月面巡视探测器动力学建模  

Dynamics Modeling of Lunar Rover

作　　者：李明[1] 齐春子[1] 

机构地区：[1]北京控制工程研究所,北京100080

出　　处：《中国空间科学技术》2008年第1期1-8,共8页Chinese Space Science and Technology

摘　　要：动力学模型是研究星球探测车运动的基础。以某月面巡视探测器原理样机为背景,建立了其动力学模型,并进行了数值仿真分析。在说明月壤机械特性的基础上,结合地面车辆力学的知识,分析了松散月壤上刚性车轮的受力,考虑了主动驱动和被动驱动的情形,利用数学拟合的方法得到了满足工程要求的简化模型。在一定假设条件下,以牛顿欧拉法建立了三自由度整车动力学模型,建模时同时考虑了驱动和转向的相互影响。最后,数值仿真结果定性地验证了月面巡视探测器动力学模型的正确性。The dynamics modeling was studied based on the lunar principle rover, and numerical simulations were analyzed. The mechanical properties of lunar soil were explained, and the stresses of driven and towed rigid wheels were analyzed according to terramechanics. The models were simplified to satisfy engineering requirement by using mathematical fitting. In terms of some hypotheses, the 3-DOF dynamics models were analyzed by using Newton-oula method. The interaction of driving and steering of the lunar rover was considered during modeling. The numerical simulation proves the dynamics model is validated.

关 键 词：月面巡视探测器 月壤 机械特性 车辆力学 动力学建模 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TU998.13[自动化与计算机技术—控制科学与工程]