Dynamic analysis and trajectory tracking of a tethered space robot

Soltani, Mehrzad; Keshmiri, Mehdi; Misra, A. K.

doi:10.1016/j.actaastro.2016.06.006

Cited by 14 publications

(2 citation statements)

References 17 publications

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“…In the process of inserting and extracting of space robot, there must be uncertainty caused by unmodeled error, external disturbance and violent impact, which undoubtedly improves the design difficulty of the control system. In view of the above uncertain effects, not only the traditional classical nonlinear methods such as robust control [26], sliding mode control [27], and adaptive control based on neural network [28], some new control methods and theories such as LQR method [29], MPC method [30], and reinforcement learning method [31] have been fully studied and achieved good control results in the field of aerospace. However, these controllers generally have complex design and a large calculation.…”

Section: Introductionmentioning

confidence: 99%

Impedance Control of Space Robot On-Orbit Insertion and Extraction Based on Prescribed Performance Method

Liu

Chen

2022

Applied Sciences

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Aiming at the force position control problem of the on-orbit insertion and extraction operation of the free-floating space robot, the system dynamics model is established. According to the interaction between the end of manipulator and the environment, the second-order impedance model is established. In order to improves the calculation efficiency, the above models are reconstructed to avoid the use of acceleration signal by introducing filtering operation. This is also conducive to the application of robot actual control. Then, an estimator requiring only the system inertia matrix is designed to compensate the modeling uncertainty, external bounded disturbance and impact effect in the process of inserting and extracting. Its structure is simple and reliable. Only one control parameter needs to be adjusted, which greatly reduces the amount of calculation. Considering that the on-orbit operation of insertion and extraction is a kind of precision operation, its control system needs to have a high-quality control performance. By introducing the prescribed performance method, the tracking error is constrained within the given range and to ensure the transient performance and steady-state performance of the control system is ensured. Finally, three simulation conditions are designed, and the results are presented to verify that the proposed algorithm has a faster convergence speed compared with traditional sliding mode controller. It can achieve vertically inserting and accurate force tracking of the manipulator end.

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Section: Introductionmentioning

confidence: 99%

Impedance Control of Space Robot On-Orbit Insertion and Extraction Based on Prescribed Performance Method

Liu

Chen

2022

Applied Sciences

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“…Even in a stable state, an improper tracking property can still either induce excessive leakage or local face contact [3,4]. It is therefore imperative to study the stability and tracking properties of gas face seals which have played important dynamic roles in other applications [5,6].…”

Section: Introductionmentioning

confidence: 99%

Stability and tracking analysis of gas face seals under low-parameter conditions considering slip flow

Hu¹,

Huang²,

Liu³

et al. 2017

J. vibroeng.

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Dynamic property of a gas face seal is about an internal ability of the mass-spring-damper system consisting of the nonlinear gas film, the flexible support, and the component mass or moment of inertia to handle ambient disturbances. Stability and tracking properties are important dynamic components, the current research for which mainly focuses on high-speed and high-pressure conditions in turbomachinery applications. In this paper, perturbation theory is used to obtain the linearized properties of the gas film in a spiral groove gas face seal, where the Boltzmann-Reynolds model with Fukui-Kaneko approximation is involved to account for slip flow under low-parameter conditions. Transmissibility of the step jump method is introduced into the perturbation method, and a critical ambient-disturbance amplitude is further proposed to cover the defect of transmissibility in characterizing the tracking property. The effects of slip flow on the stability and tracking properties of gas face seals are explored. The results show that slip flow induces an extra "relaxation region" in the critical transverse moment of inertia, providing a softer demand for angular stability. With regard to transmissibility, slip flow will induce an advantageous effect on transmitting the rotor motion to the stator. However, after considering the space required for tracking motions, the results of critical amplitude indicate that slip flow will induce an extra "rigorous region", leading gas face seals to require more conservative design and more rigorous manufacture and assembly for non-contacting tracking.

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