The invention relates to a flexible multi-node lander decision-making method for asteroid exploration, and the method comprises the steps: controlling a flexible multi-node lander to descend to a preset height, and obtaining the position, speed and gravitational constant of a node, and the triaxial angular velocity of the node; calculating a state vector of the node and a control input of the node according to the kinetic model of the node; calculating flat output of the nodes based on a differential flat theory; according to the flat output of the nodes, the nodes are controlled to output thrust and torque, and the detector is controlled to land stably. According to the method, a dough-shaped flexible body is adopted, three rigid nodes with maneuvering and sensing capabilities are embedded into the dough-shaped flexible body, each node is provided with a set of thrusters, and the thrusters are used for translation and posture adjustment of the nodes so as to meet the posture requirements of related loads and drive the flexible body to conduct flexible transformation; and the configuration and the appearance of the detector are changed, so that the detector is matched with the star catalogue landform, and stable and bounce-free attachment is realized.
本发明涉及一种面向小行星探测的柔性多节点着陆器决策方法,包括:控制柔性多节点着陆器下降到预设的高度,获取节点在位置、速度、引力常数,以及节点三轴角速度;根据所述节点的动力学模型,计算节点的状态向量和节点的控制输入;基于微分平坦理论,计算节点的平坦输出;根据节点的平坦输出,控制节点输出推力和转矩,控制探测器平稳着陆。本方法使用采用“面团状”的柔性体,其内部嵌入三个具有机动和感知能力的刚性节点,每个节点都装有一组推力器,推力器用于节点的平动与姿态调整,以满足有关载荷的姿态需求,并驱动柔性体进行柔性变换,使探测器的构型与外形发生改变,从而与星表地貌匹配,实现稳健,不发生弹跳的附着。
Flexible multi-node lander decision-making method for asteroid exploration
一种面向小行星探测的柔性多节点着陆器决策方法
2023-04-04
Patent
Electronic Resource
Chinese
Emerald Group Publishing | 2024
|European Patent Office | 2023
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