B113 ハイブリッド型MEID機構を用いた衝撃応答制御(OS13 月・惑星探査ロボットの運動と制御3)

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On the landing of a spacecraft, a large shock load leads to undesirable responses, such as rebound and trip. The authors have discussed the control problem of these shock responses by momentum exchange impact dampers (MEIDs). The optimal design parameters of MEIDs for the landing of a spacecraft are investigated. The parameters are crucial for applications of MEIDs. This paper discusses the parameters of MEIDs with single-axis falling type problem, which is the most fundamental problem. It is found that the rebound height is proportional to the mechanical energy of the spacecraft. Thus, the optimal design parameters of the MEIDs correspond to the parameters that minimize the mechanical energy. Then, in order to improve the performance of the MEIDs, a novel MEID - HMEID (Active/Passive-Hybrid-MEID) has been proposed. The HMEID combines actuators with passive elements such as contact springs. Based on the optimal design result of the MEIDs, a stiffness control is applied to the HMEID in order to suppress the mechanical energy further. Simulation studies reveal that the HMEID can effectively reduce the influence of shock responses. The robustness of the HMEID against the stiffness of the landing ground is shown. The feasibility of the HMEID is also discussed. The effectiveness of the HMEID is superior to that of PMEID, even if the actuator has a dynamics with a large electric time constant or force constraint.
一般社団法人日本機械学会の論文
2011-06-28

B113 ハイブリッド型MEID機構を用いた衝撃応答制御(OS13 月・惑星探査ロボットの運動と制御3)

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