Journal of The Japan Society for Aeronautical and Space Sciences最新文献

{"title":"Design of Flight Control System Based on Adaptive Backstepping Method for Space Transportation System","authors":"A. Abe, Kohei Iwamoto, Y. Shimada","doi":"10.2322/JJSASS.61.38","DOIUrl":"https://doi.org/10.2322/JJSASS.61.38","url":null,"abstract":"This paper presents a new guidance and control system based on an adaptive backstepping method for a space transportation system. In recent years, many studies of flight control systems using feedback linearization combined with time-scale separation have been carried out. Since this type of control system does not depend on the design points along a predetermined trajectory, the designed system can be applied to an extensive flight region. However, in this method, control performance tends to deteriorate with changes in the control gains and parameters because it is difficult to guarantee the stability of the system. Additionally, since it is not easy to obtain a priori knowledge about disturbances, aerodynamic characteristics, an estimation mechanism must be added to the system. For this problem, we propose an adaptive flight control system by combining with feedback linearization, backstepping method, and disturbance observers. A disturbance observer is effective at estimating the effect of extraneous signals. In the proposed system, by appropriate redesign of the disturbance observer, it becomes possible to guarantee the stability of the entire system including the estimation mechanism. Numerical simulations are performed to verify the effectiveness and robustness of the proposed system when applied to an automatic landing problem.","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-04-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128148603","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"衛星測位システム(【基礎・応用編】, えあろすぺーすABC)","authors":"河野 功","doi":"10.14822/KJSASS.61.3_121","DOIUrl":"https://doi.org/10.14822/KJSASS.61.3_121","url":null,"abstract":"","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"598 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-03-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123429459","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Flight Control Design for Prevention of PIO Using Nonlinear Optimal Control","authors":"S. Yamagishi, N. Sakamoto, Masayuki Sato","doi":"10.2322/JJSASS.61.1","DOIUrl":"https://doi.org/10.2322/JJSASS.61.1","url":null,"abstract":": In this paper, we propose a design method of a nonlinear optimal controller for systems with rate limited actuators which are known to cause PIO of an aircraft. The PIO prevention problem is solved as a robust stabilization problem of a servo system for pilot commands. Simulation results demonstrate that the nonlinear controller achieves faster tracking performance with less oscillation and smaller input compared with an anti-windup compensator using the H ∞ method. Robustness against parameter error, observation noise and time-delay is also confirmed.","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"85 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121497960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"ランデブードッキング(【基礎・応用編】, えあろすぺーすABC)","authors":"若林 靖史","doi":"10.14822/KJSASS.61.2_73","DOIUrl":"https://doi.org/10.14822/KJSASS.61.2_73","url":null,"abstract":"","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"116 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127307990","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Increase in Performance of Laser Ignition Micro Solid Rocket by Control of Combustion Chamber Pressure","authors":"Y. Masuda, H. Koizumi, Tomoyuki Hayashi, M. Nakano, K. Komurasaki, Y. Arakawa","doi":"10.2322/JJSASS.61.9","DOIUrl":"https://doi.org/10.2322/JJSASS.61.9","url":null,"abstract":"The authors have developed laser ignition micro solid rocket which is a propulsion system suitable for 10-kg-class microspacecrafts. Although the specific impulse is expected to increase by reducing the throat area, higher combustion chamber pressure with the smaller throat causes a couple of serious problems. One is throat erosion and the other is break of combustion chamber. In order to prevent these difficulties, we made three improvements in design of thruster. First, we reinforced the throat, and throat erosion did not occur. Secondly, we changed the ignition surface of the propellant. As a result, peak pressure reduced, but specific impulse also reduced. Thirdly, we made the propellant to encapsulate to constrain the combustion surface, and peak pressure reduced considerably. We designed thrusters which had smaller throat than conventional, and established the increase in specific impulse by 17%. We visualized the combustion chamber, and it was found that capsule could control the combustion surface of propellant.","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"69 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131352032","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Attitude Maneuver Planning of Spacecraft with CMGs","authors":"Masaki Asagiri, Katsuhiko Yamada, I. Jikuya","doi":"10.2322/JJSASS.61.16","DOIUrl":"https://doi.org/10.2322/JJSASS.61.16","url":null,"abstract":"This paper proposes a new attitude maneuver planning method for a spacecraft equipped with control moment gyros (CMGs). By introducing the piecewise linear gimbal angular accelerations as designing parameters, a quasi-time-optimal attitude control is achieved by a rest-to-rest maneuver. A main advantage of the proposed method is to allow the restrictions for the magnitudes of the gimbal angular velocities and the gimbal angular accelerations due to mechanical constraints. The effectiveness of the proposed method is demonstrated by numerical computations. 1. は じ め に コントロールモーメントジャイロ(CMG)とは角運動量 の交換によって宇宙機の姿勢制御を行う装置である.これ は高速回転するロータの回転軸をジンバルにより強制的に 傾けることによりトルクを発生させるため,非常に大きな トルクを発生させることができる.また出力トルクと消費 電力の比も,ジンバルの駆動に用いるモータ電流だけで済 むため,高くなっている.このような特徴からCMGは大 型宇宙機の姿勢安定化装置や小型宇宙機の高速姿勢制御装 置として用いられている. CMGはシングルジンバルCMG(SGCMG)を複数組 み合わせたCMGシステムとして使用することが多い.こ のときジンバルの回転とともにトルクの出力方向が変化す るので,複数の SGCMG をうまく協調させて動作させな ければならない.さらに特異点問題が存在し,特異点では 特定の方向にトルクが発生できなくなってしまう. 特異点を回避し姿勢変更を行うための制御則として,フ ィードバック制御則がいくつか提案されている1~3).これら の駆動則は特異点回避時にジンバル角速度に大きな値を入 力してしまい,CMGの機械的損傷を引き起こす可能性が ある.またジンバルはモータ駆動のため機械的な制約を持 ち,ジンバル角速度やジンバル角加速度の取りうる値に制 限が存在するが,このような制約をフィードバック則で実 現することは難しい. 一方,フィードフォワード制御則もいくつか提案されて いる.例えば,ジンバル角速度に入力重みをかけて restto-rest マヌーバを達成するような軌道生成をする方法4), ジンバル角速度を時間多項式で表して軌道生成する方法5) や,ジンバル角速度をフーリエ級数で表して軌道生成する ∗1 C © 2013 日本航空宇宙学会 平成 24 年 4 月 6 日原稿受付 ∗2 名古屋大学大学院工学研究科航空宇宙工学専攻 方法6),最短時間制御でジンバル角速度の解を求める方法7) がある.フィードフォワード制御則では必要トルクからジ ンバル角速度を逆算する必要がないので,最大ジンバル角 速度を低く抑えつつ特異点をスムーズに通過できる可能性 がある.しかし従来研究4~7) ではジンバル角速度やジンバ ル角加速度の制限を直接的に考慮しやすい手法とはなって おらず,検討の余地がある. そこで本研究ではジンバル角速度やジンバル角加速度の 制限を考慮したフィードフォワード制御則の生成方法につ いて考察する.具体的にはピラミッド型配置CMGを持つ 宇宙機に対する高速姿勢変更の問題を考慮する.本研究の 特徴は,筆者らによる軌道設計法8,9)をもとにジンバル角加 速度を区分的に線形に設定し,端点を設計パラメータとす るところにある.これによりジンバル角やジンバル角速度 も設計パラメータに対して線形となる.ジンバル角速度や ジンバル角加速度の制限を満たしつつ rest-to-rest マヌー バにより宇宙機が目標姿勢に到達できるようなジンバル角 の軌道生成はNewton法による数値計算に帰着される.さ らに時間区間幅を伸縮することにより準最短時間での高速 姿勢変更を可能とする.提案手法の有効性を数値計算によ り検証し,特に時間応答や駆動時間のジンバル角度上限値 やジンバル角速度上限値への依存性について詳細に比較検 討する. 2. 基 本 関 係 式 本研究では第 1図に示すように,4台のSGCMGがピラミ ッド型に配置されているCMGシステムを搭載した宇宙機を 考える.このCMGシステムでは 4台の SGCMGが四角錐 の斜面に沿って対称的に配置されており,x軸正方向上に配 置された SGCMGから順に反時計回りにCMG1,CMG2, CMG3,CMG4とする.今後添え字 i はこのCMGの番号 を表すものとする.また四角錐の斜面の傾きをスキュー角 と呼び,β で表す.4台の SGCMGの各ジンバル軸 gi は","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-02-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115235467","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Attitude Estimation of Flight Vehicles Using Multiple Sensors","authors":"K. Inukai, Katsuhiko Yamada, I. Jikuya","doi":"10.2322/JJSASS.61.23","DOIUrl":"https://doi.org/10.2322/JJSASS.61.23","url":null,"abstract":"This paper considers an attitude estimation of flight vehicles using multiple sensors, e.g., a magnetometer and an accelerometer. Two types of estimation algorithms, the least-squares estimation and the analytic solution, are presented. Then, the stochastic error bound is evaluated by using the Cramer-Rao’s lower bound. The effectiveness of the proposed methods is evaluated by numerical simulations. 記 号 I:慣性座標系 B:機体座標系 m̂I:正規化磁気ベクトル(I 系表現) m̂B:正規化磁気ベクトル(B 系表現) ĝI:正規化加速度ベクトル(I 系表現) ĝB:正規化加速度ベクトル(B 系表現) qIB:B系の I 系に対する姿勢を表すEulerパラメータ V (qIB):qIB のベクトル部 S(qIB):qIB のスカラ部 ∗:四元数の積 qIB:qIB の逆元 (q † IB ∗ qIB = qIB ∗ qIB = 1) 1. は じ め に 本研究では複数のセンサによる飛行体の姿勢推定問題を 考察する.各センサはそれぞれ機体座標系における単位ベ クトルを出力し,慣性座標系における単位ベクトルと対比 させることにより姿勢を推定する.瞬時的なセンサ出力か ら姿勢を推定する場合,単一のセンサ出力から姿勢は決定 できないので,最低でも 2個のセンサを用いる必要がある. そこで筆者らによる先行研究1)と同様に磁気センサを考え, さらに加速度センサの情報が付加された状況を想定し,姿 勢推定問題を考察する.ただし原理的には太陽センサやス ターセンサなど他のセンサを考えても構わない. この姿勢推定問題に適用可能な解法として TRIAD や QUEST2~4) などがあげられる.TRIAD はセンサ 2 個の 出力から解析的に姿勢を決定する手法であり,最適化計算 を要しないことから計算量は少ないが,観測雑音の影響 を除去することは容易ではない.Shusterら2) は摂動下で TRIADを適用したときの推定誤差の共分散行列を評価し, Markley は TRIADに帰着されるような最適化問題を考 ∗1 C © 2013 日本航空宇宙学会 平成 24 年 5 月 5 日原稿受付 ∗2 名古屋大学大学院工学研究科航空宇宙工学専攻 慮しているが,観測雑音への対処方法は陽に考慮されてい ない.QUESTはWahba問題6)の解として姿勢を決定する 手法であり,最適化計算が固有値問題に帰着されることから 計算量は増大するが,多数のセンサ出力が得られる場合でも 適用可能でありセンサを増やすことにより観測雑音の影響 を低減することができる2, 3).Shuster4) は正規分布に従う 観測雑音を考え,重みを観測雑音の分散の逆数として選ぶと QUESTが最尤推定となることを指摘し,さらに摂動下で のFisher情報行列を計算して推定精度の評価指標を与えた. 本研究では 2通りの姿勢推定方法を提案する.一つはセ ンサを 2個に限定したときのWahba問題を解くことに相 当し,直接解と呼ぶ.最適化計算が行列計算に帰着される 点でQUESTと類似するが式展開は異なる.この推定方法 は観測雑音が入った場合でも適応可能である.もう一つは 解析的に姿勢を決定する方法であり,解析解と呼ぶ.単一 センサにより決定できない姿勢の不定性(ある回転軸まわ りの回転)1, 7) を決定するように計算を行う点で TRIADと は計算方法が異なる.こちらの推定方法は観測雑音が入っ た場合には直接的には適用できないが,最適化計算により 再定式化すると,2個の推定結果の重み付け和として推定 結果を補正することができる. さらに観測雑音が推定精度に与える影響を考察する.正 規分布に従う観測雑音を考え,推定精度の評価指標として Fisher情報行列を計算する.Shuster4)と同様に,直接解で の重みの選び方を観測雑音の分散の逆数として選ぶことに より最尤推定となることを示し,解析解での重み付け和に よる推定結果の補正においても適切に重みを選ぶことで同 様の結果が得られることを示す.そして数値計算により提案 手法の有効性を検証し,とくに推定誤差の分散と CramerRaoの下限と比較することにより提案手法が十分な推定精 度を持つことを示す. 2. 姿 勢 表 現 m̂ と m̂ を正規化磁気ベクトルの機体座標系表現と 慣性座標系表現として,m̂ は既知であり m̂ は測定可","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2013-01-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117102377","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Guidance Laws on Coordinated Standoff Flight for Multi UAVs","authors":"T. Yamasaki, H. Takano, I. Yamaguchi","doi":"10.2322/JJSASS.60.227","DOIUrl":"https://doi.org/10.2322/JJSASS.60.227","url":null,"abstract":"","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"10 3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124278516","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"Thrust Augmentation of Microwave Rocket with High-Power and High-Duty-Cycle Operation","authors":"R. Komatsu, Toshikazu Yamaguchi, Y. Oda, S. Saitoh, M. Fukunari, K. Komurasaki, K. Kajiwara, Koji Takahashi, K. Sakamoto","doi":"10.2322/JJSASS.60.235","DOIUrl":"https://doi.org/10.2322/JJSASS.60.235","url":null,"abstract":"Microwave Rocket is considered to be a future mass transportation system to space. Thrust is generated by high-pressure air isometrically heated by millimeter wave irradiation from the ground. High-power and high-frequency operation has been achieved mainly because of the improvement of a millimeter wave generator, gyrotron. Thrust was measured in a high-duty-cycle condition with a high-power millimeter wave. As a result, 30 N of time-averaged thrust was recorded at 91 kW of time-averaged power, which corresponds to 330 N/MW of thrust-to-power ratio.","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-12-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115167200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

{"title":"トポロジー最適解のSelf-Organizing Mapを用いた探索：第1報：SOM分類結果の検証","authors":"鉉眞 申, 義鎭 平野","doi":"10.2322/JJSASS.60.189","DOIUrl":"https://doi.org/10.2322/JJSASS.60.189","url":null,"abstract":"","PeriodicalId":144591,"journal":{"name":"Journal of The Japan Society for Aeronautical and Space Sciences","volume":"80 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-10-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121672851","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}