JPH11208598A - Planetary landing machine - Google Patents
Planetary landing machineInfo
- Publication number
- JPH11208598A JPH11208598A JP10011678A JP1167898A JPH11208598A JP H11208598 A JPH11208598 A JP H11208598A JP 10011678 A JP10011678 A JP 10011678A JP 1167898 A JP1167898 A JP 1167898A JP H11208598 A JPH11208598 A JP H11208598A
- Authority
- JP
- Japan
- Prior art keywords
- propulsion
- landing
- propulsion system
- attitude
- machine body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】この発明は、例えば宇宙空間
より月等の惑星に着陸するのに用いる惑星着陸機に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a planetary lander used for landing on a planet such as the moon from outer space.
【０００２】[0002]
【従来の技術】最近、宇宙開発の分野においては、月等
の惑星に惑星着陸機を送り込み、惑星探査を含む各種の
研究を行うことが考えられている。このような惑星着陸
機には、着陸時に使用する着陸速度制御用推進機と、着
陸時に姿勢を制御する姿勢制御用推進機の複数の推進系
が搭載される。これら着陸速度制御用推進機及び姿勢制
御用推進機は、例えば周知の推薬を燃焼させて推力を発
生する複数のスラスタでそれぞれ構成して、その姿勢制
御用推進機を継続的に駆動するいわゆるオフパルス駆動
で駆動して姿勢を維持しながら、着陸速度制御用推進機
を断続的に駆動するいわゆるオンパルス駆動を実行して
惑星上への着陸を実現する。2. Description of the Related Art In the field of space development, it has recently been considered to send a planetary landing aircraft to a planet such as the moon to conduct various studies including planetary exploration. A plurality of propulsion systems, such as a landing speed control propulsion device used during landing and an attitude control propulsion device that controls the attitude during landing, are mounted on such a planetary lander. The landing speed control propulsion device and the attitude control propulsion device each include, for example, a plurality of thrusters that generate thrust by burning a known propellant, and continuously drive the attitude control propulsion device. A so-called on-pulse drive that intermittently drives the landing speed control propulsion device is performed while maintaining the attitude by driving with the off-pulse drive, thereby achieving landing on the planet.
【０００３】ところで、このような惑星着陸機にあって
は、その各推進系の推進機が一つでも故障すると、安定
した着陸動作が困難となるために、推進機が故障した場
合にも安定した着陸動作を実現するように構成すること
が要請される。この着陸動作の確実化を図る方法とし
て、例えば各推進系に冗長用推進機を追加して冗長系を
構成し、推進機に故障が発生した状態で、冗長用推進機
を動作制御して安定した着陸動作を実現することが考え
られている。[0003] In such a planetary landing aircraft, if one of the propulsion units of each propulsion system fails, stable landing operation becomes difficult. It is required to be configured so as to realize the landing operation performed. As a method of ensuring this landing operation, for example, a redundant propulsion unit is added to each propulsion system to configure a redundant system, and when a failure occurs in the propulsion unit, the operation of the redundant propulsion unit is controlled and stabilized. It is conceived to realize a landing motion that has been performed.
【０００４】しかしながら、上記方法では、推進系に備
える推進機の数が増加されるために、大形となり、重量
の増加を招くという問題を有する。[0004] However, the above method has a problem that the number of propulsion devices provided in the propulsion system is increased, so that the size of the propulsion system is increased and the weight is increased.
【０００５】係る問題は、小形・軽量で、信頼性の高い
動作制御の要請される宇宙開発の分野における、今後の
重要な課題となっている。[0005] Such a problem will be an important issue in the future in the field of space development in which small, lightweight and highly reliable operation control is required.
【０００６】[0006]
【発明が解決しようとする課題】以上述べたように、惑
星着陸機にあっては、信頼性の高い確実な着陸動作を実
現するように構成すると、推進系が大形で、重量が非常
に重くなるという問題を有する。As described above, if the planetary landing aircraft is configured to realize a reliable and reliable landing operation, the propulsion system is large and the weight is very large. There is a problem of becoming heavy.
【０００７】この発明は上記の事情に鑑みてなされたも
ので、小形・軽量化の促進を図り得、且つ、信頼性の高
い安定した着陸動作を実現し得るようにした惑星着陸機
を提供することを目的とする。SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides a planetary landing machine capable of promoting small size and light weight and realizing a reliable and stable landing operation. The purpose is to:
【０００８】[0008]
【課題を解決するための手段】この発明は、惑星に着陸
する着陸機本体と、この着陸機本体に姿勢変動が起こら
ないように前記着陸機本体の重心に対応して配置され、
前記惑星に向けて噴射駆動されて前記着陸機本体に推力
を与える複数の推進機を有した着陸速度制御用の第１の
推進系と、前記着陸機本体の姿勢軸に対してトルクバラ
ンスが取れるように前記着陸機本体の重心に対応して配
置され、前記惑星に向けて噴射駆動されて前記着陸機本
体に推力を与える複数の推進機を有した姿勢制御用の第
２の推進系と、前記第１及び第２の推進手段の推進機を
選択的に駆動制御して前記着陸機本体の姿勢及び着陸速
度を制御するものであって、前記第１及び第２の推進系
の一方の推進機が故障した状態で、他方の推進機で故障
推進機の推力を兼用するように第１及び第２の推進系の
他の推進機を駆動制御する制御手段とを備えて惑星着陸
機を構成したものである。According to the present invention, there is provided a lander main body for landing on a planet, and the lander main body is disposed in correspondence with the center of gravity of the lander main body so that the attitude of the main body does not change.
A first propulsion system for controlling the landing speed having a plurality of propulsion units that are driven to be jetted toward the planet to apply thrust to the landing unit body, and a torque balance can be obtained with respect to the attitude axis of the landing unit unit. A second propulsion system for attitude control having a plurality of propulsion units arranged in correspondence with the center of gravity of the landing aircraft main body and driven to jet to the planet to apply thrust to the landing aircraft main body, And selectively controlling the propulsion devices of the first and second propulsion means to control the attitude and landing speed of the landing aircraft main body, wherein one of the first and second propulsion systems is propelled. And a control means for controlling the driving of the other propulsion units of the first and second propulsion systems so that the other propulsion unit can also use the thrust of the failed propulsion unit in a state where the aircraft has failed. It was done.
【０００９】上記構成によれば、第１及び第２の推進系
の各推進機は、その第２の推進系で発生する推力により
着陸機本体の姿勢を制御しながら、第１の推進系で発生
する推力により、その着陸速度を制御することにより、
惑星上への着陸を実行し、第１及び第２の推進系の一方
の推進機の一つが故障すると、他方の推進系の推進機で
冗長系を構成するように駆動制御することにより、着陸
速度及び姿勢制御を実行して着陸動作が行われる。従っ
て、第１及び第２の推進系の各冗長系推進機を備えるこ
となく、各推進系を冗長構成することが可能となり、小
形・軽量化を確保したうえで、信頼性の高い確実な惑星
着陸動作が可能となる。According to the above configuration, each of the propulsion units of the first and second propulsion systems controls the attitude of the landing aircraft main body by the thrust generated in the second propulsion system while the propulsion units of the first and second propulsion systems use the thrusts. By controlling the landing speed by the generated thrust,
When a landing on the planet is executed and one of the first and second propulsion units fails, the other propulsion units control the driving so as to form a redundant system, thereby landing. The landing operation is performed by executing the speed and attitude control. Therefore, it is possible to configure each propulsion system redundantly without providing each of the redundant propulsion systems of the first and second propulsion systems. Landing operation becomes possible.
【００１０】[0010]
【発明の実施の形態】以下、この発明の実施の形態につ
いて、図面を参照して詳細に説明する。Embodiments of the present invention will be described below in detail with reference to the drawings.
【００１１】図１は、この発明の一実施の形態に係る惑
星着陸機を示すもので、着陸機本体１０には、着陸足１
１が設けられ、この着陸足１１の間には、推進薬タンク
１２が設けられる。そして、この推進薬タンク１２に
は、着陸速度制御用の第１の推進系１３及び姿勢制御用
の第２の推進系１４（図２参照）がそれぞれ配管接続さ
れる。この第１及び第２の推進系１３，１４には、着陸
制御部１５が接続される。着陸制御部１５は、例えば図
示しない指令部からの指令信号に応動して、第１の推進
系１３の推進機１３ａ〜１３ｄを継続的に駆動するいわ
ゆるオフパルス駆動で制御して惑星に向けて噴射させて
所望の推力を着陸機本体１０に与えて着陸速度を制御す
る。同時に、第２の推進系１４は、その推進機１４ａ〜
１４ｄが断続的に駆動されるいわゆるオンパルス駆動で
制御されて、惑星に向けて噴射され、所望の推力を着陸
機本体１０に与えて姿勢を制御する。FIG. 1 shows a planetary landing aircraft according to an embodiment of the present invention.
A propellant tank 12 is provided between the landing feet 11. A first propulsion system 13 for controlling the landing speed and a second propulsion system 14 for controlling the attitude (see FIG. 2) are connected to the propellant tank 12 by piping. A landing control unit 15 is connected to the first and second propulsion systems 13 and 14. In response to a command signal from, for example, a command unit (not shown), the landing control unit 15 controls the propulsion devices 13a to 13d of the first propulsion system 13 by so-called off-pulse driving to continuously drive the propulsion units 13a to 13d, and ejects them toward the planet. Then, a desired thrust is given to the landing gear body 10 to control the landing speed. At the same time, the second propulsion system 14
14d is controlled by a so-called on-pulse drive that is intermittently driven, is injected toward the planet, and gives a desired thrust to the landing aircraft body 10 to control the attitude.
【００１２】第１及び第２の推進系１３，１４は、例え
ば図２に示すようにスラスタと称する推進機１３ａ〜１
３ｄ及び１４ａ〜１４ｄが４台で構成され、着陸機本体
１０の着陸面側に惑星に向けて噴射駆動されて所望の推
力を発生する。The first and second propulsion systems 13 and 14 are, for example, as shown in FIG.
3d and 14a to 14d are composed of four units, and are jet-driven toward the planet on the landing surface side of the landing aircraft body 10 to generate a desired thrust.
【００１３】このうち第１の推進系１３の推進機１３ａ
〜１３ｄは、着陸速度制御によって着陸機本体１０の姿
勢に変動を与えないように着陸機本体１０の重心Ｇを通
る略直交するｌ軸及びｍ軸上に２台一組でトルクバラン
スを取って配置される。The propulsion unit 13a of the first propulsion system 13
13d is to balance the torque of the two units on the substantially orthogonal l-axis and m-axis passing through the center of gravity G of the landing aircraft main body 10 so that the attitude of the landing aircraft main body 10 is not changed by the landing speed control. Be placed.
【００１４】他方、第２の推進系１４の推進機１４ａ〜
１４ｄは、着陸機本体１０の重心Ｇを中心とする姿勢軸
（ｘ軸，ｙ軸）上に、第１の推進系１３の推進機１３ａ
〜１３ｄの配置されるｌ軸及びｍ軸回りに姿勢変動を与
えないようにトルクバランスを取って配置される。これ
により、第２の推進系１４の推進機１４ａ〜１４ｄは、
着陸機本体１０のｘ軸及びｙ軸回りの姿勢を制御する。On the other hand, the propulsion devices 14a to 14a of the second propulsion system 14
14d is a propulsion device 13a of the first propulsion system 13 on an attitude axis (x axis, y axis) about the center of gravity G of the landing aircraft body 10.
１３13d are arranged with a torque balance so as not to change the attitude around the l axis and the m axis. Thus, the propulsion devices 14a to 14d of the second propulsion system 14
The attitude of the landing aircraft body 10 around the x-axis and the y-axis is controlled.
【００１５】即ち、第１及び第２の推進系１３，１４
は、ＦA 1 〜4 を第２の推進系１４の推進機１４ａ〜１
４ｄの推力、ＦV 1 〜4 を第１の推進系１３の推進機１
３ａ〜１３ｄの推力、（ｌV ，ｍV ）を第１の推進系１
３の推進機１３ａ〜１３ｄのＯlm座標系の位置、（ｌA
，ｍA ）を第２の推進系１４の推進機１４ａ〜１４ｄ
のＯlm座標系の位置とすると、 ＦA 3 ・ｍA 3 ＋ＦA 4 ・ｍA 4 ＋ＦV 1 ・ｍV 1 ＝０ ＦA 4 ・ｍA 4 ＋ＦA 1 ・ｍA 1 ＋ＦV 2 ・ｍV 2 ＝０ ＦA 1 ・ｍA 1 ＋ＦA 2 ・ｍA 2 ＋ＦV 3 ・ｍV 3 ＝０ ＦA 2 ・ｍA 2 ＋ＦA 3 ・ｍA 3 ＋ＦV 4 ・ｍV 4 ＝０ ＦA 1 ・ｌA 1 ＋ＦA 2 ・ｌA 2 ＋ＦA 3 ・ｌA 3 ＋Ｆ
A 4 ・ｌA 4 ＝０ の関係が成立するように配置構成される。That is, the first and second propulsion systems 13 and 14
Sets the FAs 1 to 4 to the propulsion devices 14a to 14a of the second propulsion system 14.
The thrust of 4d, FV 1-4 are applied to the propulsion unit 1 of the first propulsion system 13.
The thrust of 3a to 13d, (lV, mV) is applied to the first propulsion system 1
3 in the Olm coordinate system of the thrusters 13a to 13d, (lA
, MA) to the propulsion units 14a to 14d of the second propulsion system 14.
Of when the position of Olm coordinate system, FA 3 · mA 3 + FA 4 · mA 4 + FV 1 · mV 1 = 0 FA 4 · mA 4 + FA 1 · mA 1 + FV 2 · mV 2 = 0 FA 1 · mA 1 + FA 2・ MA 2 + FV 3・ mV 3 = 0 FA 2・ mA 2 + FA 3・ mA 3 + FV 4・ mV 4 = 0 FA 1・ lA 1 + FA 2・ lA 2 + FA 3・ lA 3 + F
Arranged configured such relationship A 4 · lA 4 = 0 is established.
【００１６】例えば、第１の推進系１３の推進機１３ｃ
の発生トルク（ＦV 3 ・ｍV 3 ）は、第２の推進系１４
の推進機１４ａ，１４ｂによる発生トルク（ＦA 1 ・ｍ
A 1＋ＦA 2 ・ｍA 2 ）に対して図３に示す関係を有
し、第１の推進系１３の推進機１３ｃと第２の推進系１
４の推進機１４ａ，１４ｂの関係は、第２の推進系１４
の推進機１４ａ，１４ｂの設置位置を変化させ（トルク
アームＬを変化させ）、発生トルク（ＦV 3 ・ｍV 3 ）
と、発生トルク（ＦA 1 ・ｍA 1 ＋ＦA 2 ・ｍA2 ）の
交点（図中Ｚ点）が最適なトルクアームｍA 1 （ｍA
2 ）に設定される。但し、ｍ軸回りのトルクバランス
は、取れているものとする。For example, the propulsion device 13c of the first propulsion system 13
Is generated by the second propulsion system 14 (FV 3 · mV 3 ).
Generated by the propulsion devices 14a and 14b (FA 1 · m
A 1 + FA 2 · mA 2 ) has a relationship shown in FIG. 3, and the propulsion device 13 c of the first propulsion system 13 and the second propulsion system 1
The relationship between the propulsion devices 14a and 14b of the second propulsion system 14
Of propulsion unit 14a, to change the installation position of 14b (to change the torque arm L), the generated torque (FV 3 · mV 3)
And the generated torque (FA 1 · mA 1 + FA 2 · mA 2 ) (point Z in the figure) is the optimal torque arm mA 1 (mA
2 ) is set. However, it is assumed that the torque balance around the m axis is maintained.
【００１７】これにより、第１の推進系１３の推進機１
３ａ（１３ｂ，１３ｃ，１３ｄ）が故障した場合には、
第２の推進系１４の推進機１４ａ〜１４ｄと第１の推進
系１３の残りの推進機１３ｂ〜１３ｄにより、着陸速度
の制御が可能となる。この際、第２の推進系１４の推進
機１４ａ，１４ｂと第１の推進系１３の推進機１３ｃ
は、同時に駆動制御されることにより、着陸機本体１０
の姿勢への影響がなく、姿勢制御が可能となる。Thus, the propulsion device 1 of the first propulsion system 13
If 3a (13b, 13c, 13d) fails,
The landing speed can be controlled by the propulsion devices 14a to 14d of the second propulsion system 14 and the remaining propulsion devices 13b to 13d of the first propulsion system 13. At this time, the propulsion devices 14a and 14b of the second propulsion system 14 and the propulsion device 13c of the first propulsion system 13
Are controlled at the same time, so that the landing
Posture is not affected, and posture control becomes possible.
【００１８】また、上記第１及び第２の推進系１３，１
４の関係は、上述したように第２の推進系１４の推進機
１４ａ〜１４ｄのトルクアームを変化させることなく、
第１の推進系１３の推進機１３ｂ，１３ｃ，１３ｄの推
力の関係を調整することによって設定してもよい。Further, the first and second propulsion systems 13, 1
As described above, without changing the torque arms of the propulsion devices 14a to 14d of the second propulsion system 14,
It may be set by adjusting the relationship between the thrusts of the propulsion devices 13b, 13c, 13d of the first propulsion system 13.
【００１９】上記構成において、着陸制御部１５は、図
４に示すように定常運転時、その第２の推進系１４の推
進機１４ａ〜１４ｄをオンパルス駆動して、その噴射方
向を惑星に向けて噴射させて所定の推力を着陸機本体１
０に与えて姿勢を制御する。同時に、第１の推進系１３
の推進機１３ａ〜１３ｄは、オフパルス駆動されて姿勢
に変動を与えないように、その噴射方向を惑星に向けて
噴射させて所定の推力を着陸機本体１０に与えて所望の
着陸速度に調整しながら着陸機本体１０を惑星に着陸さ
せる。In the above configuration, the landing control unit 15 performs on-pulse driving of the propulsion devices 14a to 14d of the second propulsion system 14 during normal operation as shown in FIG. Landing aircraft main body 1
0 to control the attitude. At the same time, the first propulsion system 13
The propulsion devices 13a to 13d are driven off-pulse to cause the attitude to fluctuate, so that the injection direction is directed toward the planet, and a predetermined thrust is given to the landing aircraft body 10 to adjust the landing speed to a desired landing speed. While landing, the landing aircraft body 10 is landed on the planet.
【００２０】また、着陸制御部１５は、惑星への着陸動
作に入った状態で、例えば第１の推進系１３の推進機１
３ａが故障して、その故障信号が入力されると、推進機
１３ａを停止させると共に、第２の推進系１４の推進機
１４ａ，１４ｂを第１の推進系１３と略同様に継続的に
駆動するオフパルス駆動に切換え設定する。これによ
り、第１の推進系１３の推進機１３ｃに対応して第２の
推進系１４の推進機１４ａ，１４ｂが駆動されることに
より、推進機１４ａ，１４ｂは、第１の推進系１３と第
２の推進系１４の推力を兼用して、着陸機本体１０の着
陸速度及び姿勢を制御して該着陸機本体１０の惑星着陸
を実行する。In a state where the landing operation on the planet has been started, the landing control unit 15, for example, the propulsion unit 1 of the first propulsion system 13
When the failure signal is input to the propulsion device 13a, the propulsion device 13a is stopped, and the propulsion devices 14a and 14b of the second propulsion system 14 are continuously driven in substantially the same manner as the first propulsion system 13. To off-pulse drive. As a result, the propulsion devices 14a and 14b of the second propulsion system 14 are driven corresponding to the propulsion devices 13c of the first propulsion system 13 so that the propulsion devices 14a and 14b Using the thrust of the second propulsion system 14, the landing speed and attitude of the landing aircraft main body 10 are controlled to execute the planet landing of the landing aircraft main body 10.
【００２１】そして、着陸制御部１５は、推進機１３ａ
以外の第１の推進系１３の推進機１３ｂ〜１３ｄあるい
は第２の推進系１４の推進機１４ａ〜１４ｄが故障した
場合にも略同様に故障していない他の推進系１３（１
４）の推進機１３ａ〜１３ｄ（１４ａ〜１４ｄ）で故障
推進機の冗長系を構成して駆動制御し、着陸機本体１０
の惑星着陸を実行する。Then, the landing control unit 15 includes the propulsion device 13a
When the propulsion devices 13b to 13d of the first propulsion system 13 or the propulsion devices 14a to 14d of the second propulsion system 14 fail, the other propulsion systems 13 (1
4) The propulsion units 13a to 13d (14a to 14d) constitute a redundant system of the failure propulsion units and drive-control the same.
Perform a planet landing.
【００２２】このように、上記惑星着陸機は、第１の推
進系１３の推進機１３ａ〜１３ｄを、着陸機本体１０の
重心Ｇに対応して姿勢に変動を与えないように配置し
て、第２の推進系１４の推進機１４ａ〜１４ｄを第１の
推進系１３に対して任意の座標軸回りにトルクバランス
を取るように配置し、着陸機本体１０の姿勢を第２の推
進系１４で発生する推力により制御しながら第１の推進
系１３で発生する推力により着陸速度を制御して惑星上
に着陸させ、第１及び第２の推進系１３，１４の一方の
推進機１３ａ〜１３ｄ及び１４ａ〜１４ｄの一つが故障
した場合、他方の推進系１３（１４）の推進機１３ａ〜
１３ｄ（１４ａ〜１４ｄ）を故障した推進系１４（１
３）の冗長系を形成するように駆動制御して、着陸速度
及び姿勢を制御して着陸動作を行うように構成した。As described above, in the above-mentioned planetary lander, the propulsion units 13a to 13d of the first propulsion system 13 are arranged so as not to change the attitude corresponding to the center of gravity G of the landing unit main body 10, The propulsion devices 14a to 14d of the second propulsion system 14 are arranged so as to balance the torque about an arbitrary coordinate axis with respect to the first propulsion system 13, and the attitude of the landing unit main body 10 is adjusted by the second propulsion system 14. The landing speed is controlled by the thrust generated by the first propulsion system 13 while landing on the planet while being controlled by the generated thrust, and the propulsion devices 13a to 13d of one of the first and second propulsion systems 13 and 14 and When one of 14a to 14d fails, the propulsion devices 13a to 13d of the other propulsion system 13 (14)
The propulsion system 14 (1) that has failed 13d (14a to 14d)
The driving control is performed so as to form the redundant system of 3), and the landing speed and the attitude are controlled to perform the landing operation.
【００２３】これによれば、第１及び第２の推進系１
３，１４の各冗長系推進機を備えることなく、各推進系
１３及び１４の推進機１３ａ〜１３ｄ及び１４ａ〜１４
ｄを用いて故障推進機の冗長構成を実現していることに
より、小形・軽量化を実現したうえで、信頼性の高い確
実な惑星着陸動作が実現される。According to this, the first and second propulsion systems 1
The propulsion devices 13a to 13d and 14a to 14d of the propulsion systems 13 and 14 are not provided with the redundant propulsion devices 3 and 14 respectively.
By realizing the redundant configuration of the failure propulsion device using d, a small and light weight is realized, and a reliable and reliable planetary landing operation is realized.
【００２４】なお、上記実施の形態では、第１の推進系
１３を４台の推進機１３ａ〜１３ｄで形成し、第２の推
進系１４を４台の推進機１４ａ〜１４ｄで形成した場合
で説明したが、この推進機台数に限ることなく、各推進
系１３及び１４を形成することが可能である。In the above embodiment, the first propulsion system 13 is formed by four propulsion devices 13a to 13d, and the second propulsion system 14 is formed by four propulsion devices 14a to 14d. Although described, the propulsion systems 13 and 14 can be formed without being limited to the number of propulsion devices.
【００２５】また、上記実施の形態では、第１及び第２
の推進系１３、１４の推進機１３ａ〜１３ｄ及び１４ａ
〜１４ｄとして、スラスタを用いるように構成した場合
で説明したが、これに限ることなく、他の推進機を用い
て着陸制御するように構成することも可能である。In the above embodiment, the first and second
Thrusters 13a to 13d and 14a of the propulsion systems 13 and 14
Although the description has been given of the case where thrusters are used as to 14d, the present invention is not limited to this, and the landing control may be performed using another propulsion device.
【００２６】よって、この発明は、上記実施の形態に限
ることなく、その他、この発明の要旨を逸脱しない範囲
で種々の変形を実施し得ることは勿論のことである。Therefore, it is needless to say that the present invention is not limited to the above-described embodiment, but can be variously modified without departing from the gist of the present invention.
【００２７】[0027]
【発明の効果】以上詳述したように、この発明によれ
ば、小形・軽量化の促進を図り得、且つ、信頼性の高い
安定した着陸動作を実現し得るようにした惑星着陸機を
提供することができる。As described above in detail, according to the present invention, there is provided a planetary landing machine capable of promoting a small size and light weight and realizing a reliable and stable landing operation. can do.
【図１】この発明の一実施の形態に係る惑星着陸機を示
した図。FIG. 1 is a diagram showing a planetary landing aircraft according to an embodiment of the present invention.
【図２】図１の第１及び第２の推進系の配置構成を示し
た図。FIG. 2 is a diagram showing an arrangement configuration of first and second propulsion systems in FIG. 1;
【図３】図２の配置例を説明するために示した図。FIG. 3 is a view shown for explaining the arrangement example of FIG. 2;
【図４】図１の推進系の噴射駆動例を示した図。FIG. 4 is a diagram showing an example of injection driving of the propulsion system of FIG. 1;
１０…着陸機本体。 １１…着陸足。 １２…推進薬タンク。 １３…第１の推進系。 １３ａ〜１３ｄ…推進機。 １４…第２の推進系。 １４ａ〜１４ｄ…推進機。 １５…着陸制御部。 10. Landing aircraft body. 11 ... Landing foot. 12 ... Propellant tank. 13: First propulsion system. 13a to 13d: thrusters. 14: Second propulsion system. 14a to 14d: thrusters. 15 Landing control unit.
Claims (3)
機本体の重心に対応して配置され、前記惑星に向けて噴
射駆動されて前記着陸機本体に推力を与える複数の推進
機を有した着陸速度制御用の第１の推進系と、 前記着陸機本体の姿勢軸に対してトルクバランスが取れ
るように前記着陸機本体の重心に対応して配置され、前
記惑星に向けて噴射駆動されて前記着陸機本体に推力を
与える複数の推進機を有した姿勢制御用の第２の推進系
と、 前記第１及び第２の推進手段の推進機を選択的に駆動制
御して前記着陸機本体の姿勢及び着陸速度を制御するも
のであって、前記第１及び第２の推進系の一方の推進機
が故障した状態で、他方の推進機で故障推進機の推力を
兼用するように第１及び第２の推進系の他の推進機を駆
動制御する制御手段とを具備した惑星着陸機。A landing machine body for landing on a planet, and a landing body arranged to correspond to the center of gravity of the landing machine body so that the attitude of the landing machine body does not change; A first propulsion system for controlling the landing speed having a plurality of propulsion units for applying thrust to the aircraft body, and a first propulsion system corresponding to a center of gravity of the landing machine body so that a torque balance can be obtained with respect to an attitude axis of the landing machine body. A second propulsion system for attitude control, comprising a plurality of propulsion units arranged and arranged to be propelled toward the planet by being jet-driven toward the planet; and propulsion of the first and second propulsion means. And controlling the attitude and landing speed of the landing aircraft body by selectively driving the aircraft, wherein one of the first and second propulsion systems is out of order while the other The first and second Control means for controlling driving of another propulsion system of the propulsion system.
ンパルス駆動で断続的に駆動され、前記第２の推進系の
複数の推進機は、オフパルス駆動で継続的に駆動される
ことを特徴とする請求項１記載の惑星着陸機。2. A plurality of propulsion units of the first propulsion system are intermittently driven by on-pulse driving, and a plurality of propulsion units of the second propulsion system are continuously driven by off-pulse driving. The planetary lander according to claim 1, wherein:
は、推薬を燃焼させて推力を発生させるスラスタである
ことを特徴とする請求項１又は２記載の惑星着陸機。3. The planetary lander according to claim 1, wherein each of the thrusters of the first and second propulsion systems is a thruster that generates thrust by burning a propellant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10011678A JPH11208598A (en) | 1998-01-23 | 1998-01-23 | Planetary landing machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10011678A JPH11208598A (en) | 1998-01-23 | 1998-01-23 | Planetary landing machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH11208598A true JPH11208598A (en) | 1999-08-03 |
Family
ID=11784665
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10011678A Pending JPH11208598A (en) | 1998-01-23 | 1998-01-23 | Planetary landing machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH11208598A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012520786A (en) * | 2009-03-17 | 2012-09-10 | アストリウム エスアーエス | Landing device for space probe and landing method for spacecraft equipped with such device |
-
1998
- 1998-01-23 JP JP10011678A patent/JPH11208598A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012520786A (en) * | 2009-03-17 | 2012-09-10 | アストリウム エスアーエス | Landing device for space probe and landing method for spacecraft equipped with such device |
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