六轮摇臂式月球车力矩分配的优化方法研究

Research on Optimization Method of Torque Distribution of Six-Wheel Rocker-Bogie Lunar Rover

针对传统的基于广义逆的力矩分配方法难以满足复杂地形下的月球车牵引控制要求,在基于车轮静态负载和动力学模型的协调牵引控制方法基础上,研究了基于寻优的六轮独立驱动月球车车轮力矩分配方法,并在可视化的月球车牵引控制仿真平台进行了仿真验证,从而实现了闭环牵引控制;仿真研究证实了提出的力分配方法比基于广义逆方法的力矩分配方法具有突出的优势。

Torque distribution based on the generalized inverse method is not efficient in rough terrain. This paper researches an optimization method based on the rover＇ s dynamic model. Through building the 3D virtual environment, simulation experiment supports the fact that the optimal torque distribution method is better than generalized inverse method.