柔軟宇宙構造物のロバスト最小エネルギマヌーバに関する地上実験

抄録

Experimental study is reported on the rest-to-rest maneuver applied to a model of flexible space structures. Maneuver is sometimes required to move a flexible space structure from an initial rest state without any motion to a final rest state also without any motion. It is necessary for the flexible space structure to move in minimum time with least excitation on the bending moment of the flexible structure. The model consists of a rigid body equipped with a flexible beam and is actuated by a linear motor to follow a linear motion. Three types of minimum-energy maneuver are examined experimentally: a time-optimal minimum-energy maneuver, a robustified minimum-energy maneuver, and a combination of the time-optimal and the robustified minimum-energy maneuvers, i.e., the robustified time-optimal minimum-energy maneuver. The well-known bang-bang type time-optimal and the robust time-optimal control maneuvers are also examined experimentally in order to compare their performances. The present experimental study has verified the validity of these total five types of maneuvers and show excellent agreement with the results of the numerical analysis. The excellent performance of the robustified time-optimal minimum-energy maneuver is then concluded to have superior performance in the robustness persisting the properties of the minimum-time and less fuel consumption in the maneuver.