中国机械工程2012，Vol.23Issue(20)：2481-2487,7.DOI:10.3969/j.issn.1004-132X.2012.20.018
坡道行驶工况下月球车运动控制策略仿真
Motion Control Strategy Simulation of a Lunar Rover for Slope Travel
摘要
Abstract
The slopes are a typical terrain of the rugged lunar surface. Based on the analysis and improvement of the wheel -terrain interaction model,a lunar rover terramechanics model for climbing -up- slope was established. Taking into account the deformation of the front wheels on the lunar soil,the calculation of the front and rear wheels sinkages were proposed. Finally,with the analysis of the course of the lunar rover climbing up the slope,it can be concluded that when the slope angle exceeds 21. 8°, the motion control strategy aimed at obstacle avoidance should be adopted. When the wheels have enough traction,the wheel's rotating speed can be controlled,so as to carry out the motion control strategy,which can enable the lunar rover to run at the optimal slip rate with the maximum driving efficiency. And the motion control strategy was simulated in a 3D visualization simulation platform of lunar rove and verified by experiments.关键词
月球车/坡道行驶/地面力学模型/运动控制策略Key words
lunar rover/slope traversal/terramechanics model/motion control strategy分类
信息技术与安全科学引用本文复制引用
黄卫东,鲍劲松,徐有生,赵海亮..坡道行驶工况下月球车运动控制策略仿真[J].中国机械工程,2012,23(20):2481-2487,7.基金项目
国家自然科学基金资助项目(51075264) （51075264）
