CN103197681B - A kind of General Mobile control method being applicable to lunar surface rover - Google Patents
A kind of General Mobile control method being applicable to lunar surface rover Download PDFInfo
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- CN103197681B CN103197681B CN201310127989.8A CN201310127989A CN103197681B CN 103197681 B CN103197681 B CN 103197681B CN 201310127989 A CN201310127989 A CN 201310127989A CN 103197681 B CN103197681 B CN 103197681B
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Abstract
The invention provides a kind of General Mobile control method being applicable to lunar surface rover, basic mobile control unit is extracted out from the move mode of rover, use the combination of each unit can realize transfer between any two positions of rover under clog-free plane environment and course adjustment, be particularly suitable for rover to walk to control at the blind of lunar surface, and the transfer process in ground test process when internal field test and field trial; Use present invention achieves rover fast and efficiently and moves control, reduces the time and difficulty of formulating control method for movement.
Description
Technical field
The present invention relates to space exploration technical field, particularly relate to a kind of General Mobile control method being applicable to lunar surface rover.
Background technology
China Lunar Exploration Program is divided into " around, fall, return " three phases, carrying out the work of subordinate phase at present, namely roam at moonscape at lunar surface soft landing release inspection tour prober for moon surface, the scientific exploration equipment utilizing device to carry closely is investigated the moon.
Rover is when moonscape works, in the test of ground in-plane field, field trial process, there is the move mode of Various Complex, as craspedodrome, pivot stud, advance between turn to, differential steering etc., often kind of move mode is made up of multiple micromotion again, therefore need the moving method formulating rover, and the movement of rover is controlled.If but formulated each rover moving method separately, usually need through complicated design, calculating, emulation, checking, length consuming time, efficiency would be low.
Summary of the invention
The invention provides a kind of General Mobile control method being applicable to lunar surface rover, basic mobile control unit is extracted out from the move mode of rover, use the combination of each unit can realize transfer between any two positions of rover under clog-free plane environment and course adjustment, be particularly suitable for rover to walk to control at the blind of lunar surface, and the transfer process in ground test process when internal field test and field trial.
The object of the invention is to be achieved through the following technical solutions:
Step one: first determine 8 kinds of control modules, wherein control module one, control module two, control module three and control module four use under mobile multi_motor control mode, and control module control module five, control module six, control module seven and control module eight use under GNC algorithm control mode; Specifically described below:
1 control module one, control module two, control module three and control module four all control 4 steer motor and 6 drive motor; 4 steer motor are divided into left side steer motor and right hand steering motor two class, and wherein left side steer motor comprises left front steer motor and left back steer motor, and right hand steering motor comprises right front steer motor and right back steer motor; 6 drive motor are divided into left side drive motor and right side drive motors two class, wherein left side drive motor comprises left drive motor, left drive motor and left back drive motor, and right side drive motors comprises right front drive motor, right drive motor and right back drive motor;
Control module one comprises a straight forward and b craspedodrome stops;
A. straight forward, arranges the control time as required; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; 3 motor speeds of left side drive motor are all set to 10 degree/second, and 3 motor speeds of right side drive motors are all set to-10 degree/second;
B. to keep straight on stopping, using when needs emergent stopping; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
Control module two comprises a craspedodrome and retreats and b craspedodrome stopping;
A. to keep straight on retrogressing, the control time is set as required; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; 3 motor speeds of left side drive motor are all set to-10 degree/second, and 3 motor speeds of right side drive motors are all set to 10 degree/second;
B. to keep straight on stopping, using when needs emergent stopping; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
Control module three comprises: the setting of a pivot turn state, b flicker, c pivot turn stop and d pivot turn recovering state;
A. pivot turn state is arranged: the motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
B. flicker, arranges the control time as required: the motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of left drive motor, left back drive motor, right front drive motor and right back drive motor is all set to-20 degree/second; Left drive motor and right drive motor speed are all set to-12 degree/second;
C. pivot turn stops, and uses when needs emergent stopping; The motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
D. pivot turn recovering state; The motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 0; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
Control module four comprises: the setting of a pivot turn state, b flicker, c pivot turn stop and d pivot turn recovering state;
A. pivot turn state is arranged; The motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
B. flicker, arranges the control time as required: the motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of left drive motor, left back drive motor, right front drive motor and right back drive motor is all set to 20 degree/second; Left drive motor and right drive motor speed are all set to 12 degree/second;
C. pivot turn stops, and uses when needs emergent stopping; The motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
D. pivot turn recovering state; The motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 0; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
2) straight forward under the control of control module five, GNC algorithm: closed-loop control, desired motion curvature is set to 0, and desired motion mileage is set to 0, and the desired motion time sets as required;
Craspedodrome under control module six, GNC algorithm controls retreats: closed-loop control, and desired motion curvature is set to 0, and desired motion mileage is set to 0, and the desired motion time sets as required;
Flicker under control module seven, GNC algorithm controls: pivot turn angle sets as required;
Flicker under control module eight, GNC algorithm controls: pivot turn angle sets as required;
Step 2: select often kind of basic control unit to carry out combining and moving to impact point, concrete steps are as follows:
1) control mode of lunar surface rover is determined;
If lunar surface rover uses mobile multi_motor control mode, then use control module one, control module two, control module three and control module four; If lunar surface rover uses GNC algorithm control mode, then use control module five, control module six, control module seven and control module eight;
2) according to angle, lunar surface rover initial heading and target location adjustment lunar surface rover course angle,
First angle α formed by lunar surface rover current location A point and target location B point line direction and the current direction of lunar surface rover is determined, the current direction of lunar surface rover is defined as+X-direction judge that B point in target location is on the left side of current+X-direction or right side, adjusts course angle afterwards as follows:
If a. target location is on the right side of current+X-direction, and angle α≤90 degree, control module four or eight flicker general+X-direction is used to aim at the mark position;
If b. target location is in the left side of current+X-direction, and angle α≤90 degree, control module three or seven flicker general+X-direction is used to aim at the mark position;
If c. target location is on the right side of current+X-direction, and angle α >90 degree, control module three or seven flicker general-X-direction is used to aim at the mark position;
If d. target location is in the left side of current+X-direction, and angle α >90 degree, control module four or eight flicker general-X-direction is used to aim at the mark position;
3) craspedodrome is mobile
A., after course angle adjustment, the position if current+X-direction aims at the mark, uses control module one or five straight forward, moves to target location;
B., after course angle adjustment, the position if current-X-direction aims at the mark, uses control module two or six to keep straight on and retreats, move to target location.
Beneficial effect of the present invention:
The present invention extracts basic mobile control unit out from the move mode of rover, uses the combination of each unit to realize rover fast and efficiently and moves control, reduces the time and difficulty of formulating control method for movement.
Accompanying drawing explanation
Fig. 1 is adjustment course angle schematic diagram of the present invention;
Fig. 2 is the transfer process schematic diagram under GNC algorithm control mode;
Embodiment
In order to understand technical scheme of the present invention better, below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
The present invention extracts 8 kinds of basic mobile control units out from the move mode of rover, and often kind of control module comprises concrete action and implementation method, uses the combination of each unit to realize rover fast and efficiently and moves control; Wherein control module one, control module two, control module three and control module four use under mobile multi_motor control mode, and control module five, control module six, control module seven and control module eight control under GNC algorithm control mode; Mobile multi_motor control mode and GNC algorithm control mode are two kinds of control modes of lunar surface rover; Mobile multi_motor control mode, needs to arrange motor speed and steering angle respectively to each motor in rover 4 steer motor and 6 drive motor; GNC algorithm control mode is a kind of intelligent control method of rover, does not need to arrange motor speed and steering angle respectively to each motor, only needs the desired motion time and the pivot turn angle that arrange advance or retrogressing as required;
(1) basic mobile control unit
| Control mode | Straight forward | Keep straight on and retreat | Flicker | Flicker |
| Mobile multi_motor control | Control module one | Control module two | Control module three | Control module four |
| GNC algorithm controls | Control module five | Control module six | Control module seven | Control module eight |
Often kind of control module is specific as follows:
Control module one (straight forward under mobile multi_motor control):
A. straight forward
Control mode: mobile many motors time controling, arranges the control time as required;
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 0 degree |
| Left back steer motor | Closed loop | 0 degree/second | 0 degree |
| Right front steer motor | Closed loop | 0 degree/second | 0 degree |
| Right back steer motor | Closed loop | 0 degree/second | 0 degree |
| Left drive motor | Closed loop | 10 degree/second | / |
| Left drive motor | Closed loop | 10 degree/second | / |
| Left back drive motor | Closed loop | 10 degree/second | / |
| Right front drive motor | Closed loop | -10 degree/second | / |
| Right drive motor | Closed loop | -10 degree/second | / |
| Right back drive motor | Closed loop | -10 degree/second | / |
B. to keep straight on stopping
Use when needs emergent stopping, control mode: mobile multi_motor control;
| Motor title | Control mode | Motor speed | Steering angle |
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 0 degree |
| Left back steer motor | Closed loop | 0 degree/second | 0 degree |
| Right front steer motor | Closed loop | 0 degree/second | 0 degree |
| Right back steer motor | Closed loop | 0 degree/second | 0 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
Control module two (craspedodrome under mobile multi_motor control retreats):
A. to keep straight on retrogressing
Control mode: mobile many motors time controling.Control time is set as required.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 0 degree |
| Left back steer motor | Closed loop | 0 degree/second | 0 degree |
| Right front steer motor | Closed loop | 0 degree/second | 0 degree |
| Right back steer motor | Closed loop | 0 degree/second | 0 degree |
| Left drive motor | Closed loop | -10 degree/second | / |
| Left drive motor | Closed loop | -10 degree/second | / |
| Left back drive motor | Closed loop | -10 degree/second | / |
| Right front drive motor | Closed loop | 10 degree/second | / |
| Right drive motor | Closed loop | 10 degree/second | / |
| Right back drive motor | Closed loop | 10 degree/second | / |
B. to keep straight on stopping
Use when needs emergent stopping.Control mode: mobile multi_motor control.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 0 degree |
| Left back steer motor | Closed loop | 0 degree/second | 0 degree |
| Right front steer motor | Closed loop | 0 degree/second | 0 degree |
| Right back steer motor | Closed loop | 0 degree/second | 0 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Motor title | Control mode | Motor speed | Steering angle |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
Control module three (flicker under mobile multi_motor control):
A. pivot turn state is arranged
Control mode: mobile multi_motor control;
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 5 degree/second | 57 degree |
| Left back steer motor | Closed loop | -5 degree/second | -57 degree |
| Right front steer motor | Closed loop | -5 degree/second | -57 degree |
| Right back steer motor | Closed loop | 5 degree/second | 57 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
B. flicker
Control mode: mobile many motors time controling.Control time is set as required.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 57 degree |
| Left back steer motor | Closed loop | 0 degree/second | -57 degree |
| Right front steer motor | Closed loop | 0 degree/second | -57 degree |
| Right back steer motor | Closed loop | 0 degree/second | 57 degree |
| Left drive motor | Closed loop | -20 degree/second | / |
| Left drive motor | Closed loop | -12 degree/second | / |
| Left back drive motor | Closed loop | -20 degree/second | / |
| Right front drive motor | Closed loop | -20 degree/second | / |
| Right drive motor | Closed loop | -12 degree/second | / |
| Right back drive motor | Closed loop | -20 degree/second | / |
C. pivot turn stops
Use when needs emergent stopping.Control mode: mobile multi_motor control.
| Motor title | Control mode | Motor speed | Steering angle |
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 57 degree |
| Left back steer motor | Closed loop | 0 degree/second | -57 degree |
| Right front steer motor | Closed loop | 0 degree/second | -57 degree |
| Right back steer motor | Closed loop | 0 degree/second | 57 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
D. pivot turn recovering state
Control mode: mobile multi_motor control.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | -5 degree/second | 0 degree |
| Left back steer motor | Closed loop | 5 degree/second | 0 degree |
| Right front steer motor | Closed loop | 5 degree/second | 0 degree |
| Right back steer motor | Closed loop | -5 degree/second | 0 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
Control module four (flicker under mobile multi_motor control):
A. pivot turn state is arranged
Control mode: mobile multi_motor control.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 5 degree/second | 57 degree |
| Left back steer motor | Closed loop | -5 degree/second | -57 degree |
| Right front steer motor | Closed loop | -5 degree/second | -57 degree |
| Right back steer motor | Closed loop | 5 degree/second | 57 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Motor title | Control mode | Motor speed | Steering angle |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
B. flicker
Control mode: mobile many motors time controling.Control time is set as required.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 57 degree |
| Left back steer motor | Closed loop | 0 degree/second | -57 degree |
| Right front steer motor | Closed loop | 0 degree/second | -57 degree |
| Right back steer motor | Closed loop | 0 degree/second | 57 degree |
| Left drive motor | Closed loop | 20 degree/second | / |
| Left drive motor | Closed loop | 12 degree/second | / |
| Left back drive motor | Closed loop | 20 degree/second | / |
| Right front drive motor | Closed loop | 20 degree/second | / |
| Right drive motor | Closed loop | 12 degree/second | / |
| Right back drive motor | Closed loop | 20 degree/second | / |
C. pivot turn stops
Use when needs emergent stopping.Control mode: mobile multi_motor control.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | 0 degree/second | 57 degree |
| Left back steer motor | Closed loop | 0 degree/second | -57 degree |
| Right front steer motor | Closed loop | 0 degree/second | -57 degree |
| Right back steer motor | Closed loop | 0 degree/second | 57 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
D. pivot turn recovering state
Control mode: mobile multi_motor control.
| Motor title | Control mode | Motor speed | Steering angle |
| Left front steer motor | Closed loop | -5 degree/second | 0 degree |
| Motor title | Control mode | Motor speed | Steering angle |
| Left back steer motor | Closed loop | 5 degree/second | 0 degree |
| Right front steer motor | Closed loop | 5 degree/second | 0 degree |
| Right back steer motor | Closed loop | -5 degree/second | 0 degree |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left drive motor | Closed loop | 0 degree/second | / |
| Left back drive motor | Closed loop | 0 degree/second | / |
| Right front drive motor | Closed loop | 0 degree/second | / |
| Right drive motor | Closed loop | 0 degree/second | / |
| Right back drive motor | Closed loop | 0 degree/second | / |
Control module five (straight forward under the control of GNC algorithm):
Control module six (craspedodrome under the control of GNC algorithm retreats):
Control module seven (flicker under the control of GNC algorithm):
| Pivot turn direction | Pivot turn angle |
| Turn left | Set as required |
Control module eight (flicker under the control of GNC algorithm):
| Pivot turn direction | Pivot turn angle |
| Turn right | Set as required |
(2) often kind of basic control unit is used to carry out moving control using method
1) control mode is determined
If use mobile multi_motor control mode, then use control module one, control module two, control module three and control module four; If use GNC algorithm control mode, then use control module five, control module six, control module seven and control module eight;
2) course angle is adjusted
According to angle, initial heading and target location adjustment course angle.As shown in Figure 1, first determine current location A point and target location B point line direction and rover current+X-direction formed by angle α, and judge that B point in target location is on the left side of current+X-direction or right side, adjusts course angle afterwards as follows:
If a. target location is on the right side of current+X-direction, and angle α≤90 degree, control module four or eight (flicker) general+X-direction is used to aim at the mark position;
If b. target location is in the left side of current+X-direction, and angle α≤90 degree, control module three or seven (flicker) general+X-direction is used to aim at the mark position;
If c. target location is on the right side of current+X-direction, and angle α >90 degree, control module three or seven (flicker) general-X-direction is used to aim at the mark position;
If d. target location is in the left side of current+X-direction, and angle α >90 degree, control module four or eight (flicker) general-X-direction is used to aim at the mark position;
3) craspedodrome is mobile
A., after course angle adjustment, the position if current+X-direction aims at the mark, uses control module one or five (straight forward), moves to target location;
B., after course angle adjustment, the position if current-X-direction aims at the mark, uses control module two or six (keep straight on and retreat), moves to target location.
4) course angle adjustment
Need again to adjust course angle according to task, method of adjustment is with 2).
If needed, can step 2 be recycled) and 3) realize the position transfer of rover under clog-free plane environment.
Be illustrated according to the transfer process under GNC algorithm control mode below:
As Fig. 2, rover initial position is positioned at testing field A point, coordinate (6.175 ,-13.940) (unit rice).Rover working direction (rover+X-direction) relative test field+X-direction angle 84.684 °.B point in target location is positioned at about 0.95 meter of on the left of rover.The course arrived behind target location is identical with the course of current position.Rover GNC algorithm is enable, formulates transfer control strategy as follows:
Can see, use basic control unit to control through 3 times, make rover transfer to B point by A point, and the course of target location rover is adjusted.
In sum, these are only preferred embodiment of the present invention, be not intended to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (1)
1. be applicable to a General Mobile control method for lunar surface rover, it is characterized in that,
Step one: first determine 8 kinds of basic mobile control units, wherein control module one, control module two, control module three and control module four use under mobile multi_motor control mode, and control module five, control module six, control module seven and control module eight use under GNC algorithm control mode; Specifically described below:
1) control module one, control module two, control module three and control module four all control 4 steer motor and 6 drive motor; 4 steer motor are divided into left side steer motor and right hand steering motor two class, and wherein left side steer motor comprises left front steer motor and left back steer motor, and right hand steering motor comprises right front steer motor and right back steer motor; 6 drive motor are divided into left side drive motor and right side drive motors two class, wherein left side drive motor comprises left drive motor, left drive motor and left back drive motor, and right side drive motors comprises right front drive motor, right drive motor and right back drive motor;
The steering order of control module one comprises a straight forward and b craspedodrome stops;
A. straight forward, arranges the control time as required; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; 3 motor speeds of left side drive motor are all set to 10 degree/second, and 3 motor speeds of right side drive motors are all set to-10 degree/second;
B. to keep straight on stopping, using when needs emergent stopping; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
The steering order of control module two comprises a craspedodrome and retreats and b craspedodrome stopping;
A. to keep straight on retrogressing, the control time is set as required; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; 3 motor speeds of left side drive motor are all set to-10 degree/second, and 3 motor speeds of right side drive motors are all set to 10 degree/second;
B. to keep straight on stopping, using when needs emergent stopping; The motor speed of 4 steer motor is all set to 0, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
The steering order of control module three comprises: the setting of a pivot turn state, b flicker, c pivot turn stop and d pivot turn recovering state;
A. pivot turn state is arranged: the motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
B. flicker, arranges the control time as required: the motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of left drive motor, left back drive motor, right front drive motor and right back drive motor is all set to-20 degree/second; Left drive motor and right drive motor speed are all set to-12 degree/second;
C. pivot turn stops, and uses when needs emergent stopping; The motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
D. pivot turn recovering state; The motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 0; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
The steering order of control module four comprises: the setting of a pivot turn state, b flicker, c pivot turn stop and d pivot turn recovering state;
A. pivot turn state is arranged; The motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
B. flicker, arranges the control time as required: the motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of left drive motor, left back drive motor, right front drive motor and right back drive motor is all set to 20 degree/second; Left drive motor and right drive motor speed are all set to 12 degree/second;
C. pivot turn stops, and uses when needs emergent stopping; The motor speed of left front steer motor and right back steer motor is all set to 0, and steering angle is all set to 57 degree; The motor speed of left back steer motor and right front steer motor is all set to 0, and steering angle is all set to-57 degree; The motor speed of 6 drive motor is all set to 0;
D. pivot turn recovering state; The motor speed of left front steer motor and right back steer motor is all set to 5 degree/second, and steering angle is all set to 0; The motor speed of left back steer motor and right front steer motor is all set to-5 degree/second, and steering angle is all set to 0; The motor speed of 6 drive motor is all set to 0;
2) straight forward under the control of control module five, GNC algorithm: closed-loop control, desired motion curvature is set to 0, and desired motion mileage is set to 0, and the desired motion time sets as required;
Craspedodrome under control module six, GNC algorithm controls retreats: closed-loop control, and desired motion curvature is set to 0, and desired motion mileage is set to 0, and the desired motion time sets as required;
Flicker under control module seven, GNC algorithm controls: pivot turn angle sets as required;
Flicker under control module eight, GNC algorithm controls: pivot turn angle sets as required;
Step 2: select often kind of basic mobile control unit to combine, make lunar surface rover move to impact point, concrete steps are as follows:
1) control mode of lunar surface rover is determined;
If lunar surface rover uses mobile multi_motor control mode, then use control module one, control module two, control module three and control module four; If lunar surface rover uses GNC algorithm control mode, then use control module five, control module six, control module seven and control module eight;
2) according to angle, lunar surface rover initial heading and target location adjustment lunar surface rover course angle,
First angle α formed by lunar surface rover current location A point and target location B point line direction and the current direction of lunar surface rover is determined, the current direction of lunar surface rover is defined as+X-direction judge that B point in target location is on the left side of current+X-direction or right side, adjusts course angle afterwards as follows:
If a. target location is on the right side of current+X-direction, and angle α≤90 degree, control module four or eight flicker general+X-direction is used to aim at the mark position;
If b. target location is in the left side of current+X-direction, and angle α≤90 degree, control module three or seven flicker general+X-direction is used to aim at the mark position;
If c. target location is on the right side of current+X-direction, and angle α >90 degree, control module three or seven flicker general-X-direction is used to aim at the mark position;
If d. target location is in the left side of current+X-direction, and angle α >90 degree, control module four or eight flicker general-X-direction is used to aim at the mark position;
3) craspedodrome is mobile
A., after course angle adjustment, the position if current+X-direction aims at the mark, uses control module one or five straight forward, moves to target location;
B., after course angle adjustment, the position if current-X-direction aims at the mark, uses control module two or six to keep straight on and retreats, move to target location.
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| CN103921955A (en) * | 2014-03-28 | 2014-07-16 | 北京空间飞行器总体设计部 | Patroller pit digging and attitude adjusting method for moon probe projects |
| CN111240337A (en) * | 2020-02-10 | 2020-06-05 | 上海海事大学 | Power positioning method for under-actuated unmanned surface vessel |
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