Indexed by:期刊论文
Date of Publication:2013-04-08
Journal:系统仿真学报
Included Journals:Scopus、PKU、ISTIC、CSCD
Volume:25
Issue:4
Page Number:784-789
ISSN No.:1004-731X
Key Words:滑转率;驱动协调控制;ADAMS;联合仿真;滑模变结构控制
Abstract:研究了月球车基于ADAMS动力学模型和运动学模型的新型指数趋近律滑模驱动协调控制方法.该驱动协调控制方法以车轮平均滑转率为状态变量,考虑了月球车在崎岖地面运动的速度、车轮负载变化对车轮牵引力的影响,提高了车体的驱动协调性能.此外,对月球车进行了爬坡和过沟工况下的ADAMS与MATLAB/Simulink联合仿真.仿真结果表明,该控制算法提高了月球车的通过性能,降低了能耗,并使月球车在软土环境下的运动更加协调.
Associate Professor
Supervisor of Doctorate Candidates
Supervisor of Master's Candidates
Gender:Male
Alma Mater:吉林大学
Degree:Doctoral Degree
School/Department:机械工程学院
Discipline:Vehicle Engineering. Vehicle Operation Engineering
Business Address:海涵楼417A
Contact Information:15524800674
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