摘要
针对某月面巡视探测器主辅摇臂式6轮独立驱动,提出了一种实时多轮协调控制算法。根据协调运动时各轮轮心线速度在线估计各轮滑转率,经适当修正使其接近于0.3,提高系统的驱动效率。试验结果表明:该算法可改善表征月面巡视探测器6轮协调运行程度的协调度,提高能量利用率。
A real-time multi-wheels fitting control algorithm was put forward to estimate the on-line slip ratio according to the center line velocity of each wheel running congruously for a lunar rover with rocker-bogie suspension and six wheels all alone driving in this paper. The slip ratio was modified to be close to 0.3, which would increase the wheel driving efficiency. The experiment results showed that this control strategic would improve the fitting ratio that was presented the harmony of the six wheels driving, and the power was used much more economical.
出处
《上海航天》
2009年第4期35-39,共5页
Aerospace Shanghai
作者简介
乔凤斌（1975-），男，博士，主要研究方向为机电系统设计。
