月面巡视器实时动力学建模与牵引控制

为实现月面巡视器GNC系统的闭环测试，研究了六轮摇臂式巡视器在月表崎岖地形、松软土壤和低重力环境下的动力学建模与控制问题。基于弹塑性轮—土力学和粘弹性运动副约束分析，建立了巡视器的牛顿—欧拉动力学模型。以跟踪期望速度、角速度为目标，采用速度协调控制和车轮滑移控制，完成了巡视器闭环牵引控制。在实时操作系统下实现了巡视器动力学模型和牵引控制系统，并建立了三维可视化平台，对该动力学模型和牵引控制方法进行验证。测试结果证实了建立的动力学模型准确、稳定，可以真实地模拟巡视器在月球表面的运动行为和轮—土作用关系，且满足运动副的约束；所设计的牵引控制方法可以较准确地实现巡视器跟踪期望的运动。

Real Time Dynamics Modeling and Traction Control for Lunar Rover

To finish the closed loop test of the lunar rover GNC test system, the dynamics modeling and control problem of a six wheel rocker bogie lunar rover is studied under the condition of rough terrain, soft soil and low gravity. A Newton Euler dynamics model of the rover is established based on elastoplastic wheel terrain mechanics and viscoelastic joints. Velocity cooperative control considering the slip of wheels is used for the closed loop traction control, with the goal to track desired velocity and angular velocity of the rover. Both dynamics model and traction control system are finished on a real time syetem to evaluate the model and the control method, and a 3D visualization simulation platform is developed. Experimental results show that the model is accurate and steady, the rover motion and wheel terrain interaction can be truly simulated, the joint constraints are satisfied, and the desired motion can be accurately tracked.