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

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.

For analyzing the handling deviations of the lunar roving vehicle （ LRV ） when theastronauts driving it under the earth and lunar gravities, the inverse dynamical system of the LR Vwas established using the linear quadratic optimal theory, and the trajectory functions with thecontinuous curvature were deduced under the traditional condition. Then , when the astronautsdrove the LRV in the same path under the different gravities,the handling inputs could be solvedusing the inverse system and trajectory functions. The calculation results show that,for moving inthe same path under the different gravities, the astronauts when driving an LRV on the lunarsurface needmuch faster handling speed, bigger handling amplitude, and more frequentlyhandling conversion than driving on the earth. Therefore, it illustrates that the LR Von the moonis much more difficult to handle.