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因基于摇臂式月球车释放机构在月球车释放时对着陆器的倾翻力矩较大,易使着陆器倾翻而导致整个探测任务失败,所以对月球车着陆释放时着陆器稳定性的研究尤为重要。将着陆器腿不等量压缩、月面坡度、低重力环境、释放加速度等因素进行参数化处理;应用D-H坐标法得到基于各参量的支撑多边形坐标以及着陆器和月球车的位姿方程,进而建立了月球车释放过程中的零力矩点(ZMP)坐标方程和稳定性判定依据。通过实例仿真分析,一方面验证了方程的正确性,另一方面得到了各参数对着陆器稳定性的影响,进而求得着陆器不倾翻的临界月球车着陆释放速度,该速度为月球车着陆释放控制提供了理论依据。
Due to the fact that the rocker lunar rover releasing mechanism has a large tilting moment on the lander when the lunar rover is released, it is easy to tilt the lander and lead to the failure of the whole exploration mission. Therefore, the stability of the lunar lander when it is released Particularly important. The parameters such as unequal compression of the lander legs, lunar gradient, low-gravity environment and acceleration of release were parameterized. The coordinates of the supporting polygons based on each parameter and the pose-attitude equation of the lander and lunar rover were obtained by DH coordinate method. The zero moment (ZMP) coordinate equation and the criterion of stability of lunar rover were established. Through the example simulation analysis, the correctness of the equation is verified on the one hand and the stability of the lander is obtained on the other hand, and then the landing release speed of the lunar rover Land release control provides a theoretical basis.