基于滑转补偿的月球车轨迹跟踪控制算法

针对月球车轨迹跟踪问题，研究提出了六轮摇臂一转向架式月球车的基于滑转补偿的轨迹跟踪控制算法。为防止在轨迹跟踪过程中车轮滑转、下陷现象的发生，该控制算法采用新型指数趋近律的滑模控制对月球车车轮的滑转进行补偿；通过分析月球车的运动学模型和月球车的驱动系统辨识建立被控系统的状态空间模型，采用最优控制算法对其在崎岖路面的轨迹进行跟踪控制。最后，在ADAMS与Matlab／SIMULINK联合仿真环境下进行了仿真试验。结果表明，该算法可以在实现轨迹跟踪的基础上，降低月球车在崎岖路面各轮的滑转率差异，从而减少内力消耗，提高车体的通过性能，使月球车在软土环境下运动更加协调。...

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Bibliographic Details
Published in电机与控制学报 Vol. 18; no. 1; pp. 105 - 111
Main Author 李琳辉 连静 王蒙蒙 王文波 吴淑梅
Format Journal Article
LanguageChinese
Published 大连理工大学工业装备结构分析国家重点实验室,辽宁大连116024 2014
大连理工大学汽车工程学院,辽宁大连116024%大连理工大学汽车工程学院,辽宁大连,116024
Subjects
最优控制器
月球车
滑模控制器
滑转补偿
轨迹跟踪控制
滑模控制器
trajectory tracking control
轨迹跟踪控制
最优控制器
月球车
slip compensation
sliding mode controller
lunar rover
滑转补偿
optimal controller
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ISSN1007-449X

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Summary:针对月球车轨迹跟踪问题，研究提出了六轮摇臂一转向架式月球车的基于滑转补偿的轨迹跟踪控制算法。为防止在轨迹跟踪过程中车轮滑转、下陷现象的发生，该控制算法采用新型指数趋近律的滑模控制对月球车车轮的滑转进行补偿；通过分析月球车的运动学模型和月球车的驱动系统辨识建立被控系统的状态空间模型，采用最优控制算法对其在崎岖路面的轨迹进行跟踪控制。最后，在ADAMS与Matlab／SIMULINK联合仿真环境下进行了仿真试验。结果表明，该算法可以在实现轨迹跟踪的基础上，降低月球车在崎岖路面各轮的滑转率差异，从而减少内力消耗，提高车体的通过性能，使月球车在软土环境下运动更加协调。
Bibliography:23-1408/TM
LI Lin-hui, LIAN Jing, WANG Meng-meng, WANG Wen-bo, WU Shu-mei （1. State Key Laboratory of Structural Analysis for Industrial Equipment, Dalian University of Technology, Dalian 116024, China; 2. School of Automotive Engineering, Dalian University of Technology, Dalian 116024, China）
lunar rover; trajectory tracking control; slip compensation; sliding mode controller; optimal controller
To prevent slippage and sinkage of wheels, a trajectory tracking control algorithm based on the slip compensation for wheeled lunar rover with Rocker Bogie is proposed and described in this paper. This algorithm used the improved exponential approach law to optimize the traction force. The kinematics and traction system identification was analyzed to build the state-space model of the system. In order to validate the proposed algorithm, the trajectory tracking was controlled by optimal controller. The co-simu- lations between ADAMS and Matlab/SIMULINK were carried out. Simulation results demonstrate the ef- fectiveness
ISSN:1007-449X