载人月球车稳定操控策略设计与优化

For an efficient exploration of lunar surface, the manned lunar rover must overcome many adverse effects caused by low gravity and unstructured lunar surface environment. Therefore, a stable control strategy of manned lunar rover with layered architecture is proposed, which can achieve anti-slip driving control and stable steering during driving. Meanwhile, the strategy integrates the differential-braking method and the off-ground detection method, effectively improving the handling stability and active/passive safety performance of the manned lunar rover during high-speed driving. With MATLAB/Simulink environment, the various functions of the strategy have been verified. Then, the control strategy has been downloaded to the controller to complete an actual vehicle experiment. The simulation and experimental results show that the proposed control strategy performs very well. It is suitable for wheeled planetary rovers with distributed drive steering characteristics and has high engineering application value.