| 变驱动半径两轮并列式月球车的稳定性分析 |
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| 引用本文： | 毕贞法,邓宗全,陶建国.变驱动半径两轮并列式月球车的稳定性分析[J].上海交通大学学报,2007,41(7):1204-1208. |
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| 作者姓名： | 毕贞法 邓宗全 陶建国 |
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| 作者单位： | 哈尔滨工业大学,机电工程学院,哈尔滨,150001 |
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| 基金项目： | 国家自然科学基金;国家高技术研究发展计划(863计划) |
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| 摘 要： | 为了适应月球探测的特点和要求,提出了一种两轮并列式月球车结构,并分析了其驱动原理和性能.为了更好地适应两轮车系统的视觉导航及多车对接所具备的稳定性需要,设计了一种变驱动半径的两轮并列式月球车系统模型.针对两轮车系统的稳定性进行数学建模,采用变驱动半径结构和状态反馈控制进行仿真,结果表明,变驱动半径结构可以有效地实现两轮车系统的稳定性控制.
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| 关 键 词： | 月球车 变驱动半径 两轮并列式结构 稳定性 状态反馈控制 |
| 文章编号： | 1006-2467（2007）07-1204-05 |
| 修稿时间： | 2006-04-09 |
The Stability Analysis of Lunar Rover with Two Parallel Wheels and Changeable Driving Radius |
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| BI Zhen-fa,DENG Zong-quan,TAO Jian-guo.The Stability Analysis of Lunar Rover with Two Parallel Wheels and Changeable Driving Radius[J].Journal of Shanghai Jiaotong University,2007,41(7):1204-1208. |
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| Authors: | BI Zhen-fa DENG Zong-quan TAO Jian-guo |
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| Institution: | School of Mechanical and Electrical Eng. , Harbin Inst. of Technology, Harbin 150001, China |
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| Abstract: | For the character and demand of lunar exploration,a lunar rover structure with two parallel wheels was proposed and its driving principle and performance were analyzed.For more stability for the(vision) navigation and docking of lunar rovers,the lunar rover model with two parallel wheels was designed which has changeable driving radius.In the light of the analysis of the stability of the lunar rover,a mathematic model is founded and simulated.The result shows the changeable driving structure and the state feedback are feasible for the stability control. |
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| Keywords: | lunar rover changeable driving radius structure with two parallel wheels stability state feedback control |
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