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六轮式月球车动力学特性
Alternative TitleAnalysis of the Dynamic Characteristics for Six Wheels Lunar Rover
谷侃锋; 魏英姿
Department装备制造技术研究室
Conference Name第23届中国过程控制会议论文集
Conference Date2012年8月11日-12日
Conference Place厦门
Author of Source中国自动化学会过程控制专业委员会
Source Publication第23届中国过程控制会议论文集
2012
Pages499-505
Contribution Rank1
Keyword六轮式月球车 运动特性 三类转向特性 机动性因子 运动稳定性
Abstract月球探测车自身的运动特性是保证其行驶性能的至关重要的因素。本文在六轮式月球车转向动力学微分方程的基础上,通过解析法研究了月球车运动的稳态特性,分析了六轮式月球车相应于转向控制的三种类型的稳态响应;通过对六轮式月球车系统转向特征方程特征根的分析研究了月球车运动的动态特性,给出了月球车瞬态响应的性质及稳定运动的条件。所得到的结果将为六轮式月球车系统的合理设计及控制算法研究提供依据。
Other AbstractThe inherent motion characteristics of Lunar Rover itself is crucial to its travel performance. According to the steering dynamic equations of lunar rover, its steady and dynamic response of the rover are analyzed respectively in this paper by using an analytical approach of mathematics. Meanwhile, three categories steering characteristics are derived.Furthermore,the stability condition of lunar rover motion system is also presented. Our results will be beneficial to provide a theoretical foundation for the design and control of the rover system.
Language中文
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/10154
Collection智能产线与系统研究室
Affiliation1.中国科学院沈阳自动化研究所
2.沈阳理工大学信息科学与工程学院
Recommended Citation
GB/T 7714
谷侃锋,魏英姿. 六轮式月球车动力学特性[C]//中国自动化学会过程控制专业委员会,2012:499-505.
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