| 基于模糊逻辑的六轮月球车路径跟踪控制 |
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| 引用本文： | 葛平淑,王荣本,郭烈. 基于模糊逻辑的六轮月球车路径跟踪控制[J]. 吉林大学学报(工学版), 2011, 41(2): 503-508 |
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| 作者姓名： | 葛平淑 王荣本 郭烈 |
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| 作者单位： | 1. 吉林大学,交通学院,长春,130022
2. 大连理工大学,汽车工程学院,辽宁,大连,116024 |
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| 基金项目： | 国家自然科学基金项目(50675086) |
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| 摘 要： | 以六轮差速转向月球车样机JLUIV-6为研究对象,推导了三维环境下月球车速度运动学模型,进而得出逆运动学模型。在路径跟踪阶层,根据横向偏差和角度偏差设计了车体的偏航角速度模糊控制器,并基于路径曲率和地形崎岖程度,引入模糊修正模块来控制车体的期望速度。在执行阶层,根据控制器输出的车体期望速度和角速度,用逆运动学模型给定车轮相应的转速指令,使其跟踪车体的期望速度和角速度。最后通过ADAMS/Simulink联合仿真验证了所提方法的有效性。
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| 关 键 词： | 自动控制技术 月球车 路径跟踪 模糊控制器 联合仿真 |
Path following control for six-wheel lunar rover based on fuzzy logic |
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| GE Ping-shu,WANG Rong-ben,GUO Lie. Path following control for six-wheel lunar rover based on fuzzy logic[J]. Journal of Jilin University:Eng and Technol Ed, 2011, 41(2): 503-508 |
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| Authors: | GE Ping-shu WANG Rong-ben GUO Lie |
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| Affiliation: | GE Ping-shu1,WANG Rong-ben1,GUO Lie2(1.College of Transportation,Jilin University,Changchun 130022,China,2.School of Automotive Engineering,Dalian University of Technology,Dalian 116024,China) |
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| Abstract: | A six-wheel differentially steering lunar rover prototype named JLUIV-6 was taken as the research object,deduced velocity kinematics model of the lunar rover in 3-D environment,and then obtained its inverse kinematics model.In the path following level,considering the path curvature and the degree of rugged terrain,the fuzzy controller and a fuzzy amendment module were established to control the linear velocity and angular velocity of rover body.In the implementation level,according to the speed and angular ... |
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| Keywords: | automatic control technology lunar rover path following fuzzy controller co-simulation |
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