基于半主动控制的小天体着陆器缓冲器的研究  

Research on buffer of asteroid lander based on semi-active control

作　　者：赵京东[1] 王金昌[1] 赵志军[1] 姜力[1] 崔平远[1] 

机构地区：[1]哈尔滨工业大学机器人技术与系统国家重点实验室,哈尔滨150001

出　　处：《振动与冲击》2010年第8期78-80,98,共4页Journal of Vibration and Shock

基　　金：科技部863项目(2008AA12A214);(SKLR200801A01)资助

摘　　要：设计了一种三腿式小天体着陆器,介绍了其组成和工作原理,建立了系统的物理模型和动力学模型。着陆器采用了电机能耗制动方式的电磁阻尼缓冲器来实现软着陆,同时提出基于斩波调阻的方法实现电磁阻尼系数的调整与优化,解决了缓冲器在低速情况下缓冲力较小的问题。同时对半主动控制和被动控制着陆方式进行了Matlab/Simulink仿真,通过仿真表明,半主动着陆控制耗散功率曲线比较平稳,反弹速度减小71.6%。A three-leg asteroid lander was designed,its structure and working principle introduced and the physical and dynamic model of the lander estabilshed.The electromagnetic damping buffer was used in accordance with the dynamic braking theory to deduce a soft landing of the lander.Meanwhile,the resistance chopper control method was proposed to achieve the adjustment and optimization of electromagnetic damping coefficient and to solve the problem of small damping force of the buffer at low speed.The semi-active control method and the passive control method were simulated with Matlab/Simulink,It is concluded that the semi-active control has a smooth power dissipation curve,and the rebound velocity of the lander is reduced by 71.6%.

关 键 词：着陆器 软着陆 半主动 能耗制动 动力学 仿真 

分 类 号：V476.4[航空宇航科学与技术—飞行器设计]