摇臂式月球车协调牵引控制方法研究  

Research on Method of Coordinate Traction Control of Rocker-Bogie Lunar Rover

作　　者：彭兴文[1] 居鹤华[1] 崔平远[1,2] 

机构地区：[1]北京工业大学电子信息与控制工程学院,北京100124 [2]哈尔滨工业大学深空探测基础研究中心,黑龙江哈尔滨150001

出　　处：《计算机测量与控制》2009年第10期1967-1970,共4页Computer Measurement &Control

基　　金：国家863高科技资助项目(2006AA12Z307)

摘　　要：通过分析轮-地接触模型以及摇臂式月球车静力学模型,获得了车轮静态负载的计算方法;作为冗余自由度机器人,利用车轮静态负载以及驱动力矩与速度之间对偶关系,完成了月球车的力矩分配,实现了冗余驱动系统的动力学优化;结合力矩分配并基于月球车动力学模型,讨论协调牵引控制方法,实现了月球车速度跟踪控制;在三维动力学仿真平台上,对该牵引方法进行了性能评价,证实其控制效果优于传统方法。This paper describes an approach to implement the coordinate traction control, which is based on the rover＇s dynamic model and torque distribution. By analysis the wheel-terrain interaction models and the static force model, the wheels＇ loads can be achieved in real time. As a redundancy robot, the wheels＂ loads and the dualistic relationship between traction torque and velocity are used to implement the wheel torque distribution. As a result, this method optimizes the dynamic of the redundancy traction system. The simulation experi ments support the fact that the coordinate traction control is much better than the traditional open-loop control method.

关 键 词：牵引控制 力矩分配 运动学 动力学 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]