载人月球车是载人月面巡视探测任务中的重要移动工具，松软复杂坡面地形是其在崎岖月面环境运动中的典型路况。由于坡面重力分量对整车垂直载荷、牵引力、侧向力等的影响，载人月球车在松软复杂坡面的运动特性与其在水平地形具有较大差异，并对宇航员带来较大操纵难度。针对上述问题，本项目拟基于考虑坡面壅土效应的金属弹性筛网车轮地面力学机理，研究松软复杂坡面地形条件下的载人月球车运动和操纵特性与其在水平地形的一致性保持问题，包括直线和转向行驶的特性保持控制。首先，通过车身横摆力矩控制、车轮牵引力二次分配和后轮转向角控制，提出松软复杂坡面地形的载人月球车直线速度、姿态与轨迹保持的操纵控制方法；通过前轮转角的补偿控制，提出松软复杂坡面地形的载人月球车转向运动操纵特性保持的控制方法。最后，综合理论、仿真和实验分析，实现复杂坡面地形条件下的载人月球车高精度运动控制，并保证其运动和操纵特性不因地形变化而产生改变。

Manned lunar rover is the important transportation tool in the manned lunar exploration missions, and complex soft and slope terrain is its typical conditions under the rough lunar terrain environment. Since the gravity components affect vertical load, tractive force, and lateral force, the movement properties of the manned lunar rover on soft slope have great deviations with its on smooth terrain. Therefore, the soft slope condition will bring great difficulties to the astronauts. To address above issue, basing on terramechanics of the metal mesh wheel with consideration of soil accumulation on slope, this project is about to study the consistency maintenance of the movement and handling properties between the lunar rover on soft slope and it on smooth terrain, involving linear moving control and turning control. Firstly, by controlling yaw moment, allocating tractive force, and controlling steering angle of rear wheels, the method for linear movement is proposed to control the speed, trajectory, and attitude of the manned lunar rover. Then, by compensating the steering angle of the front wheels, the method for steering movement is proposed to control the steering property of the manned lunar rover on complex soft slope. Finally, by combining theory, simulation and experimental analysis, the high precision motion control method is expected to be implemented on the complex soft and slope terrain, and keep the movement and handling properties of the lunar rover without varying of the terrain.