| 月球车牵引力优化控制 |
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| 引用本文： | 刘建军,陈建新. 月球车牵引力优化控制[J]. 空间控制技术与应用, 2011, 37(4): 1-6,35. DOI: 10.3969/j.issn.1674-1579.2011.04.001 |
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| 作者姓名： | 刘建军 陈建新 |
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| 作者单位： | 北京控制工程研究所,北京,100190;空间智能控制技术重点实验室,北京,100190 |
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| 摘 要： | 月球车的运动控制是月球车完成探测任务的前提．为了解决月球车在月球表面上的运动控制问题，针对月壤环境以及月球车驱动系统冗余的特点，研究月球车闭环协调牵引控制问题．对非结构化环境且轮地之间存在滑移的6轮摇臂悬架月球车进行运动学建模与分析，建立相应的动力学方程以及准静态平衡方程，并使用零空间优化的思想对月球车的力分配进行优化配置，最后给出仿真结果，验证了算法的有效性．
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| 关 键 词： | 月球车 运动学 动力学 牵引力控制 力分配 |
An Optimizing Traction Control of Lunar Rovers |
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| LIU Jianjun,CHEN Jianxin. An Optimizing Traction Control of Lunar Rovers[J]. Aerospace Contrd and Application, 2011, 37(4): 1-6,35. DOI: 10.3969/j.issn.1674-1579.2011.04.001 |
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| Authors: | LIU Jianjun CHEN Jianxin |
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| Affiliation: | LIU Jianjun,CHEN Jianxin(1.Beijing Institute of Control Engineering,Beijing 100190,China,2.Science and Technology on Space Intelligent Control Laboratory,China) |
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| Abstract: | Reliable motion control is the precondition for successful accomplishment of a lunar rover's exploration tasks.In order to solve the motion control problem of lunar rover over traverse rough terrain,an optimizing traction control method from the view of lunar terrain and redundant system is proposed.A general approach to the kinematics modeling and analyses of rocker-bogie mode lunar rover traversing uneven and soft terrain is introduced;the dynamic model and quasistatic equilibrium equations are establishe... |
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| Keywords: | lunar rover kinematics dynamics traction control force distribution |
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