月表采样器智能自主运动控制方法及验证

Intelligent Autonomous Motion Control Method and Verification of Lunar Surface Sampler

针对月表采样过程复杂且要求地球站的遥操作复杂,导致误操作风险高的问题,提出了一种基于模型的采样器智能自主运动控制方法,建立了采样器运动控制的逻辑模型和参数模型,将采样器运动控制流程分解为运动部件的多个动作,通过部件动作的有机组合以及参数的灵活配置,实现了复杂运动过程的简化操作,提升了地球站遥操作指令的效能以及采样器的自主运动能力。经试验验证,结果表明:采样器智能自主运动控制方法将地球站遥操作指令的效能提升4~10倍,可有效支持采样器在月表强时效性约束的环境中完成采样任务。

Lunar sampling process is complex,which requires complex remote operation from earth station and thus causes the high risk problem of misoperation.This paper processes a model based sampler intelligent autonomous motion control method,establishes a sampler motion control logic model and parameter model.According to this method,the sampler movement control process is decomposed into the moving parts of multiple action,and the complex movement process of simplified operation is realized by the movements of the components of organic combination as well as flexible configuration of the parameters,which improve the efficiency of the earth station remote operation instruction and the autonomous movement ability of the sampler.The experimental results show that the intelligent autonomous motion control method of sampler can improve the efficiency of the remote operation of the earth station by 4~10 times,and effectively supports the sampler to complete the sampling task in the time-constrained environment of the lunar surface.