 IbTOEHOLDI00 Ib

OUTBOARDHAND HOLD

3

ALL LOADS ARE LIMIT LOADS

IH_BLSARDHAND- _ XM RES/__T HAND CONT!O_iiiii_i_S2io01_ b

FIGURE 3-I CREW STATION LIMIT LOADS (HANDHOLDS AND TOEHOLDS)

J Basic Date 2/5/71 Cnange Date 4/19/71 :>_gc _A-27Misslon


APPENDIX A

HI2-HI2

HI2-HI2

(_ J/2

J12

"L '

E*

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I

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ZSEAT BELT

+F

D*

-F

D*

L AND K DO NOT ACT

ON BOTH SIDES OFSEAT SIMULTANEOUSLY

* DISTRIBUTED LOADSACTING OVER THEAPPLICABLE AREA

TENSION LOAD - 160 LBS

LOADCONDITION A

1 27

II

3** 142

B C D E F G H J K L

51 326 175 92 70 23 17 9 113 113

2l 254 70 43 198 17 0 0 0 0

0 0 0 200 200 142 50 0 0 0

ALL LOADS ARE LIMIT LOADS

*_ CONDITION 3 LOADS DO NOT ACT SIMULTANEOUSLY

FIGURE 3-2 CREW STATION LIMIT LOADS (SEATS AND FOOTRESTS)

Missi0n J Basic Date 2/5/71

A-28Cnanqe Date 4/19/71 2_ge o

LSOO6-OO2-2H


APPENDIX A

c

o

STA

_ _TA12225

IiL STASTA Z = 86.25

_. STA STA X : 76.0Y-+3.2 X = 67.0

Y=-3.2

FIGURE 3-3 GROSS WEIGHT ALLOWABLE C.G. ENVELOPE

A-29Mission J Basic Date 2/5/71 Cnange Date 4/19/71 P_ge

LSOO6-OO2-2H


APPENDIX A

3.1.0 Continued

Maximum Survival Minimum MinimumOperating Upper Operating SurvivalTemperature Temperature Temperature TemperatureLimit Limit Limit Limit

Component °F °F oF oF

*Batterv 125 140 40 -15

DCE 159 180 0 -20

*Traction Drive 400 450 -25 -50

Wheel 250 250 -200 -250

SPU 130 185 30 -65

DGU 160 200 -65 -80

IPI 185 185 -22 -65

Suspension Damper 400 450 -65 -70

Steering Motor 360 400 -25 -50

*Analog Display on LRV Panel

TABLE 3-11 COMPONENT TEMPERATURE LIMITS

3.10.! Shadow Constraints

The LRV must not be operated in shadows for !onoer than 30 continuous minutes to

prevent damage to the wire wheels. The LRV must be exposed to i0 minutes of

sunliaht before re-entering shadow to allow adequate surface-to-wheel heat transfer.

The LRV must not be par$:ed in lunar shadow for longer than two hours to prevent

low temperature damage to the electronics in the control and display console.

A-30Mission J Basic Date 2/5/71 Cnange Date 4/19/71 _uge .---Hi i

LSOO6-OO2-2H


APPENDIX A

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LUNAR ROVING VEHICLEOPERATIOn,S HANDBOOK

APPEt_DIXA

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LSOO6-OO2-2H


APPENDIX A

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APPENDIX A

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LSOO6-OO2-2HLUNAR ROVING VEHICLEOPERATIONS HANDBOOK

APPENDIX A

MAXIMUM SPEED FOR DESIGN LIMIT LOADS WITH FATIGUE CONSIDERATIONS*

LURAIN TYPE IMIDRANGE) MAX ALLOWABLE SPEED

SMOOTH MARE 13 KM/HR

ROUGHMARE 8.5 KM/HR

HUMMOCKY UPLAND 8 KM/HR

ROUGH UPLAND 7 KM/HR

*BASED ON CEI REFERENCE MISSION

TABLE 3-1II SPEED RESTRICTIONS

Page A-44

MissionBasic Date 2/5/71 Change Date 4/19/71


OPERATIONS HANDBOOK

APPENDIX A

FOR SUN ELEV.ANGLES GREATERTHAN 2o

LRV

SOLAR

VECTOR

II0 °

120°

180 °

FOR SUN ELEV.ANGLES 5° - 12°

SHADED AREAS INDICATE THE PARKING ATTITUDES ACCEPTABLETO THE LRV AND TO THE PAYLOAD.

FIGURE 3-17 PARKING ORIENTATION CONSTRAINTS

Hibsion J Basic Date 2/5/71 Cnange Date 4/19/71 ,T>_ge A-45

LSOO6-OO2-2H


APPENDIX A

4.0 SUBSYSTEM PERFORMANCE DATA

This section defines the performance characteristics of the various LRV sub-

systems. Thermal performance characteristics are included for those subsystemshaving thermal limitations.

4.1 MOBILITY SUBSYSTEM PERFORMANCE

LRV power consumption per kilometer of travel as functions of speed, lurainslope and soil type is defined in Figures 4-I, 4-2, and 4-3. A constant speedwas considered in the preparation of these curves. The effect of vehicle accel-eration through the irdicated velocity was not evaluated but the curves do in-clude wheel slippage effects. Power consumption shown on these curves is basedon traction drive characteristics shown in Figure 4-4.

Battery current provided to the traction drives as a function of speed and handcontroller throttle position is defined on Figure 4-5.

The rate of traction drive temperature increase as a function of solar elevation

angle and drive temperature is defined on Figures 4-6. A zero degree slope wasconsidered in the preparation of these curves.

The effects of zenith angle and traction drive temperature upon the wheeltemperature increase for a solar elevation angle of 60° are shown in Figures4-7 through 4-I0.

The rate of traction drive temperature increase as a function of vehicle speedand traction drive temperature under zero degree slope and 60 degree solarangle conditions is shown in Figures 4-7 through 4-I0.

The rate of traction drive temperature increase as a function of vehicle speedand traction drive temperature under zero degree slope and 60 degree solarangle conditions is shown in Figure 4-11.

The rate of traction drive temperature increase for a solar angle of 60° andas a function of lurain slope and drive temperature is defined in Figure 4-12.

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 , Puge mA-46

LSOO6-OO2-2H


OPERATIONS HANDBOOK

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APPENDIXA

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Mission J Basic Date 2/5/71 Change Date 4/19/71 Page _A-58


APPENDIX A

4.2 ELECTRICAL SUBSYSTEMPERFORMANCE

The battery nominal voltage is 36 +5 VDC. Voltage for various current drainsbetween 0 and 62 amperes is shown T_ Figure 4-13. Voltage vs. state of chargeai a final discharge rate of 47 amperes is shown in Figure 4-14. The rate ofbattery temperature increase as a function of current flow and battery tempera-ture is ,!efined on Figures 4-15 and 4-16. Separate curves are provided forboth left and right battery positions. The effect of battery temperature andsolar reflector dust coverage upon battery temperature change for both left andright batte_1 p_sitions is defined on Figures 4-17 and 4-18. Rates of batterytemperature increase with one battery providing all the required LRV power canbe obtained from Figures 4-15 and 4-16.

Distribution losses in the power distribution system are shown in Figure 4-19.The 36 volt losses (I_) are shown totaled for all four traction drive motorsusing the motor current scale. Motor controller cable losses (Im) are shownin Figures 4-19 using the total battery current scale.

A-59

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APPENDIX A

4.3 NAVIGATION SUBSYSTEM PERFORMANCE

Directicnal Gyro Unit power consumption as a function of temperature is defined

on Figure 4-20.

Directional Gyro Unit drift rate as a function of temperature is shown in

Figure 4-21.

Bearing error as a function of gyro drift rate and navigation subsystem updateperiod is shown on Figure 4-22.

Sun Shadow Device Azimuth corrections as a function of vehicle roll angle and

sun elevation angle are defined on Figure 4-23.

Sun Shadow Device Azimuth corrections as a function of Sun Shadow Device

Reading and pitch angle for sun elevation angles of I0, 25 and 40 degrees areshown in Figures 4-24, 4-25, and 4-26.

A-67J Basic D_te 2/5/71 Cnange Date 4/19/71 i_uge

M_SION

LSOO6-OO2-2HLUNAR ROVING VEIIICLEOPERATIONS HANDBOOK

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APPENDIX A

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LS006-002-2_ILUNAR ROVING VEHICLEOPERATIONSHANDBOOK

APPENDIX A

I II. OBTAIh ROLL ANGLE FROM

ATT. IND.2. PROJECT ANGLE UP OR

DOWN TO SUN ANGLEINTERCEPT.

!

3. PROJECT TO SSD CORRECTION.

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ACTUAL VEH. HEAD. =

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(CORRECTION)

SSD = + (SHADOW TO RIGHT)

= - (SHADOW TO LEFT)

ROLL CORRECTION FOR SSD

FIGURE 4-23 SSD AZIMUTH CORRECTION FOR VEHICLE ROLL

X_iun J Basic _te 2/5/71 Cnange Date 4/19/71 O_ge A-71w



SSD ANGLE (L)&

15

+20°

lO

IPITCH DOWN

PITCH UI

FIGURE 4-24.

CORRECTEDSSDANGLE FOR PITCH

r lSUN ELEVATION : I0°

I_ +20°

PITCH UP

+5

'+I0

,+15

PITCH DOWN

ISSD ANGLE (R)

lO

CORRECTED SSD ANGLE FOR VEHICLE PITCH (I0° SUN ELEVATION

Mission J Basic D_te 2/5/71 Cnange Date 4/19/71 i_ugeA-72

LS006-002-211LUNAR ROVING VEt(ICLLOPERATIONSHANDBOOK

APPENDIX A'

CORRECTED SSDANGLE FOR PITCH

SUN ELEVATION = 25°

I

-15 PITC_HUP I +20°

• ' j_/

SSDIoANGLE_/_(L)5/ +5 5

PITCH DOWN +I0

0° +20°

PITCH UP

O

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+15

FIGURE 4-25 CORRECTED SSD ANGLE FOR VEHICLE PITCH (25° SUN ELEVATION)

Misslon J Basic Date 2/5/71 Change Date 4/Ig/71 i_ge A-73ii i |l



CORRECTED SSD

ANGLE FOR PITCH

SSD ANGLE (L)

15

i

SUN ELEVATION = 40°

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+20 °

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15

FIGURE 4-26 CORRECTED SSD ANGLE FOR VEHICLE PITCH (40° SUN ELEVATION)

Misslon J Basic D_te 2/5/71 Change Date 4/19/71 ;;ugeA-74


APPENDIXA

4.4 DISPLAYSANDCONTROLSSUBSYSTEMPERFORMANCE

Torquerequired to provide throttle control at various handcontroller angulardisplacementsis defined on Figure 4-27.

Torquerequired to effect steering control at various handcontroller angulardisplacementsis defined on Figure 4-28.

Handcontroller forces to accomplishvehicle braking as a function of handcontroller linear andangular displacementis defired on Figure 4-29.

M_sslon J Basic Date 2/5/71 Cnan_e Date .. 4/19/71 P,,ge A-75i


APPENDIX A

I DASH LINE INDICATES

I NOMINAL TORQUE VS

I DISPLACEMENT

TORQUE

(IN-LB) I' 16-

_'-'1 /--TORQUE LIMIT

---- 4-12 L__JE_ ...........UE BAND

FROM O°F TO 200°F

10"

1II

12 10 8 6 4

REVERSE

6 8 I0 12

FORWARDDISPLACEMENT (DEG)

FIGURE 1-12

I

I

TORQUE R£QUIRED TO ROTATE I!ANDCONTROLLER FOR IHROTTLE CONTROL

Mission J Basic Date 2/5/7] Change Date 4/19/71 Page A-76

LSOO6-OO2-2H


APPENDIX A

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Mission J Basic Date 2/5/71 Change Date 4/19/71 i)uge mA-77

LS_O-OO2-2hLUNAR ROVING VEHICLE


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DISPLACEMENT (IN.)

I I I ! I5 10 15 20 25

DEGREES (REF)

30

FIGURE 4-29 BRAKE CONTROL FURCE VS DISPLACEMENT

Mission a Basic Date 2/S/7] Change Date 4/19/71 Page A-78



5.0 VEHICLE PERFORMANCE DATA

5.1 VEHICLE DYNAMIC RESPONSE

The LRV will exhibit dynamic characteristics dependent on the surface traversedand the speed at which the surface is traversed.

The vertical acceleration at the LRV seats for various speeds over varioussurface types is shown in Figure 5-I.

The vibration environments induced into the various LRV payload zones as aresult of traversing the lunar surface are shown in Table 5-I.

J 2/5/71 Change Date 4/19/71 ;uge __A-79_ission Basic D_te


APPENDIX A

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LSOO6-OO2-gHLUNAR ROVING VEHICLEOPERATIONSHANDBOOK

APPENDIX A

5.2 RANGE, SPEED, LURAIN CAPABILITY

5.2.1 Range

Power for the LRV is supplied by two 36 VDC primary batteries having a totalcapacity of 8280 watt-hours. LRV range is dependent on the way these watt-hours are consumed, e.g. the ratio of driving time to standby time, the lengthof time the LCRU is operated from LRV power, the length of time spent traver-sing slopes and speed selected.

To calculate range, all power consumption must be determined, including bothvariable and constant power levels. The variable power consumption for motor/gear box inefficiencies, steering motor inefficiency and drive controller lossescan be calculated from the data presented in Section 4.1. Variable power usedue to electrical distribution losses are contained in Figure 4-19 • Variabledamping power losses are shown in Figure 5-2.

The other power users operate independent of the mobility subsystem and haveconstant power levels regardless of LRV mobility activities. These constantpnwer levels are defined in Table 5-11.

Range sensitivity to speed and weight are shown on Figure 5-4.

COMPONENT POWER TIME

CONTROL & DISPLAY I0 WATTS ENTIRE SORTIE

NAVIGATION (WARM UP) 90 WATTS 3 MINUTES

NAVIGATION (AFTER WARM UP) 40 WATTS ENTIRE SORTIE AFTERWARMUP

DRIVE CONTROLLER (STANDBY) 23 WATTS DURING PARKED PERIODWITH DRIVE MOTORS ON

TABLE 5-11 LRV STEADY STATE POWER CONSUMPTION

5.2.2 Speed

LRV maximum speed capability is dependent on the slope being traversed, thetype of soil encountered, the surface roughness of the lurain and the LRV

gross weight. Maximum speed capability is shown ir Table 5-111. Effects ofweight on maximum speed is sho_ in Figure 5-5.

A-82Misslon J Basic Date 2/5/71 Cnange Date 4/19/71, Puge


APPENDIX A

SMOOTH MARE

ROUGHUPLANDS

SURFACEROUGHNESS

SLOPE MID-RANGE PSD

0 ° 9.5

5_ 8.2

I0° 7.3

0* 10.5

5° 8.7

10° 7.6TABLE 5-111 LRV SPEED CAPABILITY

5.2.3 Lurain Capability

The LRV is designed with the following capabilities of traversing the lunarsurface:

Crevasse Crossing Capability

Step Obstacle Climbing CapabilityClearance Under Chassis

70 cm width35 cm high35 cm

Slope climbing capability of the LRV is shown in Figure 5-6.

5.3 THERMALPERFORMANCE

Themal performance characteristics of the LRV are defined in Section 4 underthe appropriate subsystem performance paragraph,

5.4 CONTROLLABILITY

5.4.1 Steering

The LRV has a turning radius of 122 inches utilizing the four wheel steeringcapability. The steering rate is such that lock-to-lock steering angle changecan be accomplished in 6 seconds. Crewman forces required to control steer-ing by use of the hand controller are shown in Figure 4-28.

5.4.2 Braking

Stopping distances for various initial speeds and different slopes are shownin Figure 5-7.

Hand Controller forces required to effect braking are shown in Figure 4-29.

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 i>_gejA-83


APPENDIXA

5.4.3 Speed

At high speedsthe LRVcanbecomeuncontrollable. Thecontrollability speedlimit is basedon wheel slip angle considerations and tends to be independentof lurain type. Thecontrollability speed limit should be utilized for mission

planning purposes. Double Ackerman steering was used.

Actual driving experience on the moon's surface should dictate the final con-

trollability speed restrictions.

CONTROLLABILITY SPEED LIMIT

ALL LURAIN TYPES lO KM/HR

TABLE 5-1V LRV CONTROLLABILITY SPEED LIMITS

__I

A-84Mission J Basic Date 2/5/71 Change Date 4/19/71 Page ___-

LSO06 -002 -2tt

LUNAR ROVING VEHICLEOPLRATIONS IIANDBOOK

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Mission Basic Date 2/5/71 Cnanqe Date 4/19/71A-86

P,,ge

LSOO6-OO2-2H


APPENDIX A

WEIGHT

LB

÷ DATA TO BE SUPPLIED BY MSFC

!- 0 +

RANGE

FIGURE 5-4 EFFECT OF WEIGHT CHANGE ON RANGE FOR FOURLURAIN TYPES

A-87Mission J Gasic D_te ,.2/5/71 Change Date 4/19/71 )>_ge



A WEIGHTLB+

DATA TO BE SUPPLIED BY MSFC

MAX VELOCITY KPH +

FIGURE 5-5 EFFECT OF WEIGHT CHANGE ON MAXIMUM VELOCITY FORFOUR LURAIN TYPES

MissiOn Basic D_te 215171 Cnanqe Date 4/19/71A-Si_



DATA TO BE PROVIDED BY MSFC

i ....

FIGURE 5-6

SLOPE CLIMBING CAPABILITY FOR VARYING C.G. LOCATION

M_sion J Basic D_te 2/5171 Cnanqe Date 4/19/71 ?uge hA-89

LSOO6-OO2-2H


APPENDIX A

_°

22

2O

STOPPING DISTANCE VERSUS INITIAL VELOCITY FOR VARIOUS SLOPES

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Ml_sion J Basic Date 215/71 Change Date 4/19/71 _ge __A-91

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APPENDIX A

WE IGHTDATA TO BE SUPPLIED BY MSFC

FIGURE 5-9 EFFECT OF WEIGHT CHANGE ON CONTROLLABILITY FOR

FOUR LURAIN TYPES

Mission Basic Date 2/5/71 Change Date 4/19/71A-92

Puge .._


APPENDIX A

6.0 SPECIFIC VEHICLE DATA

6.1 LRV-I

6.1.1 Constraints

No constraints other than those shown in Section 3 are applicable.

6.1.2 Subsystem Performance

The traction drive characteristics for each of the four traction drives on

LRV-I are shown in Figure 6-I through 6-4.

Forward and rear steering motor maximum current measured during acceptance testwas 1.50 amps for the front and 1.45 amps for the rear against a torque of200 ir-lbs.

6.1.3 Vehicle Performance Data (Acceptance Test Data)

Power consumption characteristics of the navigation system are shown on Table6-I.

Chassis ground clearance under full load (1520 l_s.) is 35.1 cm.

6.1.4 Controllability (Acceptance Test Data)

TFe turning radius measured during acceptance test is 3.1 meters.

Lock-to-lock steering required 5.0 +_ _l seconds, against a torque of 200 in-lbs.

6.1.5 Weight and Center of Gravity

The weight and C.G. of LRV-I in all flight and deployed configurations is shownin Tables 6-11 and 6-111.

6.l.6 Navigation Odometer Factor

The LRV-I navigation system is set up such that the odometer will register 0.245

meters per count. Thc.-reare 9 counts per wheel revolution.

6.1.7 Meter Calibration

The final meter calibration curves for each of the four meters on LRV-I are

shown in Figures 6-5 through 6-8 .

Mission

_-93J Basic Date 2/5/71 Change Date 4/19/71 P-ge


APPENDIXA

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Mission J Basic Date 2/5/71 Cnange Date 411gl71A-94

.....Puge ---


APPENDIXA

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OPERATIONS HANDBOOK

APPENDIX A

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A-96J Basic Date 2/5/71 Cnanqe Date 4/19/71 ?uge .--Mi_slon


APPENDIXA

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LSOO6-OOZ-2H


APPENDIX A

NAVIGATION SYSTEM RESET AND WARMUP

NSSCURRENT

(AMPS)

BATTERYVOLTAGE TO

SPU

(VOLTS)

NSSPOWER

CONSUMED

(WATTS)

2.36 34.8 82.1

LRV-I rlAVIGATIONSYSTEM POWER CONSUMPTION

TABLE 6-I

Mission J Basic Date 2/5/71 Cnange Date 4/19/71 Puge .._A-98



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Misslon J Basic Date 2/5/71 Change Date 4/19/71 ?.ge _A-99


APPENDIX A

LRV-I LOADED WEIGHT DISTRIBUTION: FRONTWHEELS 48.4%REAR WHEELS 51.6%

LRV-] LOADED WHEEL LOADING: RIGHT FRONTLEFT FRONTRIGHT REARLEFT REAR

365.5 LBS (24.0%)369.9 LBS (24,3%)390.2 LBS (25,7%)394.8 LBS (26.0%)

TABLE 6-III LRV-I LUNAR OPERATIONAL WEIGHTDISTRIBUTION - STATIC, LEVELLURAIN CONDITION

A-IO0Mission J Basic Date 2/5/71 Change Date 4/19/71 7uge



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Mission J Basic L)_te 2/5/71 Cnange Date 4/19/71 ?uge _A-IOI


APPENDIXA

0:C

w

+3-

+2-

+l-

+ ERROR: METER READS LOW- ERROR: METER READS HIGH

MOTOR TEMPERATURE METERFINAL CALIBRATIONMETER 209-20005-4 SN 5LH I02.3 {_@ l.O MARH I02.4 fl@ l.O MAASCENDING

DESCENDING ....

t t I t t i

2O0 250 300 350 400 450 500

LH SCALE - DEGREES F

+3-

+2-

+l-

-3 , w , (_ , w200 250 300 350 4 0 450 500

RH SCALE - DEGREES F

FIGURE G-5

A-102Mission J Basic Date 2/5/71 Change Date 4/19/71 Puge ..-


APPENDIXA

+3-

+2-

+l-C_(Dr_

BATTERY TEMPERATURE METER

FINAL CALIBRATIONMETER 209-20005-3 SN 4LH 97.2 II@ 1.0 MARH I03.3 II@ l.O MAASCENDING ,DESCENDING.....

'_'0-

2

-3 I I I I I I ! I I

0 20 40 60 80 1O0 120 140 160 180

LH SCALE - DEGREES F

+3-

+2-

+I-

| I I I I I I l I

20 40 60 80 lO0 120 140 160 180

RH SCALE - DEGREES F

FIGURE 6-6

A-103Mission J Basic Date 2/5/71 Cnange Date 4/19/71 ;_uge


APPENDIXA

+3-

+2-

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C)

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v

AMP HOUR METER

FINAL CALIBRATIONMETER 209-20005-I SN 4LH 98.5 Q@ l.O MARH 96.2 i_@ l.O MAASCENDINGDESCENDING.....

! _ I I _ I ! i I I ! I' I I-lO 0 lO 20 30 40 50 60 70 80 90 lO0 llO 120

LH SCALE - AMP HRS

+3-

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==0-

-l

'1 I i I" ! i i I I I ! I ! I'-lO 0 lO 20 30 40 50 60 70 80 90 lO0

RH SCALE - AMP HRSFIGURE 6-7

A-104Mission Basic Date 2/5/71 Change Date 4/19/71 Puge .__

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APPENDIX A

+3-

+2-

+l-

VOLTS/AMPS METERFINAL CALIBRATIONMETER 209-20005-2 SN )LH 97.9 Q @ lO0 MVRH lOl.6Q @ lO0 MVASCENDINGDESCENDING.-.--,..

-2-

-3 I I I I I I I i I I

0 10 20 30 40 50 60 70 80 90 lOO

LH SCALE - VOLTS/AMPS

+3-

+2-

I

0 lO 20 30 40 50 60 70

RH SCALE - VOLTS/AMPS

FIGURE 6-8

80 90 lO0

Mission J Basic Date

NASA -- MSC -- Coml., Houston. Texas

2/5/71 Change Date 4/19/71iiiii

A-105?uge --.

LRV OPERATIONS HANDBOOK APPENDIX A ... LUNAR ROVING VEHICLE OPERATIONS HANDBOOK CONTRACT NAS8-25145...

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Transcript of LRV OPERATIONS HANDBOOK APPENDIX A ... LUNAR ROVING VEHICLE OPERATIONS HANDBOOK CONTRACT NAS8-25145...