摘要
由于月球复杂的地形环境,月球车作为复杂多体系统,其动力学行为和驱动控制具有很多特性,对其的分析也较简单系统复杂得多.本文给出了对月球车控制的动力学、运动约束和运动学设计的数学模型,并以跨越沟壑为例,说明了协调控制过程.同时设计和研制了基于气浮的独轮实验装置,用于模拟月球的重力环境,并研究协调了控制中各个车轮运动学和动力学参数的合理范围.
Because of the complexity of the lunar environment,the lunar rover,as a complex multi-body system,has many characteristics in its dynamics behavior and its control.The analysis is more difficult than that of simple system.The mathematical models of lunar rover control,such as dynamics,motion constraints and kinematics,are presented in this paper.The harmonious control is explained by the sample of running across a ravine.For imitation of the lunar gravitational circumstances,a single wheel test device based on gas lubrication was designed.The range of the kinematic and dynamic parameters of each wheel can be determined by that device.
出处
《空间科学学报》
CAS
CSCD
北大核心
2010年第2期160-164,共5页
Chinese Journal of Space Science
基金
国家985项目(CAAZ98502005)
航天创新基金项目(011801-0)共同资助
关键词
月球车
动力学
约束
协调控制
Lunar rover
Dynamics
Constraints
Harmonious control
