【摘要】 小行星探测器在弱引力环境下无法采用传统的轮式机构进行移动。为解决该问题,采用反作用飞轮对探测器跳跃移动进行控制,并分析了该方案的可行性。根据Hertz碰撞定律及简化的Karnopp切向摩擦力模型,建立了探测器与地面的接触力模型。分析了轮控小行星探测器的起跳过程,给出了探测器静止起跳所需要的最小飞轮力矩关系。考虑到反作用飞轮存在惯性、粘滞、摩擦等情况,建立了轮控探测器的姿态动力学模型,并对探测器在均匀重力场下的连续跳跃过程进行了控制策略设计及仿真。结果表明:基于飞轮控制的小行星探测器跳跃移动在微重力环境下是可行的,且可以通过施加合适的控制力矩维持探测器跳跃的方向及跳跃过程的稳定性。更多还原

【Abstract】 In order to solve the problem that the asteroid probe cannot move by the conventional wheel mechanism in the low gravity field, the possibility of controlling probe’s hopping movements by the reaction wheel is analyzed. The contact force model between the probe and the ground is established based on Hertz law of collision and the simplified Karnopp model of tangential friction force. After analyzing the take-off process of the probe, the minimum torque required for take-off from the static state is given. The attitude dynamics of the probe controlled by the reaction wheel is established with consideration of inertia, viscosity and friction. Then the control law of the probe’s continuous hopping process under the uniform gravity field is deigned. Simulation results demonstrate that the hopping movement of the probe controlled by the reaction wheel in microgravity is viable and the hopping process can be stabilized by exerting proper control torque.更多还原