Slip Ratio Control of Locomotion System Based on Sliding Mode Variable Structure Control

doi:10.3969/j.issn.1000-1093.2014.10.027

Abstract

Abstract: 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.

Key words: control science and technology, lunar rover locomotion system model, slip-ratio control, variable structure control with sliding mode

CLC Number:

TP275

HUANG Yu-xin， WANG Tong-yu， LIN Lin. Slip Ratio Control of Locomotion System Based on Sliding Mode Variable Structure Control[J]. Acta Armamentarii, 2014, 35(10): 1707-1715.

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