载人月球车曲率连续行驶轨迹的逆问题分析

doi:10.12068/j.issn.1005-3026.2016.07.016

东北大学学报:自然科学版 ›› 2016, Vol. 37 ›› Issue (7): 984-989.DOI: 10.12068/j.issn.1005-3026.2016.07.016

载人月球车曲率连续行驶轨迹的逆问题分析

梁忠超¹，王永富¹，高海波²

(1. 东北大学机械工程与自动化学院，辽宁沈阳110819； 2. 哈尔滨工业大学机器人技术与系统国家重点实验室，黑龙江哈尔滨150080)

收稿日期:2015-04-20 修回日期:2015-04-20 出版日期:2016-07-15 发布日期:2016-07-13
通讯作者: 梁忠超
作者简介:梁忠超(1984-)，男，辽宁沈阳人，东北大学博士后研究人员；王永富(1969-)，男，辽宁沈阳人，东北大学教授.
基金资助:
国家自然科学基金资助项目(51275085)；中国博士后科学基金资助项目(2016M591442)；流程工业综合自动化国家重点实验室开放项目(PAL-N201403)；沈阳市科技基金资助项目(F16-226-6-00).

Analysis on Inverse Problem of Lunar Roving Vehicle Moving Trajectory with Continuous Curvature

LIANG Zhong-chao¹， WANG Yong-fu¹， GAO Hai-bo²

1. School of Mechanical Engineering & Automation， Northeastern University， Shenyang 110819， China; 2. State Key Laboratory of Robotics and System， Harbin Institute of Technology， Harbin 150080， China.

Received:2015-04-20 Revised:2015-04-20 Online:2016-07-15 Published:2016-07-13
Contact: WANG Yong-fu
About author:-
Supported by:
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摘要/Abstract

摘要： 为了分析月-地重力条件对宇航员驾驶载人月球车时所带来的操纵差异，采用线性二次最优的方法得到载人月球车的操纵动力学逆系统，对典型工况曲率连续条件下的轨迹路径函数进行推导，求得月-地不同重力条件下宇航员行驶相同轨迹所需的操纵输入.计算结果表明，为了行驶相同的轨迹路线，由于月-地重力条件的不同，当宇航员在月球重力条件下驾驶载人月球车时，需要做出比地球重力条件下更快的反应速度，更大的操纵幅度，以及更频繁的操纵变换，也说明了月面驾驶载人月球车具有更高的操纵难度.

关键词: 载人月球车, 操纵动力学, 逆系统, 曲率连续函数, 操纵差异

Abstract: For analyzing the handling deviations of the lunar roving vehicle (LRV) when the astronauts driving it under the earth and lunar gravities， the inverse dynamical system of the LRV was established using the linear quadratic optimal theory， and the trajectory functions with the continuous curvature were deduced under the traditional condition. Then， when the astronauts drove the LRV in the same path under the different gravities， the handling inputs could be solved using the inverse system and trajectory functions. The calculation results show that， for moving in the same path under the different gravities， the astronauts when driving an LRV on the lunar surface need much faster handling speed， bigger handling amplitude， and more frequently handling conversion than driving on the earth. Therefore， it illustrates that the LRV on the moon is much more difficult to handle.

Key words: LRV(lunar roving vehicle), vehicle dynamics, inverse system, continuous curvature function, handling deviation

中图分类号:

TP242

梁忠超，王永富，高海波. 载人月球车曲率连续行驶轨迹的逆问题分析[J]. 东北大学学报:自然科学版, 2016, 37(7): 984-989.

LIANG Zhong-chao， WANG Yong-fu， GAO Hai-bo. Analysis on Inverse Problem of Lunar Roving Vehicle Moving Trajectory with Continuous Curvature[J]. Journal of Northeastern University Natural Science, 2016, 37(7): 984-989.

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载人月球车曲率连续行驶轨迹的逆问题分析

Analysis on Inverse Problem of Lunar Roving Vehicle Moving Trajectory with Continuous Curvature

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