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ATTITUDE TRACKING AND STABILIZATION FOR SOFT LANDING OF A LUNAR MODULE

机译：月球模块软着陆的姿态跟踪和稳定化

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摘要

Most studies reported in literature deal with the soft landing of a lunar module as a point mass problem; however, when confronted with the rigid body dynamics of the lunar landing module, invariably studies have not reported several technical hardships that are to be solved viz. (i) Capacity and suitable configuration of Reaction Control System (RCS), (ii) amount of fuel loading, (iii) guidance schemes for tracking and finally, (iv) the aspects of lunar module stability during landing. The aim of this paper is to report the preliminary considerations on configuration and attitude control of a lunar module planned from India. A rigid body based new control algorithm has been proposed for attitude control of a lunar lander. The control algorithm uses dynamic inversion technique to track the demanded guidance trajectory and for stabilizing the undesired moment caused due to C.G. offset of main thrusters. The guidance goals have been converted to the required body rates from which the needed moment along each axis has been computed. Also, control moment is calculated in a matrix sense so that the effects of cross coupling of moments are also taken into account. Pulse-Width-Pulse-Frequency modulation technique has been implemented for its pseudo-linear operation capability. Also, RCS mounting configurations, fuel consumption analysis, C. G. offset margin analysis have been reported. A typical RCS actuator design is implemented for facing a real life challenges in the design.
机译：文献中报道的大多数研究都将月球模块的软着陆视为点质量问题。但是，当面对登月舱的刚体动力学时，始终没有研究报告要解决的若干技术难题。 （i）反应控制系统（RCS）的容量和合适的配置，（ii）燃料装载量，（iii）跟踪的指导方案，最后，（iv）登陆期间登月舱稳定性方面。本文的目的是报告印度计划的对月球舱的配置和姿态控制的初步考虑。提出了一种基于刚体的新控制算法，用于月球着陆器的姿态控制。控制算法使用动态反演技术来跟踪所需的制导轨迹，并稳定由C.G引起的不希望的力矩。主推进器的偏移量。指导目标已转换为所需的身体速率，并由此计算出了沿每个轴的所需力矩。同样，控制矩是在矩阵意义上计算的，因此也考虑了矩的交叉耦合的影响。由于其伪线性运算能力，已实现了脉冲宽度-脉冲频率调制技术。另外，已经报告了RCS安装配置，燃料消耗分析，C.G。偏移余量分析。实施典型的RCS执行器设计是为了应对设计中的现实生活挑战。

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