A minimum state multibody/FEM approach for modeling flexible orbiting space systems

Pisculli, Andrea; Gasbarri, Paolo

doi:10.1016/j.actaastro.2014.10.040

Cited by 25 publications

(12 citation statements)

References 29 publications

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“…This is even more evident for the space-borne deployable structure, where the link's topologies and the joint's configurations do not change during the manoeuvres of the spacecraft. In a recent work [32], a Kanelike formulation has been adopted by the present authors to obtain a system of equations of motion, which can also be suitable for synthesizing optimal control strategies during the deploying manoeuvres of a manipulator with flexible appendages. For a better description of the Kanelike algorithm a flowchart scheme is reported in Fig.…”

Section: Mathematical Formulations For Modelling a Fully Elastic Minimentioning

confidence: 99%

“…[32] where all the mathematical details are reported. Suffice here to say that the equation of motion of the manipulator system can be partitioned as follows [32]: Here, € X represents the linear and angular acceleration of the base platform, € q is the vector associated to the acceleration of the arm joints and finally € η is the vector containing the second derivatives w.r.t. time of the modal shape amplitudes, and T is the transpose operator.…”

Section: Flexibility Compensation Controller: Control Torques Appliedmentioning

confidence: 99%

“…1 reports the assembled unconstrained equations of motion for each body belonging to the multibody system. In block B, the Jacobian matrix of the system, which relates the Cartesian body variables of the multibody to the minimum set of kinematic variables, is calculated [32]. Of course the evaluation of the Jacobian matrix J is one of the main drawbacks of this approach due to some algebra that must be performed in advance.…”

Section: Mathematical Formulations For Modelling a Fully Elastic Minimentioning

confidence: 99%

See 2 more Smart Citations

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Gasbarri

Pisculli

2015

Acta Astronautica

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Section: Mathematical Formulations For Modelling a Fully Elastic Minimentioning

confidence: 99%

Section: Flexibility Compensation Controller: Control Torques Appliedmentioning

confidence: 99%

Section: Mathematical Formulations For Modelling a Fully Elastic Minimentioning

confidence: 99%

See 1 more Smart Citation

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Gasbarri

Pisculli

2015

Acta Astronautica

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“…The motion of a generic point P of the body is given by the superposition of a rigid motion plus a set of structural modes. 9 As for that, the vector representing the position of the point P in an inertial, Earthcentred, reference frame is…”

Section: Kinematicsmentioning

confidence: 99%

Uncertainty impact on micro-vibration control of an orbiting large adaptive space structure

Angeletti¹,

Gasbarri²

2018

EasyChair Preprints

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Large deployable structures are required for the advancement of modern space activities. A wide variety of EO (Earth Observation) spacecrafts is actually using and will profit by large antenna systems supported by truss-like structures with low mass and stiffness. In this perspective, the control design strategy calls for a system with distributed active control of the flexible appendage, ensuring acceptable deformations. A net of smart actuators can be embedded in the supporting frame elements to make the structure adaptive itself and to limit undesired elastic vibrations. In the present paper, the supporting structure of a very large mesh reflector is described. A methodology based on a classical Lagrangian approach combined with a FEM formulation has been adopted to assemble the system and validated by comparing it with commercial codes. An optimization procedure has been carried out to evaluate the damping efficacy of the actuators. After having assessed the best authority of the devices belonging to the active net, a control strategy has been implemented to coordinate their simultaneous action. One of the most relevant issue to ensure a good performance of a spacecraft integrated control strategy is related to its robustness when some uncertainty parameters are considered at design stage. In addition, the properties of space modules may be affected by slight changes due to launch loads. The effects of the attitude control authority and its robustness to uncertainties on mechanical and elastic parameters of both passive structure and actuators have been investigated and discussed.

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“…11,12 The flexible structures can lead to the structural deformation and elastic oscillation, and reduce the dynamic performance of the system. 13,14…”

Section: Introductionmentioning

confidence: 99%

Dynamic behavior and parameter sensitivity of the free-floating base for space manipulator system considering joint flexibility and clearance

Zhang

Liu

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part C:

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The joint flexibility and clearance greatly affect the dynamic behavior of the free-floating base when space manipulators operate due to the dynamic coupling between the manipulators and the free-floating base. Based on the Lagrange–Euler method and momentum conservation, the dynamic model of a free-floating space manipulator system with joint flexibility and clearance is obtained. With this model, the coupling effects of joint flexibility and clearance on the dynamic response of the free-floating base are analyzed and some case studies are conducted to investigate the effects of different parameters of joint flexibility and clearance on the free-floating base. Further, the parameter sensitivity of the free-floating base for space manipulator system with joint flexibility and clearance is analyzed using the improved response surface method. According to the analysis of response surface method, we can increase the joint clearance size or decrease the dynamic friction coefficient to improve the stability and motion accuracy of the free-floating base position and attitude. This work points out the direction for reducing the base disturbance and provides a basis for the optimization design for free-floating space manipulator system.

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A minimum state multibody/FEM approach for modeling flexible orbiting space systems

Cited by 25 publications

References 29 publications

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Dynamic/control interactions between flexible orbiting space-robot during grasping, docking and post-docking manoeuvres

Uncertainty impact on micro-vibration control of an orbiting large adaptive space structure

Dynamic behavior and parameter sensitivity of the free-floating base for space manipulator system considering joint flexibility and clearance

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