Overturning protection control of lunar-planetary lander with semi-active shock absorber
Overturning protection control of lunar-planetary lander with semi-active shock absorber
复制标题
半主动减震器月行星着陆器倾覆保护控制
DOI：
10.1299/transjsme.2014dr0235
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
T. Hashimoto
中科院分区：
文献类型：
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作者：
T. Maeda;M. Otsuki;T. Hashimoto
介绍了在着陆腿上安装半主动阻尼器的月球着陆器防倾覆姿态控制方法。为了实现在不平坦的地形特别是倾斜地面上的安全着陆，需要新型起落架系统。变阻尼着陆腿是实现无倾覆着陆的一种方案。传统的月球着陆器和行星着陆器的起落架具有固定的冲击衰减参数，并且在着陆序列中不主动地用于着陆器的姿态控制。通过控制每个着陆腿的阻尼系数，可以抑制对着陆器姿态的干扰，并且防止倾覆。首先给出了通过改变着陆腿阻尼系数来防止着陆器倾覆的策略，并提出了基于着陆器和着陆腿状态值的控制规则。其次，建立了基于垂直二维平面微分代数方程的着陆器数学模型。此外，还介绍了脚垫-地面接触模型。最后，着陆模拟与建议的起落架控制方法在斜坡地形。仿真结果表明，所提出的起落架系统在斜坡地形着陆时工作良好。
This paper describes the attitude control method for overturning prevention for a lunar planetary lander which uses a semi-active damper on the landing leg. In order to achieve safe landing on uneven terrain especially a sloped ground, a novel landing gear system is required. The landing leg with variable damping is one of the solutions for touchdown without overturning. Conventional landing gear for lunar and planetary lander has a fixed shock attenuation parameter and it is not used proactively for attitude control of the lander in the touchdown sequence. By controlling the damping coefficient of the each landing leg, it becomes possible to suppress the disturbance on the attitude of the lander, and it prevents overturning. First, the strategies for the overturn prevention for the lander by changing damping coefficient of landing legs are shown and the control rules based on the lander and landing leg state values are proposed. In the second place, the mathematical model of lander based on the differential algebraic equation in vertical two-dimensional plane is presented. Besides footpad-ground contact model is also described. Finally, touchdown simulations on a sloped terrain with the proposed landing gear control method are shown. Numerical simulations show that the proposed landing gear system works well during the touchdown on a sloped terrain.
月球与行星探测器主动起落架冲击力缓解控制方法基础研究
DOI：
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发表时间：
2012
期刊：
電気学会論文誌D（産業応用部門誌）
影响因子：
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作者：
茂渡修平;藤本博志;堀 洋一;大槻真嗣;橋本樹明
通讯作者：
橋本樹明