新型轮式载人月球车滑移转向初探

摘要

载人月球车转向系统设计的好坏直接影响月球车的平稳性、路径跟踪及紧急避障能力。将滑移转向技术与载人月球车有效结合，提出了一种新型载人月球车滑移转向系统，研究其动力学与运动学建模方法。在分析载人月球车滑移转向的纵向行驶特性、方向稳定性及原地转向特性的基础上，设计了载人月球车滑移转向系统横摆角速度 PID 闭环控制控制器，实现了车辆自主横摆角速度的跟踪控制。仿真结果表明，载人月球车滑移转向系统具有较好的原地转向能力，在转向过程中不仅兼顾了滑移转向车辆低速时的转向轻便性，而且有效地改善了车辆的操纵性能和跟踪性能。%The steering system of manned lunar rover has a direct impact on its smoothness ,path tracking and emergency obstacle avoidance capability .Herein ,the skid-steer technology and manned lunar rover were integrated effectively .A new skid steer system of manned lunar rover was proposed , and the dynamics and kinematics modeling method were conducted .Based on the analyses of longitu‐dinal driving characteristics ,directional stability and steering characteristics of skid steering ,an yaw angular velocity PID control method was proposed to achieve autonomous vehicle yaw rate tracking control .Simulation results show that the skid steer of manned lunar rover has a good pivot turn capa‐bility .In the steering process ,it takes the steering agility into account at low speeds ,and improves the vehicle’s steering stability at high speeds effectively .