Slip ratio control of locomotion system based on sliding mode variable structure control

被引：0
|
作者：
College of Mechanical and Electric Engineering, Changchun University of Science and Technology, Changchun [1 ]
Jilin
130022, China
不详 [2 ]
100072, China
机构：
来源：
Binggong Xuebao | / 10卷 / 1707-1715期
关键词：
Linear control systems - Moon - Rovers;
D O I：
10.3969/j.issn.1000-1093.2014.10.027
中图分类号：
学科分类号：
摘要：
The running parameters of lunar rover locomotion system often varies during running. The traditional control method cannot be used to gain the optimal control effect in any case. The variable structure control with sliding mode (VSS) is a special non-linear control method and has strong robustness. The method is easy to be realized. The control logic and algorithm of lunar rover slip-ratio control are established based on the dynamic model of lunar rover and the variable structure control system with sliding mode theory. The control characteristics of VSS are analyzed in details. VSS is applied in slip-ratio control of the lunar rover locomotion system successfully. The simulation is conducted. The simulation results show that the control method has good control effect. ©, 2014, China Ordnance Society. All right reserved.
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