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以哈尔滨工业大学宇航空间机构及控制研究中心研制的四腿桁架式月球着陆器样机为研究对象,通过简化模型,导出了着陆器着陆过程中各个着陆脚和着陆器质心在惯性坐标系中的位置坐标方程,以此位置坐标方程为依据得到了着陆器准静态稳定性条件.通过分析着陆器与月面着陆时瞬态动力学行为,得到了着陆器在此瞬态的各动力学参数的计算公式,以此为依据,并离散时间变量,给出了可以程序化实现整个动态着陆过程动力学模拟的计算过程,为进一步研究着陆过程动力学行为奠定了基础.
Taking the prototype of four-legged truss type lunar lander developed by Aerospace Institution and Control Research Center of Harbin Institute of Technology as the research object, by simplifying the model, the position of the centroid of each landing foot and lander in the inertial coordinate system during the landing process of the lander Based on this coordinate equation, the quasi-static stability condition of the lander is obtained. By analyzing the transient dynamics of lander and lunar landing, the dynamic parameters of the lander at this transient are calculated Based on this, and discrete time variables, the computational process that can be used to program the dynamic simulation of the entire dynamic landing process is given, which lays the foundation for further study on the dynamic behavior of the landing process.