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为了实现月球车的运动控制,对六轮独立驱动月球车的动力学与控制进行了研究。根据六轮月球车的机构组成和结构特点,建立了车轮的运动约束方程,并根据非完整约束系统的特性,建立了月球车的劳斯方程。提出了基于模型的车轮计算力矩控制方案,并利用MATLAB/Simulink对月球车跟踪直线和圆弧轨迹的车轮控制方案进行了仿真分析。研究结果证实了控制方案的可行性。该研究工作为月球探测车的运动控制及自主避障功能等奠定了理论基础。
In order to realize the lunar rover’s motion control, the dynamics and control of lunar rover with six independent wheels were studied. According to the mechanism composition and structure characteristics of six-wheeled lunar rover, the motion constraint equation of the wheel is established. According to the characteristics of the nonholonomic constraint system, the Rolls-Royce equation of the lunar rover is established. A model-based calculation scheme of wheel torque is put forward and the wheel control scheme of lunar rover tracking straight line and circular path is simulated by MATLAB / Simulink. The results confirm the feasibility of the control scheme. The research laid the theoretical foundation for the lunar rover motion control and autonomous obstacle avoidance function.