基于动力学模型的月球车闭环牵引控制

Closed-loop Traction Control of Lunar Rover Based on Dynamic Model

以往的行星探测巡游车大多采用开环的运动学计算方式来实现巡游车的牵引驱动,但这在复杂地形下并不能满足跟踪给定速度的要求。提出采用基于动力学模型的牵引控制方法,实现月球车速度的闭环反馈控制。作为冗余自由度机器人,利用驱动力矩与速度的对偶关系完成月球车的力矩分配,实现了关节速度范数最小和动能最小的动力学优化效果。在动力学可视化仿真平台上,对基于动力学模型的闭环牵引控制方法进行了性能评价,证实其控制效果优于传统的开环运动学计算方式。

Traction of the planetary rover often used kinematics calculation method. When the rover is walking on rough terrain, this kind of open-loop control method can not drive the rover to follow the desired velocity efficiently. This paper describes an approach to implement the closed-loop traction control, which is based on the rover＇s dynamic model. As a redundancy robot, the dualistic relationship between traction torque and velocity is used to implement the wheel torque distribution. By using this method, the wheel velocity differences and the sum of the kinetic energy will be minimized. Through building the 3D virtual environment, simulation experiment supports the fact that the closed-loop traction control is much better than the traditional open-loop kinematics calculation method.