摘要
为克服系统建模误差和环境干扰,提出一种基于滑移率补偿项的行星探测机器人前向滑模牵引控制方法,通过协调所有转向轮的瞬时转向中心于一点,实现机器人的协调转向控制;考虑到探测环境的未知性,提出了一种基于运动学的轮地接触角实时估计方法,最后利用ODE(Open Dynamics Engine)动力学仿真工具包与OpenInventor图形库建立行星探测机器人牵引控制可视化仿真平台,对闭环反馈控制系统的速度跟踪性能进行了仿真;仿真结果证明该方法对模型误差和外部干扰具有较强的鲁棒性,控制性能优于传统的开环控制方法。
A forward sliding mode traction control method based on the slip compensation term is proposed for planetary exploration robot with model errors and disturbances. Steering control can be realized by coordinating the instantaneous centers of motion of all the steerable wheels. A real time kinematic estimation method of the wheel-ground contact angles on the unknown exploration environment is proposed. Finally, ODE（Open Dynamics Engine） and Openlnventor labrary are utilized to build the visual simulation platform of traction control of planetary exploration robot, and velocity tracking performance of the closed-loop feedback control system is simulated. The robustness in the structual model errors and disturbances is verified by simulation results. Simulation experiment supports this fact that this method is much better than the traditional open-loop control method.
出处
《计算机测量与控制》
CSCD
北大核心
2009年第5期884-886,共3页
Computer Measurement &Control
基金
国家"863"计划资助项目(2006AA12Z307)
关键词
行星探测机器人
牵引控制
滑模控制
协调
planetary exploration robot
traction control
sliding mode control
coordination
