System Dynamics and Feedforward Control for Tether-Net Space Robot System
| Autor: | Cheng Li, Yue Qiu, Guang Zhai, Bin Liang |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2009 |
| Předmět: |
Damp
space debris dynamics modeling simulation capture strategy tether-net system feedforeward control Computer science lcsh:Electronics Feed forward lcsh:TK7800-8360 lcsh:QA75.5-76.95 Computer Science Applications System dynamics Robot control Nonlinear system Artificial Intelligence Control theory Libration Trajectory Libration (molecule) Point (geometry) lcsh:Electronic computers. Computer science Astrophysics::Earth and Planetary Astrophysics Software Space debris |
| Zdroj: | International Journal of Advanced Robotic Systems International Journal of Advanced Robotic Systems, Vol 6, Iss 2 (2009) International Journal of Advanced Robotic Systems, Vol 6 (2009) |
| ISSN: | 1729-8806 |
| Popis: | A new concept using flexible tether-net system to capture space debris is presented in this paper. With a mass point assumption the tether-net system dynamic model is established in orbital frame by applying Lagrange Equations. In order to investigate the net in-plane trajectories during after cast, the non-control R-bar and V-bar captures are simulated with ignoring the out-of-plane libration, the effect of in-plane libration on the trajectories of the capture net is demonstrated by simulation results. With an effort to damp the in-plane libration, the control scheme based on tether tension is investigated firstly, after that an integrated control scheme is proposed by introduced the thrusters into the system, the nonlinear close-loop dynamics is linearised by feedforward strategy, the simulation results show that feedforward controllor is effective for in-plane libration damping and enable the capture net to track an expected trajectory. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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