[1]董玉红,邓宗全,方海涛.六圆柱轮式月球车动力学建模与仿真[J].哈尔滨工程大学学报,2009,(02):192-197.
 DONG Yuhong,DENG Zongquart,FANG Haitao.Dynamics modeling and simulation of a lunar rover with six cylindrical wheels[J].Journal of Harbin Engineering University,2009,(02):192-197.
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六圆柱轮式月球车动力学建模与仿真
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《哈尔滨工程大学学报》[ISSN:1006-6977/CN:61-1281/TN]

卷:
期数:
2009年02期
页码:
192-197
栏目:
出版日期:
2009-02-25

文章信息/Info

Title:
Dynamics modeling and simulation of a lunar rover with six cylindrical wheels
作者:
董玉红邓宗全方海涛
(哈尔滨工业大学机电工程学院,黑龙江哈尔滨150001)
Author(s):
DONG Yu—hongDENG Zong—quartFANG Hai—tao
(School of Mechanical and Electrical Engineering,Harbin Institute of Technology,Harbin 150001,China)
关键词:
六圆柱轮动力学建模凯恩方法
分类号:
TP242.3
文献标志码:
A
摘要:
为了实现月球车的运动控制与自主避障,对六圆柱轮式月球车的动力学进行了建模与仿真研究.根据该六轮月球车的机构原理和结构特点,分析了车轮的受力情况,并根据车辆动力学理论给出了简化计算公式.利用凯恩方法建立了月球车的动力学方程,并提出了基于动力学模型的车轮计算力矩控制方案,利用MATLAB/Simulink完成了动力学模型和控制方案的仿真分析.研究结果表明,基于动力学模型的车轮计算力矩控制方案是可行的,可以使月球车跟踪期望轨迹,并按轨迹跟踪的精度要求来选择控制器的参数,使得轨迹控制既满足位置精度,同时也满足速度精度.

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备注/Memo

备注/Memo:
收稿日期:2007—12.18.
基金项目:网家自然科学基金资助项目(50275032);中国博士后基金资助项目(20070420867).作者简介:董玉红(1965·),女,教授,E-mail:dongyuhon9585@163.com
更新日期/Last Update: 2009-06-04