六圆柱轮式月球车动力学建模与仿真  

Dynamics modeling and simulation of a lunar rover with six cylindrical wheels

作　　者：董玉红[1] 邓宗全[1] 方海涛[1] 

机构地区：[1]哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001

出　　处：《哈尔滨工程大学学报》2009年第2期192-197,共6页Journal of Harbin Engineering University

基　　金：国家自然科学基金资助项目(50275032);中国博士后基金资助项目(20070420867)

摘　　要：为了实现月球车的运动控制与自主避障,对六圆柱轮式月球车的动力学进行了建模与仿真研究.根据该六轮月球车的机构原理和结构特点,分析了车轮的受力情况,并根据车辆动力学理论给出了简化计算公式.利用凯恩方法建立了月球车的动力学方程,并提出了基于动力学模型的车轮计算力矩控制方案,利用MATLAB/Simulink完成了动力学模型和控制方案的仿真分析.研究结果表明,基于动力学模型的车轮计算力矩控制方案是可行的,可以使月球车跟踪期望轨迹,并按轨迹跟踪的精度要求来选择控制器的参数,使得轨迹控制既满足位置精度,同时也满足速度精度.In order to implement free motion control with obstacle avoidance and simulation for a rover with six cylindrical wheels were completed. The for a lunar rover, dynamics modeling forces acting on the wheels were ana- lyzed in terms of the mechanical principles and configuration features of six wheeled rovers. Simplified formulas for calculations were derived according to vehicle dynamics theory. The dynamic equations of the rover were built up by the Kane method. A computed torque control scheme for the wheels was put forward based on the dynamics mod- el. The simulation analyses of the dynamics model and the control project were carried out using MATLAB/Simu- link. The research results illustrated that a control scheme computing wheel torque based on the dynamics model is feasible, and it can make a lunar rover track a desired path. The parameters of the controller can be chosen according to the accuracy required when following a path, and this meets not only positional precision but also velocity precision.

关 键 词：六圆柱轮 动力学 建模 凯恩方法 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]