内部质量运动对Rhönrad的姿态控制

Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing Pub Date : 2006-12-15 DOI:10.1299/JSMEC.49.1011

T. Mitarai, K. Ono, H. Yamaura

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引用次数: 1

摘要

Rhonrad是一种体操器材，在动力学和控制方面很有趣。阐明了利用质量运动控制朗拉德螺旋运动的方法。首先，得到了任意质量位置的稳定螺旋运动的条件;然后，利用线性化的运动方程，推导了利用质量运动来控制朗拉德飞行器姿态的控制方法。这种控制方法允许朗拉德的状态从一个稳定的螺旋运动改变到另一个稳定的运动。

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Attitude Control of a Rhönrad by Internal Mass Motion

Rhonrad is a gymnastic equipment that is interesting in terms of dynamics and control. The control method of the Spiral motion by the mass motion in the Rhonrad was clarified. First, the condition for a steady Spiral motion with arbitrary mass position was obtained. Then, by using the linearized equation of motion, the control method to control the attitude of the Rhonrad by the mass motion in it was derived. This control method allows the state of the Rhonrad to be changed from one steady Spiral motion to another steady motion.

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Jsme International Journal Series C-mechanical Systems Machine Elements and Manufacturing

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