松软月面上月球车动力学建模及运动控制研究

摘要

通过分析松软月面上车轮下陷原因,建立了车轮与月面相互作用模型,在此基础上对 ADAMS 进行二次开发,通过等效转换建立了松软月面上月球车仿真模型.由于月球车行走运动时需要考虑能耗、驱动能力等多方面因素,以速度跟踪和驱动能力为控制目标,设计了基于车轮滑转率的协调控制器,并对不同运动工况进行了动力学仿真及分析,验证了所提方法的有效性,为下一步综合设计月球车运动控制策略提供了依据.%The reason of wheel sinkage on loose soil is analyzed, and the wheel-soil interaction model is built. A dynamic simulation model is developed with the equivalent conversion method in ADAMS.When the rover moves on moon surface,the energy and traction capacity factors need to be considered. This paper proposes a coordinated control method,which satisfies the velocity tracking and traction capability respectively according to the slip ratio value. Dynamics simulation is made under different operating conditions to test the effectiveness of the proposed method.