CAJ | 학술논문

由于月球复杂的地形环境,月球车作为复杂多体系统,其动力学行为和驱动控制具有很多特性,对其的分析也较简单系统复杂得多,本文给出了对月球车控制的动力学、运动约束和运动学设计的数学模型,并以跨越沟壑为例,说明了协调控制过程,同时设计和研制了基于气浮的独轮实验装置,用于模拟月球的重力环境,并研究协调了控制中各个车轮运动学和动力学参数的合理范围,
유우월구복잡적지형배경,월구차작위복잡다체계통,기동역학행위화구동공제구유흔다특성,대기적분석야교간단계통복잡득다,본문급출료대월구차공제적동역학、운동약속화운동학설계적수학모형,병이과월구학위례,설명료협조공제과정,동시설계화연제료기우기부적독륜실험장치,용우모의월구적중력배경,병연구협조료공제중각개차륜운동학화동역학삼수적합리범위,
Because of the complexity of the lunar environment, the lunar rover, as a complex multi-body system, has many characteristics in its dynamics behavior and its control. The analysis is more difficult than that of simple system. The mathematical models of lunar rover control, such as dynanucs, motion constraints and kinematics, are presented in this paper. The harmonious control is explained by the sample of running across a ravine. For mutation of the lunar gravitational circumstances, a single wheel test device based on gas lubrication was designed. The range of the kinematic and dynamic parameters of each wheel can be determined by that device.