DYNAMIC RESPONSE OF A TETHERED SYSTEM UNDER ATTITUDE CONTROL OF END BODY

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概要

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• In this paper we discuss about dynamic response of a tethered system under attitude control of end body. The system in consideration is composed of a string and rigid bodies attached at its end. We formulate the motion of the string taking into its flexibility. We attempt to control the attitude of the end body. The control technique is consists of attitude control by the reaction wheel, attitude control by the joint torque, and attitude control by the reaction wheel with the joint torque control to cancel accumulation of angular momentum of reaction wheel. First eigenvalue analyses were carried out for these cases where control gain changes. Second the motions of the controlled system are discussed under the free vibration and forced vibration.

• 一般社団法人日本機械学会の論文

著者

• Nohmi Masahiro

  Department Of Intelligent Mechanical Systems Engineering Kagawa University

• Takehara Shoichiro

  Department of Mechanical Engineering, Sophia University

• Terumichi Yoshiaki

  Department of Mechanical Engineering, Sophia University

• Sogabe Kiyoshi

  Department of Mechanical Engineering, Sophia University

• Sogabe Kiyoshi

  Department Of Mechanical Engineering Sophia University

• Takehara Shoichiro

  Department Of Mechanical Engineering Sophia University

• Terumichi Yoshiaki

  Department Of Mechanical Engineering Sophia University

• Terumichi Yoshiaki

  Department Of Mechanical Engineering Faculty Of Science And Technology Sophia University

• TERUMICHI Yoshiaki

  Department of Engineering and Applied Sciences, Sophia University

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