基于滑模变结构控制的移动系统滑转率控制

月球车移动系统在行驶过程中其行驶参数经常发生变化，采用传统的控制方法往往不能保证在任何情况下都能得到最佳的控制效果，鲁棒性较差。滑模变结构是一类特殊的非线性控制方法，它对系统参数摄动具有很强的抑制能力，因此鲁棒性很强，并且具有算法简单易于实现等特点。根据移动系统的动力学模型及滑模变结构控制理论，建立基于滑模变结构控制的月球车移动系统滑转率控制的控制逻辑和控制算法，将其应用于月球车移动系统的滑转率控制中，并通过仿真结果分析证明该种控制方法具有较好的控制效果。分析了变结构控制系统的控制特性，为月球车滑转率控制系统的设计提供理论参考依据。

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

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.