具有滑移的摇臂式月球车建模与控制

MODELLING AND CONTROL FOR LUNAR ROCKER-BOGIED ROVER WITH SLIP

研究了具有滑移、六轮独立驱动的摇臂式月球车建模与控制问题。利用拉格朗日法分析了该月球车受力状况及其动力学模型,并得出在考虑小滑移率、小失配角时的摇臂式月球车动力学模型可表示为以车轮支撑力及其作用位置、地面力学特性、摇臂位形为参量,以月球车平动速度及转动速度、车轮转动速度为状态,以电动机驱动电流(电压)、方向轮位形为输入的仿射性微分方程组的定性结论。从而可以根据实时检测月球车车轮支撑力运用模糊变结构控制方法对月球车动力学系统控制律进行实时修改达到对月球车伺服控制的目的。

The modeling and control of rocker-bogied and six-wheeled lunar rover with slip is presented. The dynamic equations of rocker-bogied rover are deduced, which can be described qualitatively as a group of affine differential equations with translation velocity and steering velocity as outputs, with motor control currents or voltages as inputs and with wheel normal contact forces, their contact places and contact force coefficients as parameters on condition that sliding ratio and mismatch angles are small. Thus, the lunar rover can be servo-controlled using fuzzy sliding mode control according to sensed normal contract forces.