六轮独立驱动月球车的动力学与控制研究  

Dynamics and Control Study of Rover with Six Wheels Independently Driven

作　　者：董玉红[1] 邓宗全[1] 方海涛[1] 陶建国[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《系统仿真学报》2009年第4期1210-1213,1217,共5页Journal of System Simulation

基　　金：国家自然科学基金资助(50275032);中国博士后基金资助(20070420867);黑龙江省博士后基金资助(01106173)

摘　　要：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 implement motion control of a rover dynamics and control, a rover with each wheel independently driven was studied. In terms of mechanism constituents and configuration features of a rover with six wheels, motion Constraint equations of wheels were built up. According to the features of nonholonomic system, Lawes equations of the rover were set up. The wheel compute iorque control scheme based on models was put forward The simulation analysis of the control scheme which the rover tracks a straight line and a circle was carried out by applying MATLAB/Simulink. The research results validate the feasibility of the project. The study work provides a theory basis for accomplishing motion control and autonomously avoiding obstacles of lunar rover and so on.

关 键 词：月球车 动力学 劳斯方程 控制方案 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]