摇臂-转向架轮式月球车驱动协调控制仿真研究

Co-simulation of Traction Harmonious Control on Wheeled Lunar Rover with Rocker Bogie

研究了月球车基于ADAMS动力学模型和运动学模型的新型指数趋近律滑模驱动协调控制方法。该驱动协调控制方法以车轮平均滑转率为状态变量,考虑了月球车在崎岖地面运动的速度、车轮负载变化对车轮牵引力的影响,提高了车体的驱动协调性能。此外,对月球车进行了爬坡和过沟工况下的ADAMS与MATLAB/Simulink联合仿真。仿真结果表明,该控制算法提高了月球车的通过性能,降低了能耗,并使月球车在软土环境下的运动更加协调。

Based on the dynamics and the kinematics model of the lunar rover, the improved exponential approach law was adopted to design the coordination controller. Firstly, the velocity of the rover and the influence of the normal force on the traction force of wheels were integrated into the proposed controller. Secondly, the ground traction forces were optimized to minimize the slip ratio, reduce the power consumption and enhance the mobility properties by concerning the average slip ratio as the state variable. Finally, the co-simulation between ADAMS and MATLAB/Simulink was carried out. Simulation results for a wheeled rover traversing moon-like terrain slope and ditch demonstrate the effectiveness of the control algorithm and the mobility improvement, and that the proposed algorithm makes the motion of lunar rover more flexible and harmonious.