以六轮摇臂-转向架关节式月球车为研究对象,根据其机械原理和结构特点,并参考车辆动力学理论,分析其在崎岖地形中的受力情况,利用Kane方法建立了理想状态下的非线性动力学模型,并基于此模型对月球车进行速度跟踪控制仿真,证实了模型和控制方案的可行性,为设计轨迹跟踪和避障控制器提供依据. Based on its mechanical principle and structural characteristics, and with reference to the vehicle dynamics theory, the six-wheel rocker-bogie lunar rover was analyzed to analyze its force in the rugged terrain. The Kane method was used to establish the ideal lunar rover Nonlinear dynamics model. Based on this model, the lunar rover is tracked and controlled. The feasibility of the model and control scheme is verified, which provides the basis for the design of trajectory tracking and obstacle avoidance controller.