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 六轮式月球车动力学特性分析 Alternative Title Analysis 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 Source Publication 南京理工大学学报 ISSN 1005-9830 2012 Volume 36Issue:SPages:202-209 Indexed By EI EI Accession number 20125115819159 Contribution Rank 1 Keyword 六轮式月球车 动力学特性.解析法 Abstract 该文在六轮式月球车转向动力学微分万程的基础上，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就转向特征方程特征根据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。所再结果可队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 Abstract According to the steering dynamic equations of six wheels lunar rovers, the steady and dynamic characteristics of the rovers are analyzed respectively here by using an analytical approach of mathematics. Three kinds of steady responses corresponding to the steering control of six wheels lunar rovers are derived. The dynamic characteristics of lunar rovers are researched by analyzing the characteristic roots of the steering characteristic equations of six wheels lunar rovers. The characteristics of transient response and stability conditions of lunar rover motion systems are presented. The results will be beneficial to provide a theoretical foundation for the design and control of the six wheels rover systems. Language 中文 Document Type 期刊论文 Identifier http://ir.sia.cn/handle/173321/10286 Collection 智能产线与系统研究室 Affiliation 1.中国科学院沈阳自动化研究所，辽宁沈阳2.沈阳理工大学信息科学与工程学院 Recommended CitationGB/T 7714 谷侃锋,魏英姿. 六轮式月球车动力学特性分析[J]. 南京理工大学学报,2012,36(S):202-209. APA 谷侃锋,&魏英姿.(2012).六轮式月球车动力学特性分析.南京理工大学学报,36(S),202-209. MLA 谷侃锋,et al."六轮式月球车动力学特性分析".南京理工大学学报 36.S(2012):202-209.