基于滑移率补偿的月球车牵引控制与仿真分析

Rover's Traction Control and Simulation Analysis Based on Slip Ratio Compensation

针对月球车驱动轮滑移率过大而引起的驱动轮打滑现象,提出了利用滑移率补偿的月球车牵引控制方法。依据所有转向轮的瞬时转向中心相交于一点,实现月球车驱动轮的协调转向;利用速度与驱动力矩具有对偶性完成了对月球车力矩的分配;通过设计模糊控制器实现了对滑移率补偿项的模糊控制。仿真结果表明,基于滑移率补偿的月球车牵引控制能有效的将车轮滑移率控制在阈值之内,避免了车轮因打滑而出现的车体速度下降,有效地跟踪了期望的车体速度,具有更好的跟踪性能和鲁棒性。

Aiming at the phenomenon of driving wheel slippage,the rover＇s traction control method based on slip ratio compensation is proposed. Steering control can be realized by the instantaneous centers of motion of all the steerable wheels intersected at one point; the dualistic relationship between traction torque and velocity is used to implement the wheel torque distribution; the fuzzy control of the slip ratio compensation term is realized by designing the fuzzy controller. Simulation results show that the slip ratio of rover＇s traction control system based on slip ratio compensation is adjusted within threshold, and the velocity of rover decrease caused by driving wheel slippage is avoided. The desired velocity can be accurately tracked, and the traction control system has good tracking performance and robustness.