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Slope traversal simulation of lunar rover based on PID control

YE, Sheng ; HUANG, Weidong ; LIN, Yongnan

Nanchang Daxue Xuebao-Gongke Ban (Journal of Nanchang University-Engineering & Technology Edition), 2014-01, Vol.36 (1), p.35-40 [Periódico revisado por pares]

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Título:
Slope traversal simulation of lunar rover based on PID control
Autor: YE, Sheng ; HUANG, Weidong ; LIN, Yongnan
Assuntos: Computer simulation ; Control theory ; Dynamic models ; Dynamical systems ; Dynamics ; Grounds ; Lunar roving vehicles ; Proportional integral derivative
É parte de: Nanchang Daxue Xuebao-Gongke Ban (Journal of Nanchang University-Engineering & Technology Edition), 2014-01, Vol.36 (1), p.35-40
Notas: ObjectType-Article-2
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Descrição: Lunar rover driving terra-mechanic model was established based on the analysis of interaction between the lunar rover climbing wheel and the ground. Amotor-driven simulation module was then programmed using the positional PID control algorithm according to the working principle of the double loop DC speed control system. Moreover, it is integrated into the multi-body dynamic simulation system,and constructs a complete lunar rover dynamics simulation system. Finally, the lunar rover driving dynamics model is verified preliminarily by the analysis of the lunar rover slope driving simulation for providing technical support for the driving control algorithm, motion planning and path planning simulation of the lunar rover.
Idioma: Chinês

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Slope traversal simulation of lunar rover based on PID control

YE, Sheng ; HUANG, Weidong ; LIN, Yongnan

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