机电工程技术2025，Vol.54Issue(10)：47-54,8.DOI:10.3969/j.issn.1009-9492.2024.00081
面向月球车低重力随动系统控制器设计与仿真验证
Design and Simulation Verification of Controller for Low-gravity Follower System of Lunar Rover
摘要
Abstract
In order to solve the problem of the ground level follow-up experiment of the manned lunar rover,the dynamic model of the lunar rover follow-up control system is built,and the hanging level follow-up control system of the lunar rover is designed based on the model.The system has underactuated characteristics,which makes it difficult to ensure the following accuracy and real-time performance in the following process.Therefore,a sliding mode control method based on equivalent control is proposed.By designing the sliding mode,the system can quickly stabilize at the working point,the sling angle tends to zero,and the system tracking accuracy is guaranteed.In order to improve the anti-interference ability of the system,the equivalent control is introduced.The simulation results show that the system eliminates the sling inclination in 1.5 s,and the maximum inclination error is controlled within±4°.The position of the lifting point of the lunar rover realizes zero static error tracking,which verifies that the proposed control method can effectively solve the difficulties caused by the quality change of the lunar rover and the external uncertainty interference on the tracking accuracy and real-time tracking performance of the system,making the system have high precision,high dynamic response and strong anti-interference ability.关键词
载人月球车/随动系统/等效控制/滑模控制/动力学仿真Key words
manned lunar rover/servo system/equivalent control/sliding mode control/dynamics simulation分类
信息技术与安全科学引用本文复制引用
罗睿,赵英杰,贺云,刘明洋,权钰涵,刘顺泽..面向月球车低重力随动系统控制器设计与仿真验证[J].机电工程技术,2025,54(10):47-54,8.基金项目
中央引导地方科技发展资金项目(2022JH6/100100014) （2022JH6/100100014）
