To　finish　the　closed-loop　test　of　the　lunar　rover　GNC　test　system,　the　dynamics　modeling　and　control　problem　of　a　six-wheel　rocker-bogie　lunar　rover　is　studied　under　the　condition　of　rough　terrain,　soft　soil　and　low-gravity.　A　Newton-Euler　dynamics　model　of　the　rover　is　established　based　on　elastoplastic　wheel-terrain　mechanics　and　viscoelastic　joints.　Velocity　cooperative　control　considering　the　slip　of　wheels　is　used　for　the　closed-loop　traction　control,　with　the　goal　to　track　desired　velocity　and　angular　velocity　of　the　rover.　Both　dynamics　model　and　traction　control　system　are　finished　on　a　real-time　system　to　evaluate　the　model　and　the　control　method,　and　a　3D　visualization　simulation　platform　is　developed.　Experimental　results　show　that　the　model　is　accurate　and　steady,　the　rover　motion　and　wheel-terrain　interaction　can　be　truly　simulated,　the　joint　constraints　are　satisfied,　and　the　desired　motion　can　be　accurately　tracked.