基于PID控制的月面巡视探测器坡度行驶仿真分析  

Slope traversal simulation of lunar rover based on PID control

作　　者：叶盛[1] 黄卫东[1] 林永南[2] 

机构地区：[1]福建工程学院机械与汽车工程学院,福建福州350014 [2]福建工程学院材料科学与工程学院,福建福州350014

出　　处：《南昌大学学报（工科版）》2014年第1期35-40,共6页Journal of Nanchang University(Engineering & Technology)

基　　金：福建省资助省属高校科研专项资助项目(JK2012031);福建工程学院基金专项资助项目(GY-Z0436)

摘　　要：通过月面巡视探测器爬坡轮与地面的相互作用分析,建立月面巡视探测器坡度行驶地面力学模型。根据双闭环直流调速系统工作原理,采用位置式PID控制算法编写了电机驱动仿真模块,并将电机驱动仿真模块融合到月面巡视探测器多体动力学仿真体系中,构建了完整的月面巡视探测器动力学仿真系统。对月面巡视探测器坡度行驶工况进行仿真分析,初步实现了对月面巡视探测器动力学模型的验证,为月面巡视探测器驱动控制算法、运动规划和路径规划仿真提供技术支持。Lunar rover driving terra-mechanic model was established based on the analysis of interaction be- tween the lunar rover climbing wheel and the ground. Amotor-driven simulation module was then programmed using the positional PID control algorithm according to the working principle of the double loop DC speed control system. Moreover, it is integrated into the multi-body dynamic simulation system, and constructs a complete lunar rover dy- namics simulation system. Finally, the lunar rover driving dynamics model is verified preliminarily by the analysis of the lunar rover slope driving simulation for providing technical support for the driving control algorithm, motion plan- ning and path planning simulation of the lunar rover.

关 键 词：月面巡视探测器 爬坡轮地相互作用 PID控制 地面力学 驱动仿真 

分 类 号：TP391[自动化与计算机技术—计算机应用技术] TP273[自动化与计算机技术—计算机科学与技术]