Research on the Control of Large Flexible Assembled Spacecrafts during Module Transfer
During the on-orbit assembly of large flexible multibody spacecrafts such as the space station, it may be required to transfer the experiment module from one interface of the core module to another with the help of robotic arm system.The transfer will cause both changes in spacecraft’s attitude and vibration of flexible appendages, which impact on each other, possibly leading to destruction of spacecraft stability.Aiming at reducing flexible vibrations during configuration change, an innovative strategy is proposed based on input shaping techniques.The dynamic model of an assembled spacecraft with variable configurations is established based on Lagrange equations; Zero Vibration and Derivative (ZVD) and cascade method are employed to derive the input shaper; a new strategy for configuration change is ultimately proposed.Compared with the original strategy, simulations show that vibrations are suppressed remarkably with the magnitudes suppressed up to 5％ of the original ones.Particularly, the suppression effect is more effective for lower flexible mode.
Zhou Jun Yao Yuhan Liu Yingying
Institute of Precision Guidance and ControlNorthwestern Polytechnical UniversityXi’an,Shaanxi,710072 Institute of Precision Guidance and Control Northwestern Polytechnical University Xi’an,Shaanxi,7100
国际会议
上海
英文
1-5
2012-08-26（万方平台首次上网日期，不代表论文的发表时间）