两轮并列式月球车的性能及其稳定性分析

Performance and stability analysis of lunar rover with two parallel wheels

随着国内外新一轮探月高潮的掀起,新型的月球车越来越受到人们的关注.文章提出了一种两轮并列式月球车结构以适应月球探测的特点和要求,并对两轮车的驱动原理和性能进行分析,为月球车的应用提供理论基础和参考依据.两轮车行走中箱体平台的稳定性是其在视觉导航及多车对接应用中的关键环节,针对箱体平台的稳定性对两轮车系统进行建模仿真并提出了两轮车系统的模拟控制方案.仿真结果表明采用状态反馈控制可以有效的实现两轮车系统的稳定性控制.两轮并列式月球车的特点和稳定性分析为新型探月车的研究提供新思路.

With rising interest in lunar exploration, more emphasis has been put on developing a new type of lunar rover. Here, a lunar rover structure with two parallel wheels is proposed to meet the demands of lunar exploration. The driving principle and the performance of the lunar rover were analyzed for theoretical basis of the application of the lunar rover and reference. In a lunar rover system, stability of the case platform is important. To this end, a mathematical model of the lunar rover was established and simulated, with a simulative control scheme proposed. The simulation result shows state feedback is feasible for the stability control. The characteristic and analysis of stability of lunar rover with two parallel wheels promises a new research ideal for a new type of rover.