Wheeled lunar vehicle driving control method based on slip ratio adjustment

Abstract

The invention discloses a wheeled lunar vehicle driving control method based on slip ratio adjustment, which includes the steps: working condition selection and control objective determination; wheel slip ratio estimation; establishment of a lunar vehicle system model; and calculation of wheel distributed moment Ti. Driving conditions of a lunar vehicle include an accelerating or decelerating condition of a vehicle body and a uniform-speed driving condition of the vehicle body, wherein when the vehicle body is under the accelerating or decelerating condition, the slip ratio of each wheel is controlled within a high driving efficiency range, and the high driving efficiency of the wheels can be guaranteed; and when the vehicle body is under the uniform-speed driving condition, the average value of the slip ratio of all the wheels serves as a control objective, so that the problems of singleness of the control objective, energy consumption increase caused by too high or too low single wheel slip ratio, poor trafficability variation and the like can be avoided. By means of a sliding mode variable structure control algorithm, solving is simple, the calculated quantity is small, and the system is guaranteed to have excellent robustness, so that the lunar vehicle can more coordinately move in the rugged environment.

Description

technical field [0001] The invention belongs to the field of aerospace technology, and relates to a sliding mode variable structure control method aiming at improving the passability of a rocker-bogie wheeled lunar rover in rough environments, and in particular to a control method based on slip rate adjustment. A driving control method for a wheeled lunar rover. Background technique [0002] The driving control technology of the lunar rover is the realization link of the motion control of the mobile robot, and it is also one of the key technologies for the autonomous walking of the lunar rover. It matches the motion state between the wheels, avoids slipping and sinking caused by unreasonable distribution of the driving force of each wheel, thereby reducing the energy loss and mechanical wear of the lunar rover, and improving its passability and service life. Although the regulation and control of the driving force of the lunar rover has been highly concerned, there are few ...

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Problems solved by technology

[0003] Aiming at the problems of complex solution and large amount of calculation in the existing control method, the slip rate is only controlled at a fixed expected value, the driving process of the lunar rover is not controlled, and the control target is single, etc., the present invention proposes a slip rate based The adjusted wheeled lunar rover drive control method distributes and controls the moment of each wheel of the lunar rover according to the two working conditions of the lunar rover: acceleration or deceleration and constant speed, that is, when the lunar rover is in the acceleration or deceleration condition, the The slip rate of each wheel is controlled within the interval with the best driving efficiency of each wheel; when the lunar rover is in a constant speed driving condition, the average slip rate of the wheels is used as the control target; and the solution is simple and the amount of calculation is small

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