基于零力矩点理论的腿式着陆器着陆稳定性研究  

Landing Stability Investigation of Legged-type Spacecraft Lander Based on Zero Moment Point Theory

作　　者：罗昌杰[1] 邓宗全[1] 刘荣强[1] 王闯 

机构地区：[1]哈尔滨工业大学机电工程学院,哈尔滨150001 [2]中国空间科学研究院,北京100094

出　　处：《机械工程学报》2010年第9期38-45,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50775048);高等学校学科创新引智计划(B07018)资助项目

摘　　要：为得出腿式着陆器着陆稳定性判据及提高其着陆稳定性的方法,给出腿式着陆器的结构原理,结合腿式着陆器的结构特点,基于零力矩点(Zero moment point,ZMP)理论研究腿式着陆器着陆过程的稳定性及其相关理论,给出基于ZMP的腿式着陆器着陆稳定性分析流程,为腿式着陆器着陆稳定性研究提供参考。为验证所提出基于零力矩点理论的腿式着陆器着陆稳定性研究方法的正确性,以哈尔滨工业大学研制的四腿桁架式月球着陆器样机为例,结合所提出的腿式着陆器着陆稳定性研究方法,给出四腿桁架式月球着陆器样机的支撑多边形与ZMP的关系图,并得到了该样机在着陆过程中的ZMP及支撑多边形的计算公式,最后给出通过判断着陆器的ZMP是否位于其支撑多边形内部来判断腿式着陆器是否稳定的方法。In order to obtain landing stability criterion of legged-type spacecraft lander and methods of improving its landing stability, the structural principle of legged-type lander is given. The flow chart of landing stability analysis, which is according to the structural characteristics of legged-type lander and the study of stability of the landing processing based on zero moment point （ZMP）, is proposed to provide useful reference in stability study of legged-type spacecraft lander. In order to validate the corrective- ness of the stability study of legged-type spacecraft lander based on the ZMP, a four-leg truss-type lunar lander prototype developed by Harbin Institute of Technology is taken as an example to combine with the proposed method of the stability study of legged-type spacecraft lander, the relation diagram of support polygon and ZMP is given. The formulas of the support polygon and ZMP of the prototype in the landing process are obtained and finally the stability determination method of the legged-type spacecraft lander is given by judging whether ZMP lies inside of support polygon or not.

关 键 词：着陆器 稳定性 支撑多边形 零力矩点 判据 

分 类 号：V414[航空宇航科学与技术—航空宇航推进理论与工程]