タケダ　マサカズ   Masakazu Takeda   武田　真和    所属   追手門学院大学  理工学部 機械工学科    職種   講師
発表年月日	2020
発表テーマ	パラシュートに接続された小型火星着陸機の挙動解析および制御
会議名	年次大会
主催者	一般社団法人 日本機械学会
発表形式	その他
開催期間	2020～2020
発表者・共同発表者	滝瀬 拓実,松本 栞理,山口 峻,武田 真和,菅原 佳城,中須賀 真一,笠井 康子
概要	In recent years, plans to land on Mars have been made using parachutes and shock absorbers. One of the challenges of this project is that the attitude of the lender at the time of landing should be consistent with its own velocity vector. Therefore, we modeled a parachute and a lander as a multibody system and analyzed their behavior during landing. In addition, we propose a control system to make the attitude of the lander follow the velocity vector. A nonlinear model predictive control is applied as a control law, and the control is based on the predictions of velocity vectors. Furthermore, a thruster is used as the actuator, and the analysis is performed with input constraints explicitly taken into account.
researchmap用URL	https://www.jstage.jst.go.jp/article/jsmemecj/2020/0/2020_J19130/_pdf