摘要
主动悬架星球车比被动悬架星球车有更好的环境适应性和运动能力。但由于主动悬架包含主动悬架机构和关节,因此对其进行有效控制将更复杂。基于星球车运动速度较低的特点,应用系统稳定性准则研究了主动悬架的构型与姿态控制,设计了相应的控制方法。在ADAMS和MATLAB下的联合仿真表明了该方法的可行性,而且验证了主动悬架星球车在运动稳定性方面的优势。
As compared with the passive suspension rover, the active one enhances the motion capabilities on irregular and unknown terrains. Due to the existence of redundantly actuated system of active suspension rovers, the control system is more complex. Base on the low speed of rover movement, the research on attitude control of the active suspension is conducted and a method for stability is proposed. The simulation in the ADAMS and MATLAB illustrates the effectiveness of the method and high stability of the rover movement.
出处
《空间控制技术与应用》
2008年第3期12-16,41,共6页
Aerospace Control and Application
关键词
星球车
被动悬架
主动悬架
移动系统
姿态控制
rover
passive suspension
active suspension
locomotion
attitude control
