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周东, 徐晓伟, 贾阳, 郭坚, 李珂, 朱玛, 张红军. 火星车机构集成控制系统设计与实现[J]. 深空探测学报(中英文), 2020, 7(5): 450-457. DOI: 10.15982/j.issn.2096-9287.2020.20200033
引用本文: 周东, 徐晓伟, 贾阳, 郭坚, 李珂, 朱玛, 张红军. 火星车机构集成控制系统设计与实现[J]. 深空探测学报(中英文), 2020, 7(5): 450-457. DOI: 10.15982/j.issn.2096-9287.2020.20200033
ZHOU Dong, XU Xiaowei, JIA Yang, GUO Jian, LI Ke, ZHU Ma, ZHANG Hongjun. Design and Implementation of Integrated Control System for Mars Rover Mechanism[J]. Journal of Deep Space Exploration, 2020, 7(5): 450-457. DOI: 10.15982/j.issn.2096-9287.2020.20200033
Citation: ZHOU Dong, XU Xiaowei, JIA Yang, GUO Jian, LI Ke, ZHU Ma, ZHANG Hongjun. Design and Implementation of Integrated Control System for Mars Rover Mechanism[J]. Journal of Deep Space Exploration, 2020, 7(5): 450-457. DOI: 10.15982/j.issn.2096-9287.2020.20200033

火星车机构集成控制系统设计与实现

Design and Implementation of Integrated Control System for Mars Rover Mechanism

  • 摘要: 航天器伺服机构一般采取分散控制的方法,通过地面遥操作进行控制和监视。为实现整车移动、悬架调整、通信天线指向、太阳翼对日定向、桅杆转动等多种功能,火星车配备了众多的电机和传感器。传统设计方式无法满足火星车集成化、自主化、容错控制的要求。制定了火星车机构集成控制系统的整体架构,并开展了优化设计。采用硬件资源复用、计算资源复用等策略实现了集成化设计目标;从运动规划、控制运算等多方面实现了自主管理功能;通过故障检测与应急处置、降级运行等功能满足了容错控制的设计需求。通过火星车机构控制系统的应用,在满足多项约束的前提下各项指标达到了最优,同时验证了设计方法的正确性和合理性。对功能复杂、约束严格的探测器机构控制系统具有一定的参考价值。

     

    Abstract: Spacecraft servo mechanisms are generally driven separately, and are controlled and monitored by ground tele-operation. The servo mechanisms of Mars rover have many functions such as movement, suspension adjustment, communication antenna pointing, solar wing orientation, mast rotation, etc. The Mars rover is equipped with numerous motors and sensors. The traditional design cannot meet the requirements of integration, autonomy and fault-tolerant control for the Mars rover. In this paper, the overall structure of the integrated control system for the Mars rover mechanism is optimized. The strategy of hardware resource reuse and computing resource reuse is adopted to achieve the goal of integration. Autonomous management functions are realized for motion planning, control operation, etc. The design requirements of fault-tolerant control are met through the functions of fault detection, emergency treatment and degraded control. For the application of the Mars rover mechanism control system, all specifications are optimized in compliance with many constraints. The validity and rationality of the method is verified, providing reference for the mechanism control systems of space explorer with complex functions and strict constraints.

     

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