载人月球车稳定操控策略设计与优化  

Design and Optimization of Stable Control Strategy for Manned Lunar Rover

作　　者：曹剑飞 梁常春[1] 王瑞[1] 王耀兵[1] 王志福[2] 王军[2] CAO Jianfei;LIANG Changchun;WANG Rui;WANG Yaobing;WANG Zhifu;WANG Jun(Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications,Beijing Institute of Spacecraft System Engineering,Beijing 100094,China;School of Mechanical Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京空间飞行器总体设计部空间智能机器人系统技术与应用北京市重点实验室,北京100094 [2]北京理工大学机械与车辆学院,北京100081

出　　处：《宇航学报》2023年第9期1379-1391,共13页Journal of Astronautics

摘　　要：为实现高效率大范围的月面探索,载人月球车必须要能够克服月表低重力特性及非结构化月面环境带来的诸多不利影响。为此,提出了一种采用分层架构的载人月球车稳定操控策略,可完成整车全轮力矩矢量分配控制,实现车辆在行驶过程中的驱动防滑及稳定转向目标;同时,策略融合了差动制动防侧翻控制方法与车轮腾空检测报警方法,有效提升了载人月球车在高速行驶过程中的操控稳定性及主被动安全性能。基于MATLAB/Simulink环境完成了不同附着条件下移动操控策略的仿真分析,同时基于原理样机进行了实车验证。仿真及试验结果表明,所提出的移动操控策略合理有效,控制结果良好,适用于具有分布式驱动转向特点的轮式星球车辆,工程应用价值较高。For an efficient exploration of lunar surface,the manned lunar rover must overcome many adverse effects caused by low gravity and unstructured lunar surface environment.Therefore,a stable control strategy of manned lunar rover with layered architecture is proposed,which can achieve anti-slip driving control and stable steering during driving.Meanwhile,the strategy integrates the differential-braking method and the off-ground detection method,effectively improving the handling stability and active/passive safety performance of the manned lunar rover during high-speed driving.With MATLAB/Simulink environment,the various functions of the strategy have been verified.Then,the control strategy has been downloaded to the controller to complete an actual vehicle experiment.The simulation and experimental results show that the proposed control strategy performs very well.It is suitable for wheeled planetary rovers with distributed drive steering characteristics and has high engineering application value.

关 键 词：载人月球车 操控稳定性 主被动安全 分布式驱动控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]