Six-degree-of-freedom active landing buffer device for spacecraft and control method

Abstract

The invention discloses a six-degree-of-freedom active landing buffer device for a spacecraft and a buffer control method. The buffer device is composed of a platform and buffer legs. The platform isconnected to three sets of buffer legs in the same state, and also bears the weight of a spacecraft structure. The buffer legs have three degrees of freedom, and the ends of the buffer legs can arbitrarily move in a three-dimensional space. When the spacecraft lands on rugged ground with an arbitrary attitude, the buffer device calculates the buffering force and moment required by a spacecraft fuselage according to the attitude and speed of the spacecraft fuselage. According to the configuration of the buffer legs at the moment when the spacecraft fuselage lands on the ground, the buffer forceand moment of the spacecraft fuselage are distributed to each buffer leg. By controlling the motor current of buffering leg joints, the required buffering force at the foot ends of the buffering legsis generated. The buffer device provided by the invention can maintain the spacecraft fuselage attitude stability while dissipating the kinetic energy of the spacecraft landing, and realize the softlanding of the spacecraft in any terrain environment.

Description

technical field [0001] The invention belongs to the technical field of spacecraft, and in particular relates to a six-degree-of-freedom active landing buffer device and a control method for a spacecraft. Background technique [0002] At present, most spacecraft landing buffer devices are realized by passive control technology. 3-support or 4-support landing buffer legs are installed on the bottom of the spacecraft. The landing buffer legs convert the kinetic energy of the spacecraft into plastic deformation energy by using buffer materials to achieve a soft landing on the surface of the planet. Due to the plastic material used, the landing pad legs cannot be reused. In addition, the landing buffer legs equipped with the current spacecraft all adopt passive control technology. During the launch phase, the landing buffer legs are in a retracted and compressed state to meet the envelope requirements of the launch. Before landing, the landing pad legs are released to deploy an...

AI Technical Summary

Problems solved by technology

Since the passively controlled landing buffer legs do not have active movement functions, and the configuration of the legs cannot be adjusted according to the terrain characteristics, the current spacecraft landing buffer devices cannot adapt to the rugged landing terrain, and cannot meet the requirements of the extreme terrain of the planetary surface by future deep space probes. Regional Reliable Landing Requirements

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