载人月球车全向(全局)月面路谱模型研究  

Study on Omnidirectional(Global)Lunar Surface Road Spectrum Model of Manned Lunar Rover

作　　者：张云侠 王卫军 管西强 杨文淼 时军委 张崇峰 ZHANG Yunxia;WANG Weijun;GUAN Xiqiang;YANG Wenmiao;SHI Junwei;ZHANG Chongfeng(College of Information,Mechanical and Electrical Engineering,Shanghai Normal University,Shanghai 200230,China;Institute of Aerospace System Engineering Shanghai,Shanghai 210019,China;National Key Laboratory of Aerospace Mechanism,Shanghai 210018,China;Shanghai Academy of Spaceflight Technology,Shanghai 210019,China)

机构地区：[1]上海师范大学信息与机电工程学院,上海200230 [2]上海宇航系统工程研究所,上海210019 [3]宇航空间机构全国重点实验室,上海210018 [4]上海航天技术研究院,上海210019

出　　处：《载人航天》2024年第5期640-644,共5页Manned Spaceflight

摘　　要：为保证载人月球车等月面高速移动机器人路谱模型的准确性和规范性,对月球表面月谱进行了数学建模与仿真。利用谐波叠加法建立了二维路谱模型,通过增加横向特征,建立了三维路谱仿真模型,并建立了月表陨石坑和石块的典型模型,从叠加了陨石坑和石块模型到三维的平坦月海、高地和崎岖月海的数学模型中,获得了典型月面路谱的数字化特征,该特征与月貌真实情况一致。该路谱模型可以作为载人月球车的平顺性和操纵稳定性动力学仿真模型的输入,为载人月球车的性能评价和优化奠定基础。To ensure the accuracy of the road spectrum model of the manned lunar rover,the mathe⁃matical modeling and simulation of the lunar surface moon spectrum were carried out.The two⁃di⁃mensional road spectrum models were established by using the harmonic superposition method.By adding transverse features,the three⁃dimensional road spectrum simulation models were established,and the typical models of meteorite craters and stones on the lunar surface were established.The me⁃teorite crater and stone models were superimposed to the three⁃dimensional flat lunar sea in the mathematical models of highland and rugged lunar sea.The digital features of typical lunar path spectra were obtained which were consistent with the true lunar morphology.The simulation results can be used as the input of the dynamic simulation model of ride comfort and handling stability of manned lunar rover.It lays a foundation for the performance evaluation and optimization of manned lunar rover.

关 键 词：载人月球车 月谱模型 汽车动力学 仿真 

分 类 号：V476.3[航空宇航科学与技术—飞行器设计]