月面巡视探测器运动控制方法研究

基于动力学的运动控制是星球探测车研制中的关键技术之一。本文以某多轮驱动、多轮转向的月面巡视探测器运动控制为背景,在建立其三自由度动力学模型的基础上,研究了常规增量式PID和模糊自适应PID控制算法,并进行了仿真比较。典型车轮失效情况下的仿真表明,模糊自适应PID方法能够有效控制月面巡视探测器四轮失效的情况,而常规PID方法能够有效控制探测器三轮失效的情况。模糊自适应PID方法对参数扰动敏感性低,鲁棒性更强,较好地处理了常规控制方法可能产生的小超调与快速性的矛盾。     

Free librations of the two-layer Moon and the possibilities of their detection

Based on the forthcoming second stage of the Japanese Lunar mission ILOM (2013), when an optical telescope will be set on the surface near one of the Lunar poles, the possibility to detect free Lunar modes (Chandler-like wobble and free-core nutation) is considered. The difference between the Lunar Eulerian and Chandler-like wobble is explained. The terms “arbitrary libration” and “free libration” are discussed. The geometrical and physical interpretations of the free polar motion over the Lunar surface are considered from the viewpoints of Lunar surface-based observations and the Lunar Navigation Almanac. The dependencies of the free libration period on the core’s radius, density, and ellipticity are modelled and discussed.     

Moon surface radiation environment analysis for February 1956 solar event conditions

The radiation environment on the surface of the Moon presents a new source of particles resulting from the interaction of incoming solar protons and galactic cosmic rays with the lunar regolith. Here we present a study of the fluence profile of primary and secondary particles on the top 1 m layer of lunar regolith for the spectrum of one of the hardest spectrum solar event, that of February 1956. Different regolith compositions and their influence in proton and neutron production and backscattering is considered, as well as the nature of the backscattered radiation. Simple geometry Monte Carlo simulations have been used also for calculating regolith shielding properties, and it is shown that a layer of at least 50 cm regolith is needed for significantly reducing the dose levels received by astronauts in a hypothetical lunar habitat.     

Surface temperatures at the nearside of the Moon as a record of the radiation budget of Earth’s climate system

Understanding the balance between incoming radiation from the Sun and outgoing radiation from Earth is of critical importance in the study of climate change on Earth. As the only natural satellite of Earth, the Moon is a unique platform for the study of the disk-wide radiation budget of Earth. There are no complications from atmosphere, hydrosphere, or biosphere on the Moon. The nearside of the Moon allows for a focus on the solar radiation during its daytime, and on terrestrial radiation during its nighttime. Additionally, lunar regolith temperature is an amplifier of the terrestrial radiation signal because lunar temperature is proportional to the fourth square root of radiation as such is much more sensitive to the weak terrestrial radiation in nighttime than the strong solar radiation in daytime. Indeed, the long-term lunar surface temperature time series obtained inadvertently by the Heat Flow Experiment at the Apollo 15 landing site three decades ago may be the first important observation from deep space of both incoming and outgoing radiation of the terrestrial climate system. A revisit of the lunar surface temperature time series reveals distinct characteristics in lunar surface daytime and nighttime temperature variations, governed respectively by solar and terrestrial radiation.     

一种新的基于从明暗恢复形状的月球表面三维形状恢复算法

提出了一种新的基于从明暗恢复形状的月球表面三维形状恢复算法。首先 ,分析了在太阳光照条件下月球表面的成像模型,建立了基于Lunar\|Lambert反射模型的 图像辐照度方程。然后由图像辐照度方程建立相应的静态Hamilton\|Jacobi方程,使用
Lax\|Friedrichs sweeping方法逼近其粘性解,得到表面三维高度。最后通过对合成图像和 实际月球图像进行三维形状恢复,实验结果表明提出的新算法可以有效地应用于月球表面的 三维形状恢复。     

月面巡视探测器直流电机的准极限选择

针对月面巡视探测器特殊使用条件和要求,为充分利用电机的极限性能,提出了基于准极限理论的直流电机的选择准则。用准极限度表征电机极限能力的利用率,根据准极限度小于1且接近于1的准则选择月面巡视探测器的走行轮电机。所选电机在满足要求的前提下,具有较小的质量和体积。     

月球探测器软着陆机构展开过程的运动学分析

软着陆机构是月球探测器实现软着陆的关键部件。针对一种四腿式软着陆机构方案,论述了该软着陆机构展开的工作原理,分析了机构的奇异性,推导了机构不发生奇异的条件,建立了展开机构的运动学方程组,采用Newton-Raphson法求解了该非线性运动学方程组,获得了主支撑杆运动参数的变化规律。     

一种改进的巡视器惯性/视觉组合导航模型

在传统的以惯性与视觉相对运动参数差为观测量的惯性/视觉组合导航模型中,为了得到简单的观测矩阵,惯性相对旋转四元数与平台失准角之间的函数关系往往通过近似处理得到。但当航向角较大时,该近似处理的误差很大,不可忽略。为解决该问题,文章提出了一种不需该近似处理的改进的观测量误差分析方法,并建立了改进的观测模型。该方法利用含误差的惯性姿态已知的特点,得到了更精确的惯性相对旋转四元数误差表达式,减少了Kalman滤波中惯性与视觉相对旋转差的状态模型预测误差。月面仿真和地面试验表明该改进方法相比传统方法可实现更高的导航精度,其中位置精度提高达68%。     

Photon counting detector for space debris laser tracking and lunar laser ranging

We are reporting on a design, construction and performance of solid state photon counting detector package which has been designed for laser tracking of space debris. The detector has been optimized for top photon detection efficiency and detection delay stability. The active area of the commercially available avalanche photodiode manufactured on Si (SAP500 supplied by Laser Components, Inc.) is circular with a diameter of 500 μm. The newly designed control circuit enables to operate the detection sensor at a broad range of biases 5–50 V above its breakdown voltage of 125 V. This permits to select a right trade-off between photon detection efficiency, timing resolution and dark count rate. The photon detection efficiency exceeds 70% at the wavelength of 532 nm. This is the highest photon detection efficiency ever reported for such a device. The timing properties of the detector have been investigated in detail. The timing resolution is better than 80 ps r.m.s, the detection delay is stable within units of picoseconds over several hours of operation. The detection delay stability in a sense of time deviation of 800 fs has been achieved. The temperature change of the detection delay is 0.5 ps/K. The detector has been tested as an echo signal detector in laser tracking of space debris at the satellite laser station in Graz, Austria. Its application in lunar laser ranging is under consideration by several laser stations.