摘要
结合汽车理论和车辆地面力学相关原理,建立六轮式月球车在2种坐标系(地面坐标系和车体坐标系)的转向动力学模型,并分别对这2种模型的特征方程进行了对比分析.结果表明,在2种坐标系下,六轮式月球车的转向动力学方程本质是一致的,且均是多输入多输出线性微分方程组.通过对方程组及其特征方程的分析,得到了月球车的行驶性能与月球车的主要结构参数、行驶速度等参量之间的具体关系式,为进一步深入研究和设计月球车的力学特性及运动控制提供了理论基础.最后通过仿真实验验证了月球车在转向时并不是车速越小越好,而是应该根据车体质量、结构参数、路面条件等因素选择合理的行驶速度.
Using the automotive theory and terra-mechanics theory, steering dynamic models of the rover in two different coordinates （relative coordinate and fixed coordinate） are established, respectively. Two characteristic equations of the models under two different coordinates are deduced and compared. Results show that the two models are consistent in nature and are both analytical linear different equations with multiple inputs and multiple outputs. Based on the analysis of the equations and their eigenvalue equations, the specific relationships among the rover＇s running performances, the main structure parameters of the rover and the travel speed are obtained. All these relationships provide a theoretical basis for further research on the steering dynamic characteristics and motion control of rovers. Finally, the simulation validates that the rover should be chosen according to the vehicle mass, structural parameter, surface conditions, and other factors, but not the smaller the better.
出处
《北京工业大学学报》
EI
CAS
CSCD
北大核心
2012年第12期1868-1874,共7页
Journal of Beijing University of Technology
基金
机器人学国家重点实验室开放基金资助项目(RLO201005)
辽宁省博士启动基金计划资助项目(20101125-Y0L6170601)
