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Coordinated control method for trajectory tracking of rocker rocker planetary rover in soft and rough terrain

A technology of coordinated control and trajectory tracking, applied in vehicle position/route/height control, control/regulation system, non-electric variable control, etc., to achieve the effect of reducing internal force loss

Active Publication Date: 2021-04-20
SHANDONG ARTIFICIAL INTELLIGENCE INST +1
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Problems solved by technology

[0003] At present, the planetary vehicle control at home and abroad usually studies the two problems separately, and has not effectively solved the problem of realizing the two mission goals at the same time. Therefore, how to design a controller that can effectively reduce the The internal force between the wheels on the same side is a challenge in the current research on the motion control of planetary vehicles

Method used

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  • Coordinated control method for trajectory tracking of rocker rocker planetary rover in soft and rough terrain
  • Coordinated control method for trajectory tracking of rocker rocker planetary rover in soft and rough terrain
  • Coordinated control method for trajectory tracking of rocker rocker planetary rover in soft and rough terrain

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Embodiment Construction

[0020]By the followingfigure 1 Adherentimage 3Further explanation of the invention.

[0021]A rocker rocker-style planet trajectory tracking coordination control method in a soft rugged terrain, including the following steps:

[0022]a) Defining the position information of the Placle Car in the World Coordinate System (X, Y, Z), the horizontal rolling angle of the planet car isThe pitch angle is ψ, the yaw angle is θ, in the direction in which the carriage body is in the X-axis positive direction, and the carrier coordinate system is established in accordance with the right hand according to the right hand.bYb,zb), The speed of the vehicle body in the vehicle body coordinate system is (VBX , VBY , VBZ ), Through formulaBuilding a three-dimensional kinematic model of the vehicle body, where Q is position vector, q = (x, y, z),The result of the guidance operation of Q,ΩBZ As a volley-shaped rotation angle speed, δ0For the external interference value of the system;

[0023]b) According to the f...

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Abstract

A trajectory tracking coordinated control method for a rocker rocker-arm planetary vehicle in soft and rough terrain. Based on kinematics and dynamics analysis, a dynamics model based on three-dimensional kinematics information is designed, and then an error augmentation system is designed based on this model, and based on the system The hybrid H2 / H∞‑QP controller is designed by the model, and the vehicle control input and the wheel control input are obtained by solving the optimization problem layer by layer, and the calculation of the wheel speed control input is realized through the force tracking controller in the speed mode, and finally through This input realizes to ensure that the tracking error is stable within an acceptable range during the trajectory tracking process, and at the same time coordinates and distributes the control input of each wheel to reduce the internal force loss between the wheels on the same side.

Description

Technical field[0001]The present invention relates to the field of control technology of the Planetary Detection Platform, and in particular to a rocker rocker-type planet trajectory tracking coordination control method in a soft rugged terrain.Background technique[0002]When the Placle Car is performing a probe task on the surface of a soft and rugged planet, the motion controller is one of the core units of the entire system, which is the basis for determining whether it can successfully complete the probe task. The rocker rover arm usually uses a multi-wheel drive design configuration. It belongs to a typical redundant control system. When exercising in a soft rugged terrain, the terrain is different, and the motion state of each wheel is different, which is easy to be on the same side wheel. Produce push and pull phenomenon, resulting in internal force loss between wheels, and consumes energy. At the same time, in soft terrain, the existence of side slide and slipping phenomenon,...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276
Inventor 陈超舒明雷王英龙刘辉周书旺
Owner SHANDONG ARTIFICIAL INTELLIGENCE INST
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