Proceedings of the 6th World Congress on Intelligent Control

and Automation, June 21 - 23, 2006, Dalian, China

Modeling and Control for

Triadic Compound Controlled Flying Saucer
Shenghong Xu, Jinhua Wu, Wenjin Gu
Department of Control Engineering, Naval Aeronautical Engineering Academy, Yantai 264001
( E-mail: xusirsohu@sohu.com )

Abstract—The flying saucer is an unconventional flying vehicle. The thrust-vectoring/moving-mass compound control system
applied to it has good flight control performance, but also has demerits. In order to overcome the demerits, the thrust-vectoring/direct-
force/moving-mass triadic compound control system is proposed, and the triadic compound controlled flying saucer is modeled.
According to the longitudinal movement assumption, the fuzzy controller and control distribution rule are designed for the pitching
angle tracking loop. The simulation results show that the design can take advantage of the compounding superiority of all the control
subsystems and has preferable flight control performance.

Keywords—triadic compound control, flying saucer, mathematic model, fuzzy control, control distribution

ϝ໡ড়᥻ࠊ⹳ᔶ亲㸠఼ᓎ῵Ϣ᥻ࠊ
ᕤ㚰㑶 ਈ䖯ढ 乒᭛䫺
⍋‫ݯ‬㟾ぎᎹ⿟ᄺ䰶᥻ࠊᎹ⿟㋏ˈ⚳ৄ 264001

ᨬ 㽕 ⹳ᔶ亲㸠఼ᰃϔ⾡䴲ᐌ㾘亲㸠఼ˈ䞛⫼᥼࡯ⶶ䞣/ব䋼䞣ⶽ໡ড়᥻ࠊ㛑໳㦋ᕫ䕗དⱘ亲㸠᥻ࠊᗻ㛑DŽЎњ‫ܟ‬᳡䆹໡ড়᥻ࠊ
㋏㒳ᄬ೼ⱘ㔎䱋ˈ䆎᭛ᦤߎњ᥼࡯ⶶ䞣/Ⳉ᥹࡯/ব䋼䞣ⶽ໡ড়᥻ࠊ㋏㒳ᮍḜˈᓎゟњᅠᭈⱘϝ໡ড়᥻ࠊ⹳ᔶ亲㸠఼᭄ᄺ῵ൟDŽḍ᥂㒉
৥䖤ࡼ‫؛‬䆒ˈ䆎᭛䩜ᇍ⹳ᔶ亲㸠఼‫׃‬ӄ㾦䎳䏾ಲ䏃ˈ䆒䅵њ῵㊞᥻ࠊ఼੠᥻ࠊߚ䜡㾘߭DŽӓⳳ㒧ᵰ㸼ᯢˈ䆹ᮍḜ㛑໳‫⫼߽ߚܙ‬ϝ㉏‫ܜ‬
䖯᥻ࠊᄤ㋏㒳ⱘ໡ড়Ӭ࢓ˈᅲ⦄⹳ᔶ亲㸠఼᳈催ᗻ㛑ⱘ亲㸠᥻ࠊDŽ

݇䬂䆡 ϝ໡ড়᥻ࠊˈ⹳ᔶ亲㸠఼ˈ᭄ᄺ῵ൟˈ῵㊞᥻ࠊˈ᥻ࠊߚ䜡

1ˊᓩ㿔 ϟⱘᴎࡼ亲㸠᥻ࠊ[4]DŽ
ᐌ㾘亲㸠఼䗮䖛䇗ᭈ㠉䴶˄㗐䴶˅ⱘ‫أ‬䕀᥻ࠊ⇨ࡼ࡯
ᅲ⦄亲㸠᥻ࠊˈ㗠⹳ᔶ亲㸠఼ᰃϔ⾡᮴ሒ᮴㠉ǃ㗐䑿ᅠܼ
㵡ড়ⱘ䴲ᐌ㾘亲㸠఼˄བ೒ 1 ᠔⼎˅
ˈᰒ✊ˈᅗⱘ亲㸠᥻ࠊ
᮴⊩䞛⫼Ӵ㒳⇨ࡼ࡯ᮍᓣᅲ⦄DŽЎњᅲ⦄⹳ᔶ亲㸠఼ⱘ᥻
ࠊˈ᭛⤂[1]ᇚব䋼䞣ⶽ᥻ࠊϢ᥼࡯ⶶ䞣᥻ࠊⳌ㒧ড়ˈᵘ៤
໡ড়᥻ࠊ㋏㒳ˈᇍ⹳ᔶ亲㸠఼䖯㸠亲㸠᥻ࠊDŽ
ξ0
ব䋼䞣ⶽ᥻ࠊϡᬍবড়໪࡯ˈ㗠ҙҙ䗮䖛ᬍব亲㸠఼ ξ
䋼ᖗԡ㕂ҹᬍব᥻ࠊ࡯ⶽ䖒ࠄ᥻ࠊⳂⱘˈ᥻ࠊᬜ⥛䕗催ˈ
ᑊϨ᥻ࠊᴎᵘᅠܼ೼亲㸠఼‫ݙ‬䚼Ꮉ԰ˈϡ㟇ᕅડ亲㸠఼䆒
䅵㡃དⱘ⇨ࡼ໪ᔶ[2][3]DŽ᥼࡯ⶶ䞣᥻ࠊ߭ᰃᣛ䗮䖛᥻ࠊথࡼ ೒ 1 ⹳ᔶ亲㸠఼᥼࡯ⶶ䞣/ব䋼䞣ⶽ᥻ࠊ⼎ᛣ೒

ᴎ஋⌕‫أ‬䕀ˈ߽⫼থࡼᴎ᥼࡯ⱘջ৥ߚ䞣㦋ᕫ᥻ࠊ࡯ⶽˈ
ব䋼䞣ⶽ᥻ࠊϢ᥼࡯ⶶ䞣᥻ࠊᵘ៤ⱘ໡ড়᥻ࠊ㋏㒳ৃ
ᅲ⦄࿓ᗕ᥻ࠊ੠ᴎࡼ亲㸠ⱘ᥻ࠊᡔᴃˈ݊さߎ⡍⚍ᰃ᥻ࠊ
ҹᅲ⦄⹳ᔶ亲㸠఼೼໻໮᭄ᴵӊϟⱘᴎࡼ亲㸠ˈ㗠Ϩ㛑໳
࡯ⶽϡফ亲㸠఼࿓ᗕⱘᕅડˈৃҹᅲ⦄Ԣ䗳੠໻ᬏ㾦ᴵӊ

1-4244-0332-4/06/$20.00 ©2006 IEEE

6293
㦋ᕫ䕗དⱘ᥻ࠊᗻ㛑[1]DŽϡ䖛ˈ䆹໡ড়᥻ࠊ㋏㒳гᄬ೼ϔ ೼⹳ᔶ亲㸠఼᥻ࠊ㋏㒳Ёˈব䋼䞣ⶽ᥻ࠊ䗮䖛⿏ࡼ䋼
ѯ㔎䱋˖˄1˅⬅Ѣফᠻ㸠ᴎᵘᗻ㛑䰤ࠊˈ೼ᶤѯ⡍⅞ᴵӊ 䞣⒥ഫᔶ៤ԡ⿏ xs ੠ z s ᅲ⦄ˈ᥼࡯ⶶ䞣᥻ࠊ䗮䖛᥼࡯ⶶ䞣
ϟ᮴⊩ᅲ⦄⧚ᛇⱘ亲㸠᥻ࠊˈ೼⡍߿ᴵӊϟ⫮㟇᮴⊩䍋亲˗ 㾦 ξ1 ੠ ξ 0 ⱘব࣪ᴹᅲ⦄ˈ㗠Ⳉ᥹࡯᥻ࠊ⬅ 6 Ͼᕐℸ⣀ゟⱘ
˄2˅ব䋼䞣ⶽ᥻ࠊᰃ䗮䖛ব䋼䞣ⶽ⒥ഫⱘ⿏ࡼᴹᅲ⦄ⱘˈ Ⳉ᥹࡯஋ষᅲ⦄DŽ
䖭⾡䋼䞣ഫⱘব࣪Ӯ㒭亲㸠䖛⿟ᏺᴹϔᅮⱘᡄࡼˈᕅડњ Ⳉ᥹࡯᥻ࠊᄤ㋏㒳Ёˈ৘஋ষԡ㕂བ೒ 2 ᠔⼎ˈ݊Ё˖
亲㸠᥻ࠊક䋼DŽ಴ℸˈ䆎᭛ᦤߎ䞛⫼஋⇨Ⳉ᥹࡯᥻ࠊ[5][6] ˄a˅Ў⹳ᔶ亲㸠఼ৢ㾚೒ˈ˄b˅ᰃ乊㾚೒DŽ஋ষ J A ǃ J B
ϢҹϞϸ⾡᥻ࠊᮍᓣ㒘ড়ˈᵘ៤ϝ໡ড়᥻ࠊ㋏㒳ˈᑊ䩜ᇍ ੠ J C ഛࣔߚᏗ೼⹳ᔶ亲㸠఼ᑩ䚼ˈ J 1 ǃ J 2 ੠ J 3 ߚ߿ᅝ㺙
䆹໡ড়᥻ࠊ㋏㒳䆒䅵њ῵㊞᥻ࠊ఼੠᥻ࠊߚ䜡㾘߭ˈᅲ⦄ ೼亲㸠఼ࠡᮍ੠ϸջDŽ৘஋ষࠄ⹳ԧതᷛॳ⚍ o ⱘ䎱⾏䆺
њ⹳ᔶ亲㸠఼᳈催ᗻ㛑ⱘ亲㸠᥻ࠊDŽ 㾕೒ 2 Ⳍᑨᷛ⊼DŽ
ᣝϞ䗄㋏㒳䆒㕂ᮍḜˈ᥼࡯ⶶ䞣᥻ࠊǃⳈ᥹࡯᥻ࠊ੠
2ˊϝ໡ড়᥻ࠊ㋏㒳ᵘ៤ ব䋼䞣ⶽ᥻ࠊ݅ৠᵘ៤њ⹳ᔶ亲㸠఼ⱘϝ໡ড়᥻ࠊ㋏㒳DŽ
བ೒ 1 ᠔⼎ˈതᷛ㋏ oxb yb z b ⿄Ў⹳ԧതᷛ㋏ˈॳ⚍ o
ᰃᔧ䕈 oxb ǃ ozb Ϟⱘ䋼䞣⒥ഫ mx ǃ mz ⱘԡ⿏ xs ǃ z s Ў䳊 3ˊϝ໡ড়᥻ࠊ⹳ᔶ亲㸠఼ᓎ῵
ᯊ⹳ᔶ亲㸠఼ⱘ䋼ᖗˈ⿄԰䴭䋼ᖗ˄ϢПⳌᇍᑨˈ亲㸠఼
ⳳᅲ䋼ᖗ⿄԰ࡼ䋼ᖗˈㅔ⿄䋼ᖗ˅ DŽതᷛ㋏ obo xbo ybo zbo ᰃ੠ 3.1 തᷛ㋏Ϣ⢊ᗕব䞣
⹳ԧതᷛ㋏ oxb yb zb ᅠܼᑇ㸠ⱘതᷛ㋏ˈϸϾതᷛ㋏ॳ⚍䯈 ᓎゟϝ໡ড়᥻ࠊ⹳ᔶ亲㸠఼᭄ᄺ῵ൟˈ䳔㽕⫼ࠄӫ໮
ⱘ䎱⾏Ў yP ˈϸതᷛ㋏ⱘ y 䕈㒓Ⳍ䞡ড়DŽ M ᰃࣙᣀϸϾ തᷛ㋏ˈ݊Ё˖ഄ䴶തᷛ㋏ oxd yd zd ǃ⹳ԧതᷛ㋏ oxb yb zb ǃ
䋼䞣⒥ഫ೼‫ⱘݙ‬ᭈϾ⹳ᔶ亲㸠఼ⱘ䋼䞣ˈ m Ў䋼䞣⒥ഫⱘ 䋼ᖗതᷛ㋏ oxM yM z M ǃ䗳ᑺതᷛ㋏ oxv yv z v ǃ䔼䗍തᷛ㋏
䋼䞣ˈҸ μ = m / M ˈ⿄԰䋼䞣↨DŽ X P ⚍ᰃⶶ䞣᥼࡯ P ⱘ oxt yt zt ഛᣝᐌ㾘亲㸠఼ߚᵤ᠔䞛⫼ⱘതᷛ㋏ᅮН[7][8]DŽ
᥼࡯㒓Ϣ obo xbo 䕈ⱘѸ⚍DŽᔧϸϾ䋼䞣⒥ഫ೼⹳ԧതᷛ㋏ ೼ᅲᮑব䋼䞣ⶽ᥻ࠊᯊˈ⹳ᔶ亲㸠఼䴭䋼ᖗϢ䋼ᖗӮ
ⱘԡ⿏ߚ߿Ў xs ੠ z s ᯊˈ亲⹳ⱘ䋼ᖗԡ㕂೼⹳ԧതᷛ㋏Ё ѻ⫳亲㸠⢊ᗕⱘߚ⾏ˈ಴ℸˈЎᮍ֓ߚᵤ䴭䋼ᖗ⢊ᗕˈᅮ
ⱘതᷛ㸼⼎Ў( μxs ˈ0ˈμz s )DŽⶶ䞣᥼࡯ P ⱘᮍ৥⬅ϸϾ㾦 Н䴭䋼ᖗ䗳ᑺതᷛ㋏བϟ˖
ᑺ ξ1 ੠ ξ 0 ⹂ᅮˈ݊Ё ξ1 ᰃⶶ䞣᥼࡯੠⹳ᔶ亲㸠఼㒉৥ᑇ䴶 ೼߱ྟ⢊ᗕˈ䴭䋼ᖗ䗳ᑺതᷛ㋏ oxvb yvb zvb ৘䕈Ϣ䗳ᑺ
oxb yb ⱘ།㾦˗ξ 0 ᰃⶶ䞣᥼࡯೼㒉৥ᑇ䴶ⱘᡩᕅϢ㒉䕈 oxb തᷛ㋏ oxv yv z v ৘䕈ᅠܼᑇ㸠ˈതᷛॳ⚍Ў亲㸠఼ⱘ䴭䋼
᠔៤ⱘ།㾦DŽ ᖗDŽ
⹳ᔶ亲㸠఼৘⢊ᗕব䞣ⱘᅮНЎ˖‫أ‬㟾㾦ψ ˈ‫׃‬ӄ㾦
ϑ ˈؒ᭰㾦 γ ˈ䔼䗍ؒ㾦 θ ˈ䔼䗍‫أ‬㾦ψ c ˈ oyv 䕈੠ oyt 䕈
П䯈ⱘ།㾦 γ c ˗䋼ᖗ೼ഄ䴶തᷛ㋏Ёⱘԡ㕂ߚ䞣 x ǃy ǃz ˈ
⹳ԧ㒩䋼ᖗᮟ䕀㾦䗳ᑺ೼䋼ᖗതᷛ㋏৘䕈Ϟⱘᡩᕅ ω dMx
M
ǃ
˄a˅
ω dMy
M
ǃ ω dMz
M
DŽ
ℸ໪ˈϢ oxv yv z v ǃoxvb yvb zvb ⱘᅮНⳌᇍᑨˈߚ߿ᅮН˖
䋼ᖗ䗳ᑺ v ˈ䴭䋼ᖗ䗳ᑺ vb ˗䋼ᖗ䗳ᑺᬏ㾦 α v ˈ䴭䋼ᖗ䗳
ᑺᬏ㾦 α ˈ䋼ᖗ䗳ᑺջ⒥㾦 β v ˈ䴭䋼ᖗ䗳ᑺջ⒥㾦 β DŽ

3.2 ㋏㒳ߚᵤϢᓎ῵
ᇚ⹳ᔶ亲㸠఼㾚Ў߮ԧˈ䗮䖛ᇍ⹳ᔶ亲㸠఼᠔ফড়໪
࡯੠࡯ⶽⱘߚᵤৃҹᓎゟ⹳ᔶ亲㸠఼ⱘ᭄ᄺ῵ൟˈࣙᣀ䋼
ᖗ䖤ࡼⱘࡼ࡯ᄺᮍ⿟੠䖤ࡼᄺᮍ⿟ǃ䴭䋼ᖗ䖤ࡼᮍ⿟ǃ㒩
䋼ᖗ䕀ࡼⱘࡼ࡯ᄺ੠䖤ࡼᄺᮍ⿟ˈҹঞ㾦ᑺ݇㋏ᮍ⿟DŽ

3.2.1 䋼ᖗ䖤ࡼࡼ࡯ᄺᮍ⿟
*
˄b˅ Ҹ⹳ᔶ亲㸠఼䋼ᖗⳌᇍᛃᗻതᷛ㋏ⱘ䖤ࡼ䗳ᑺЎ v ˈ
*
䔼䗍തᷛ㋏Ⳍᇍᛃᗻതᷛ㋏ⱘᮟ䕀㾦䗳ᑺЎ ωt ˈ⹳ԧ᠔ফ
೒ 2 ⹳ᔶ亲㸠఼Ⳉ᥹࡯᥻ࠊ⼎ᛣ೒ *
ⱘড়໪࡯Ў ΣF DŽᇚ䋼ᖗ䖤ࡼࡼ࡯ᄺᮍ⿟ᓎゟ೼䔼䗍തᷛ㋏

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Ё˖ ᔧব䋼䞣ⶽ⒥ഫᓔྟ⿏ࡼᯊˈ಴ЎⳌᇍ䖤ࡼ䗳ᑺߚ䞣
*
δv * * * ⱘᄬ೼ˈ䴭䋼ᖗ䗳ᑺϢࡼ䋼ᖗ䗳ᑺߚ⾏˄བ೒ 3 ᠔⼎˅
˗⒥
M ⋅ ( + ωt × v ) = ΣF (1)
δt ഫ೼ࠄ䖒ᣛᅮԡ㕂᳝ࠡϔϾࠊࡼ䖛⿟ˈℸᯊজӮѻ⫳䋳৥
*
δv Ⳍᇍ䗳ᑺߚ䞣ˈ䴭䋼ᖗ䗳ᑺϢ䋼ᖗ䗳ᑺ䍟Ѣ䞡ড়DŽ
݊Ё˖ 㸼⼎䋼ᖗ䗳ᑺⶶ䞣ᇍ䔼䗍തᷛ㋏ⱘⳌᇍᇐ᭄DŽ
δt
*
ড়໪࡯ ΣF Џ㽕ࣙᣀ˖䞡࡯ǃⶶ䞣᥼࡯ǃⳈ᥹᥻ࠊ࡯੠
*
ぎ⇨ࡼ࡯DŽ݊Ёˈ⇨ࡼ࡯ R ೼䴭䋼ᖗ䗳ᑺതᷛ㋏Ёৃߚ㾷 αv
− μx s v cos β v
Ў⇨ࡼ䰏࡯ Rvbx ǃछ࡯ Rvby ੠ջ৥࡯ Rvbz ˈ೼䔼䗍തᷛ㋏Ё δα b
vb cos β
߭㸼⼎Ў˖ α = α v + δα b
⎡ Rtx ⎤ ⎡TR11 TR12 TR13 ⎤ ⎡ Rvbx ⎤
⎢ R ⎥ = ⎢T TR 23 ⎥⎥ ⎢⎢ Rvby ⎥⎥
೒ 3 䴭䋼ᖗϢࡼ䋼ᖗ䖤ࡼ݇㋏⼎ᛣ೒
⎢ ty ⎥ ⎢ R 21 TR 22 (2)
⎢⎣ Rtz ⎥⎦ ⎢⎣TR 31 TR 32 TR 33 ⎥⎦ ⎢⎣ Rvbz ⎥⎦ ⬅Ѣ⹳ᔶ亲㸠఼᠔ফࠄⱘ⇨ࡼ࡯Ⳉ᥹Ϣ⹳ԧ䗳ᑺ˄े
݊Ё˖TR11 ̚ TR 33 ৘‫ܗ‬㋴ഛЎ α v ǃ β v ǃα ǃ β ǃ γ c ㄝ㾦ᑺ 䴭䋼ᖗ䗳ᑺ˅ঞ࿓ᗕ᳝݇ˈ䴭䋼ᖗ䗳ᑺⱘব࣪ᇚⳈ᥹ᓩ䍋
ⱘߑ᭄DŽ ⹳ᔶ亲㸠఼᠔ফࠄⱘ⇨ࡼ࡯ⱘᬍবˈ㗠䖭⾡ᬍবӮᇍ亲㸠
⬅˄1˅ᓣᕫࠄ⹳ᔶ亲㸠఼䋼ᖗ䖤ࡼⱘࡼ࡯ᄺᮍ⿟བϟ˖ ᥻ࠊᏺᴹᡄࡼDŽ಴ℸˈᖙ乏ߚᵤ⹳ᔶ亲㸠఼䴭䋼ᖗⱘ䖤ࡼDŽ
ᇚ⹳ᔶ亲㸠఼䋼ᖗ䗳ᑺ৥䋼ᖗതᷛ㋏ᡩᕅˈᑊ঴ࡴ⬅
⎧ Mv = −Mg sinθ + P cosξ1 cos(ξ 0 + α v ) cosβ v
⎪ ব䋼䞣ⶽ⒥ഫ⿏ࡼ᠔ᓩ䍋ⱘ䴭䋼ᖗⳌᇍ䗳ᑺߚ䞣ˈᕫࠄ䴭
⎪ + P sinξ1 sin βv − J ABC sinα v cos βv
䋼ᖗϢ䋼ᖗⱘ䗳ᑺ݇㋏ᓣ˖
⎪ − J1 cosα v cosβ v − (J 2 − J 3 ) sin βv + Rtx
⎪ ⎧v cos α v cos β v − μx s = vb cos α cos β

⎪ Mvθ = −Mg cosθ + P cosξ1 sin(ξ 0 + α v ) cosγ c ⎪
⎪ ⎨− v sin α v cos β v = −vb sin α cos β (5)
⎪ + P cosξ1 cos(ξ 0 + α v ) sin βv sinγ c ⎪v sin β − μz = v sin β
⎪ − P sinξ1 cos βv sin γ c − J ABC sinα v sin βv sinγ c ⎩ v s b

⎪
⎪ + J ABC cosα v cosγ c − J1 cosα v sin βv sin γ c 䆹ᮍ⿟ᦣ䗄њ䴭䋼ᖗⱘ䖤ࡼDŽ
⎨ (3)
⎪ − J1 sinα v cosγ c + ( J 2 − J 3 ) cos βv sin γ c + Rty
⎪− Mvψ = P cosξ sin(ξ + α ) sinγ 3.2.4 㒩䋼ᖗ䕀ࡼࡼ࡯ᄺᮍ⿟
⎪ c 1 0 v c

⎪ − P cosξ1 cos(ξ 0 + α v ) sin βv cosγ c ԰⫼೼⹳ᔶ亲㸠఼Ϟⱘ໪࡯ⶽࣙᣀ˖ⶶ䞣᥼࡯ⶽǃⳈ

⎪ ᥹᥻ࠊ࡯ⶽ੠⇨ࡼ࡯ⶽDŽḍ᥂ࡼ䞣ⶽᅮ⧚ˈᕫࠄ⹳ᔶ亲㸠
⎪ + P sinξ1 cosβ v cosγ c
⎪ + J ABC sinα v sin β v cosγ c ఼㒩䋼ᖗ䕀ࡼⱘࡼ࡯ᄺᮍ⿟བϟ˖
⎪
⎪ + J ABC cosα v sinγ c J1 cosα v sin βv cosγ c ⎧J xMω dMx
M
= (J yM − J zM )ωdMy
M
ωdMz
M
+ M Rx + ΔM RxM

⎪ ⎪
⎩ − (J 2 − J 3 ) cosβ v cosγ c + Rtz ⎪ + μzs P cosξ1 sinξ0 − yP P sinξ1 + μzs J A
⎪ − ( X JA − μzs )J B + ( X JA + μzs )J C + yJ1 J 2 − yJ1 J 3
݊Ё˖ J ABC = J A + J B + J C DŽ ⎪
⎪J y ω dMy = (J zM − J xM )ωdMz
M M M
ωdMx
M
+ MRy + ΔM Ry M

⎪
3.2.2 䋼ᖗ䖤ࡼ䖤ࡼᄺᮍ⿟ ⎪ − μzs P cosξ1 cosξ0 − ( X P − μxs )P sinξ1
⎨ (6)
ḍ᥂⹳ᔶ亲㸠఼䋼ᖗ䖤ࡼⱘࡼ࡯ᄺᮍ⿟ৃҹ㦋ᕫ䋼ᖗ ⎪ + μzs J1 − μxs J 2 + μxs J 3
⎪J Mω M = (J M − J M )ω M ω M + M + ΔM M
䗳ᑺⱘⶀᯊ໻ᇣ੠ᮍ৥DŽᇚ䆹䗳ᑺᡩᕅࠄഄ䴶തᷛ㋏ˈᓎ ⎪ z dMz x y dMx dMy Rz Rz

ゟ䋼ᖗⳌᇍഄ䴶തᷛ㋏ⱘ䖤ࡼᄺᮍ⿟˖ ⎪ + yP P cosξ1 cosξ0 + ( X P − μxs )P cosξ1 sinξ0

⎪
⎧ x = v cos θ cosψ c ⎪ + (X JA − μxs )J A − ( X JA + μxs )J B
⎪ ⎪
⎨ y = v sin θ (4) ⎩ − ( X JA + μxs )J C − yJ1 J1
⎪ z = −v cos θ sin ψ
⎩ c

3.2.5 㒩䋼ᖗ䕀ࡼ䖤ࡼᄺᮍ⿟
3.2.3 䴭䋼ᖗⱘ䖤ࡼᮍ⿟ ⹳ᔶ亲㸠఼԰Ў߮ԧ㒩䋼ᖗᮟ䕀ᯊˈ߽⫼㒩䋼ᖗ䕀ࡼ
ḍ᥂⠯乓ࡼ࡯ᄺᅮᕟˈᔧᅲᮑব䋼䞣ⶽ᥻ࠊᯊˈব䋼 ࡼ࡯ᄺᮍ⿟ৃ⿃ߚ∖ߎ ω dMx
M
ǃ ωdMy
M
੠ ω dMz
M
ˈ‫ݡ‬㒧ড়ഄ䴶ത
䞣ⶽ⒥ഫ೼⹳ԧ‫ݙ‬䚼԰Ⳍᇍ䖤ࡼˈӮᔶ៤བϟ䖛⏵䖛⿟˖ ᷛ㋏੠䋼ᖗതᷛ㋏ⱘᮟ䕀݇㋏ᕫࠄ⹳ᔶ亲㸠఼㒩䋼ᖗ䕀ࡼ

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ⱘ䖤ࡼᄺᮍ⿟ 4 ᠔⼎ⱘ໡ড়᥻ࠊಲ䏃DŽ
⎧ϑ = ω sin γ + ω cos γ
M
dMy
M
dMz
⎪
M cos γ M sin γ
⎪ ξ
⎨ψ = ω dMy − ωdMz (7)
⎪ cos ϑ cos ϑ
γ = ω M
− ω M
ϑ γ + ωdMz
M
tgϑ sin γ ϑ ϑ
⎩⎪ dMx dMy tg cos
ω
= + +

3.2.6 㾦ᑺ݇㋏ᮍ⿟
㾦ᑺ݇㋏ᮍ⿟ԧ⦄њ৘തᷛ㋏П䯈ⱘᮟ䕀݇㋏˖
೒ 4 ‫׃‬ӄ㾦䎳䏾ಲ䏃㒧ᵘㅔ೒
⎧sinα v = [sinϑ cosγ cosθ cos(ψ −ψ c )
⎪
⎪ − sinγ cosθ sin(ψ −ψ c ) − cosϑ cosγ sinθ ] / cos βv 佪‫ܜ‬ḍ᥂᥻ࠊᕟ㾷ㅫᕫࠄ᠔䳔㽕ⱘ᥻ࠊ䖛䕑ˈᇚᅗ԰
⎪⎪sin βv = cosθ[cosγ sin(ψ −ψ c ) Ў㰮ᢳ᥻ࠊˈ䩜ᇍ䖭Ͼ㰮ᢳ᥻ࠊ䆒䅵᥻ࠊߚ䜡ᮍḜˈᇚ㰮
⎨ (9)
⎪ + sinϑ sinγ cos(ψ −ψ c )] − sinθ cosϑ sinγ ᢳ᥻ࠊߚ䜡㒭᥼࡯ⶶ䞣᥻ࠊǃⳈ᥹࡯᥻ࠊ੠ব䋼䞣ⶽ᥻ࠊ
⎪ sinγ c = [cosα v sin βv sinϑ ϝ㉏ᄤ㋏㒳ˈ⬅৘ᄤ㋏㒳݅ৠ᥻ࠊ⹳ᔶ亲㸠఼ⱘ‫׃‬ӄ㾦DŽ
⎪ ᣝ䖭⾡䆒䅵ᗱ䏃ˈ໡ড়᥻ࠊ㋏㒳ⱘ䆒䅵㹿ߚࡆ៤ϸϾ䚼ߚˈ
⎩⎪ − (sinα v sin βv cosγ − cosβv sinγ ) cosϑ] / cosθ
े᥻ࠊ఼䆒䅵੠᥻ࠊߚ䜡ᮍḜⱘ䆒䅵[5][10]DŽ
ҹϞ 6 㒘 18 Ͼᮍ⿟ᓣˈࣙ৿⹳ᔶ亲㸠఼ⱘ 18 Ͼ亲㸠
⢊ᗕখ᭄ˈᦣ䗄њ亲㸠఼ⱘࡼᗕ䖤ࡼDŽ
4.1 ᥻ࠊ఼䆒䅵
῵㊞᥻ࠊᰃϔ⾡෎Ѣ㾘߭ⱘᱎ㛑᥻ࠊ䆒䅵ᡔᴃˈⳈ᥹
3.3 㒉৥䖤ࡼ῵ൟ
䞛⫼䇁㿔ൟ᥻ࠊ㾘߭ˈ䆒䅵ㅔऩˈ剕Ầᗻᔎˈ䴲ᐌ䗖⫼Ѣ
ḍ᥂亲㸠఼㒉৥䖤ࡼ‫؛‬䆒[9]ˈҸᇐ㟈ջ৥䖤ࡼⱘ᥻ࠊ
῵ൟ䲒ҹ㦋পǃࡼᗕ⡍ᗻব࣪ᰒ㨫ⱘ䴲㒓ᗻǃᯊবঞ㒃⒲
䞣 z s ǃ ξ1 ǃ J 2 ǃ J 3 ഛЎ 0ˈϨ J B = J C DŽᇚ⹳ᔶ亲㸠఼㒉
ৢ᥻ࠊ㋏㒳DŽ಴ℸˈ䆎᭛䞛⫼њ῵㊞᥻ࠊ఼[11]԰Ў⹳ᔶ亲
৥䖤ࡼᮍ⿟ߚ⾏ߎᴹ˖
㸠఼‫׃‬ӄ㾦䎳䏾ಲ䏃ⱘ᥻ࠊ఼DŽ
⎧ Mv = − Mg sin θ + P cos(ξ 0 + α v ) − J ABC sin α v ῵㊞᥻ࠊ఼ᇚ‫׃‬ӄ㾦䎳䏾䇃Ꮒ e ঞ݊ব࣪⥛ e ԰Ў䕧
⎪
⎪ − J 1 cos α v + TR11 ⋅ Rvbx + TR12 ⋅ Rvby ܹব䞣ˈ ҹᅲ⦄‫׃‬ӄ㾦䎳䏾᠔䳔㽕ⱘ᥻ࠊ࡯ⶽ M c Ў䕧ߎব
⎪ Mvθ = − Mg cos θ + P sin(ξ + α ) + J
ABC cos α v
䞣DŽ M c ेЎ᥻ࠊಲ䏃ЁⱘĀ㰮ᢳ᥻ࠊāDŽ
⎪ 0 v
⎪ − J 1 sin α v − TR12 ⋅ Rvbx + TR11 ⋅ Rvby Ўㅔ࣪䆒䅵䖛⿟ˈҙ㗗㰥>0°ˈ5°@ऎ䯈‫׃ⱘݙ‬ӄ㾦䎳
⎪
⎪ x = v cos θ 䏾䯂乬DŽ೼ℸᴵӊϟˈ‫׃‬ӄ㾦䎳䏾䇃Ꮒ e ব࣪㣗ೈЎ>5°ˈ
⎪ y = v sin θ 5°@DŽৠᯊˈḍ᥂⹳ᔶ亲㸠఼䆒䅵ᴵӊˈᇚ‫׃‬ӄ㾦ব࣪⥛ e 䰤
⎪⎪
⎨ vb cos α = v cos α v − μx s (10) ᅮ೼>50°/sˈ50°/s@㣗ೈ‫˗ݙ‬ḍ᥂亲㸠఼࡯ⶽߚᵤˈᇚ㰮ᢳ
⎪ v sin α = v sin α ᥻ࠊ M c ⱘ㣗ೈপЎ>30 N ⋅ m ˈ20 N ⋅ m @DŽ
⎪ b v

⎪ J zM ω dMz
M
= M Rz + μx s ( Rvbx sin α − Rvby cos α )
⎪ 4.2 ᥻ࠊߚ䜡ᮍḜ䆒䅵
⎪ + y P P cos ξ 0 + ( X P − μx s ) P sin ξ 0
⎪ ᥻ࠊߚ䜡ᮍḜḍ᥂㰮ᢳ᥻ࠊ‫އ‬ᅮऩ⣀៪ৠᯊՓ⫼৘᥻
⎪ + ( X JA − μx s ) J A − ( X JA + 2μx s ) J B − y J 1 J 1
⎪ ࠊᄤ㋏㒳DŽᰒ✊ˈ໡ড়᥻ࠊߚ䜡ᮍḜᑨՓᭈϾ᥻ࠊಲ䏃Ң
ϑ = ω dMz
M
⎪ ᬜᵰϞㄝৠѢᇚ㰮ᢳ᥻ࠊⳈ᥹԰⫼Ѣ㋏㒳DŽ
⎪⎩ αv = ϑ −θ
⫼ M c 㸼⼎‫׃‬ӄ㾦䎳䏾᠔䳔㽕ⱘ᥻ࠊ࡯ⶽˈ᥼࡯ⶶ䞣᥻
݊Ё˖ TR11 = cos(α − α v ) ˈ TR12 = sin(α − α v ) DŽ ࠊǃⳈ᥹࡯᥻ࠊ੠ব䋼䞣ⶽ᥻ࠊ᠔㛑໳㦋ᕫⱘ᳔໻᥻ࠊ࡯
ⶽߚ߿㸼⼎Ў M P max ǃM J max ੠ M s max ˈ৘ᄤ㋏㒳ᅲ䰙ѻ⫳
4ˊ᥻ࠊ఼䆒䅵Ϣӓⳳⷨお ⱘ᥻ࠊ࡯ⶽߚ߿Ў M P ǃ M J ੠ M s DŽ
ҢҹϞߚᵤৃҹⳟߎˈ⹳ᔶ亲㸠఼㒉৥䖤ࡼ῵ൟᰃϔ ᥻ࠊߚ䜡ᮍḜ䆒䅵བϟ˖
㒘䴲㒓ᗻᮍ⿟ˈ㗠Ϩ৘⢊ᗕখ᭄П䯈ǃ᥻ࠊ䞣П䯈ᄬ೼㗺 ⎧M P = M c
⎪
ড়DŽᇍѢ䖭ḋϔϾ໡ᴖ㋏㒳ˈ໡ড়᥻ࠊ㋏㒳ⱘ䆒䅵ᖙ乏Փ ᔧ M c < M P max ᯊˈ ⎨M J = 0 ˗
ϝ㉏᥻ࠊᄤ㋏㒳㛑໳ѦⳌ䜡ড়ˈᔶ៤⧚ᛇⱘ໡ড়᥻ࠊӬ࢓DŽ ⎪M = 0
⎩ s
Ўℸˈ䆎᭛䩜ᇍ㒉৥䖤ࡼЁⱘ‫׃‬ӄ㾦䎳䏾᥻ࠊ䆒䅵њབ೒

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 ⎧M P = M P max 䏾㊒ᑺˈ㓐ড়ᗻ㛑ᕫҹᰒ㨫ᦤ催DŽ
⎪
M
ᔧ P max < M c < M P max + M J max ᯊˈ ⎨M J = M c − M P max ˗
⎪M = 0 5ˊ㒧ᴳ䇁
⎩ s
⎧ P
M = M P max
䩜ᇍ⹳ᔶ亲㸠఼ˈ䆎᭛ᦤߎњ᥼࡯ⶶ䞣/Ⳉ᥹࡯/ব䋼䞣
⎪
M
ᔧ c > M P max + M J max ᯊˈ ⎨ M J = M J max DŽ ⶽ໡ড়᥻ࠊ㋏㒳ᮍḜˈᑊᓎゟњᅠᭈⱘϝ໡ড়᥻ࠊ㋏㒳῵
⎪M = M − M − M ൟDŽḍ᥂㒉৥䖤ࡼ‫؛‬䆒ˈ䆎᭛ᇍ‫׃‬ӄ㾦䎳䏾ಲ䏃䖯㸠њӓ
⎩ s c P max J max

݊Ёˈ M J ⬅ J A ǃ J B ǃ J C ੠ J 1 ݅ৠѻ⫳DŽ ⳳⷨおˈ㒧ᵰ㸼ᯢˈϝ໡ড়᥻ࠊᮍḜ㛑໳‫⫼߽ߚܙ‬ϝ㉏‫ܜ‬

䖯᥻ࠊᄤ㋏㒳ⱘᡔᴃӬ࢓ˈᅲ⦄⹳ᔶ亲㸠఼᳈催ᗻ㛑ⱘ亲
4.3 ӓⳳⷨお 㸠᥻ࠊDŽ
䕧ܹᅲ偠ᕫࠄⱘ⹳ᔶ亲㸠఼ぎ⇨ࡼ࡯ᄺখ᭄[1]ˈᇍ᠔
䆒䅵ⱘ‫׃‬ӄ㾦䎳䏾໡ড়᥻ࠊಲ䏃䖯㸠ӓⳳDŽ খ㗗᭛⤂
Ҹ߱ྟ‫׃‬ӄ㾦Ў 0eˈᔧ䕧ֵܹোᰃᐙؐЎ 5eⱘ䰊䎗 [1] 䙧ҹ催, 乒᭛䫺, Ѣ䖯࢛, ϔ㉏⹳ᓣ亲㸠఼໡ড়᥻ࠊ῵ൟⷨお,
ֵোᯊˈϡৠ᥻ࠊᮍḜⱘ‫׃‬ӄ㾦䎳䏾ડᑨ᳆㒓བ೒ 5 ᠔⼎DŽ ᔍㆁϢࠊᇐᄺ᡹, vol.24, no.3, pp.116-118, 2004.
[2] ᯧᔺ, ਼޸℻, ਼‫ݯ‬, ব䋼ᖗ᥻ࠊㄪ⬹ߚᵤ, 㽓࣫ᎹϮ໻ᄺᄺ
᡹, vol.20, no.1, pp.117-120, 2002.
䰊䎗䕧ܹ
᥼࡯ⶶ䞣᥻ࠊ [3] Robinet, et al, “Moving Mass Trim Control for Aerospace
᥼࡯ⶶ䞣/ ব䋼䞣ⶽ໡ড়᥻ࠊ
ϝ໡ড়᥻ࠊ Vehicles,” Journal of Guidance, Control, and Dynamics, vol.19,

$
no.5, pp.1064-1070, 1996.
[4] 催ᔺ⦎, 䞥䭓∳, 㙪ϮӺ, ᥼࡯ⶶ䞣᥻ࠊϢ᥼࡯ⶶ䞣஋ㅵ, 亲
ϑ

㸠࡯ᄺ, vol.13, no.2, pp.1-5, 1995.

[5] ⿟޸㟳 ㄝ, 䰆ぎᇐᔍⳈ᥹࡯Ϣ⇨ࡼ࡯໡ড়᥻ࠊ㋏㒳䆒䅵, 亲
㸠࡯ᄺ, vol.21, no.2, pp.49-52, 2003.
[6] ᴼᅫ߮, ᇐᔍⳈ᥹ջ৥࡯᥻ࠊ໪⌕എⷨお, ᥼䖯ᡔᴃ, vol.21,
no.2, pp.5-7, 2000.
೒ 5 ϡৠ᥻ࠊᮍḜ‫׃‬ӄ㾦䰊䎗ડᑨ᳆㒓 [7] ᓴᅫ味, ᛃᗻᇐ㟾Ϣ㒘ড়ᇐ㟾. ࣫Ҁ: 㟾ぎᎹϮߎ⠜⼒, 2000.
[8] 偀䞥䪢, ਼㒡⺞, ⿟㒻㑶, ᇐᔍ᥻ࠊ㋏㒳ॳ⧚. ࣫Ҁ: 㟾ぎᎹ
Ҹ߱ྟ‫׃‬ӄ㾦Ў 2.5eˈᔧ䕧ܹЎℷᓺֵোᯊˈ‫׃‬ӄ㾦
Ϯߎ⠜⼒, 1996.
䎳䏾᳆㒓བ೒ 6 ᠔⼎DŽ
[9] 䪅ᴣ㢇, ᵫ⨲䲘, 䍉Ѯ⬋, ᇐᔍ亲㸠࡯ᄺ. ࣫Ҁ: ࣫Ҁ⧚Ꮉ໻
ᄺߎ⠜⼒, 2000.
ℷᓺ䕧ܹ
᥼࡯ⶶ䞣/ ব䋼䞣ⶽ໡ড়᥻ࠊ
ϝ໡ড়᥻ࠊ [10]⿟޸㟳, ᢺ៾៬ᴃᔍ䘧ᇐᔍ᳿↉ᇐᓩ੠໡ড়᥻ࠊⷨお, म຿
ᄺԡ䆎᭛, pp.38-54, 㽓ᅝ: 㽓࣫ᎹϮ໻ᄺ, 2002.
[11]ᄭ๲ഏ. ᱎ㛑᥻ࠊ⧚䆎Ϣᡔᴃ. ࣫Ҁ: ⏙ढ໻ᄺߎ⠜⼒, 1997.
ϑ( )

೒ 6 ‫׃‬ӄ㾦ℷᓺֵো䎳䏾᳆㒓

Ңӓⳳ㒧ᵰৃҹⳟߎˈϢऩ⣀᥼࡯ⶶ䞣᥻ࠊⳌ↨ˈ᥼
࡯ⶶ䞣/ব䋼䞣ⶽ໡ড়᥻ࠊᦤ催њ‫׃‬ӄ㾦䎳䏾ᗻ㛑ˈ㗠䆎᭛
᠔ᦤߎⱘϝ໡ড়᥻ࠊ߭㦋ᕫњ᳈ᖿⱘ䎳䏾䗳ᑺ੠᳈催ⱘ䎳

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