主动悬架星球车移动系统姿态控制研究

空间控制技术与应用 ›› 2008, Vol. 34 ›› Issue (3): 12-16.

主动悬架星球车移动系统姿态控制研究

中国空间技术研究院

出版日期:2008-06-25 发布日期:2021-12-11

Research on the Attitude Control of Active Suspension Rov

China Academy of Space Technology

Online:2008-06-25 Published:2021-12-11

摘要/Abstract

摘要：

主动悬架星球车比被动悬架星球车有更好的环境适应性和运动能力。

但由于主动悬架包含主动悬架机构和关节，因此对其进行有效控制将更复杂。基于星球车运动速度较低的特点，应用系统稳定性准则研究了主动悬架的构型与姿态控制，设计了相应的控制方法。在ADAMS和MATLAB下的联合仿真表明了该方法的可行性，而且验证了主动悬架星球车在运动稳定性方面的优势。

关键词:

font-family:Calibri, sans-serif, "> font-family:宋体, 星球车')">">星球车, 被动悬架, 主动悬架, 移动系统, 姿态控制

Abstract: As compared with the passive suspension rover，the active one enhances the motion capabilities on irregular and unknown terrains．Due to the existence of redundantly actuated system of active suspension rovers，the control system is more complex．Base on the low speed of rover movement，the research on attitude control of the active suspension is conducted and a method for stability is proposed．The simulation in the ADAMS and MATLAB illustrates the effectiveness of the method and high stability of the rover movement．

Key words: "> "> ">attitude control

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中图分类号:

V448.2

邹大力, 杨雷, 曲广吉. 主动悬架星球车移动系统姿态控制研究[J]. 空间控制技术与应用, 2008, 34(3): 12-16.

ZOU Dali, YANG Lei, QU Guangji. Research on the Attitude Control of Active Suspension Rov[J]. Aerospace Contrd and Application, 2008, 34(3): 12-16.