变驱动半径两轮并列式月球车的稳定性分析

The Stability Analysis of Lunar Rover with Two Parallel Wheels and Changeable Driving Radius

为了适应月球探测的特点和要求,提出了一种两轮并列式月球车结构,并分析了其驱动原理和性能.为了更好地适应两轮车系统的视觉导航及多车对接所具备的稳定性需要,设计了一种变驱动半径的两轮并列式月球车系统模型.针对两轮车系统的稳定性进行数学建模,采用变驱动半径结构和状态反馈控制进行仿真,结果表明,变驱动半径结构可以有效地实现两轮车系统的稳定性控制.

For the character and demand of lunar exploration, a lunar rover structure with two parallel wheels was proposed and its driving principle and performance were analyzed. For more stability for the vision navigation and docking of lunar rovers, the lunar rover model with two parallel wheels was designed which has changeable driving radius. In the light of the analysis of the stability of the lunar rover, a mathematic model is founded and simulated. The result shows the changeable driving structure and the state feedback are feasible for the stability control.