月面巡视探测器运动控制方法研究

基于动力学的运动控制是星球探测车研制中的关键技术之一。本文以某多轮驱动、多轮转向的月面巡视探测器运动控制为背景,在建立其三自由度动力学模型的基础上,研究了常规增量式PID和模糊自适应PID控制算法,并进行了仿真比较。典型车轮失效情况下的仿真表明,模糊自适应PID方法能够有效控制月面巡视探测器四轮失效的情况,而常规PID方法能够有效控制探测器三轮失效的情况。模糊自适应PID方法对参数扰动敏感性低,鲁棒性更强,较好地处理了常规控制方法可能产生的小超调与快速性的矛盾。

Study on the Motion Control Methods of the Lunar Rover

The motion control based on dynamics is a key technology of developing star exploration rover.For the motion control of the lunar rover by multiwheel driving and steering,this paper studies the normal incremental PID and the fuzzy adaptive PID control methods after analyzing the 3-DOF dynamics models.Simulations show that the fuzzy adaptive PID method can effectively control the case of four wheels invalidation,while the normal PID method can control the case of three wheels invalidation.The results show that the fuzzy adaptive PID method is less sensitive to parameters disturbances and more robust,while can better solve the problem of small overshoot and rapidity.