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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。
A new exponential approach law sliding mode driven coordinated control method for lunar rover based on ADAMS dynamic model and kinematic model was studied. The driving coordinated control method takes the average wheel slip rate as the state variable, and considers the impact of the lunar rover moving on the rough terrain and the change of the wheel load on the wheel traction, and improves the driving coordination performance of the car body. In addition, a lunar rover was co-simulated with ADAMS and MATLAB / Simulink for hill climbing and ditch conditions. The simulation results show that the control algorithm improves the passing performance of lunar rover, reduces the energy consumption and makes the lunar rover more coordinated in the soft soil environment.