Modeling and stability of balloon-borne gondolas with coupled pendulum-torsion dynamics

Kassarian, Ervan; Sanfedino, Francesco; Alazard, Daniel; Evain, Hélène; Montel, Johan

doi:10.1016/j.ast.2021.106607

Cited by 11 publications

(17 citation statements)

References 23 publications

(45 reference statements)

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“…This dependency is coupled with the parametric uncertainties (not represented in the figure). The nominal model perfectly matches the model obtained in [33] with a Lagrangian approach.…”

Section: K(s)supporting

confidence: 66%

“…The resulting model is provided under the form of a block-diagram with minimal number of states, and the parameters can be isolated to obtain a minimal LFT model [30], allowing robust control [31] or integrated control/structure co-design with the H ∞ synthesis [32]. This framework was applied to stratospheric balloons, which can be modeled as multibody structures composed of rigid bodies connected with revolute joints [33]. These systems typically carry a telescope inside a gondola, and the pointing control must reject the pendulum-like vibrations of the structure which are governed by gravity.…”

Section: Derivative Of Vector X With Respect To Time In Frame Rxmentioning

confidence: 99%

“…This application example is based on the joint NASA/CNES FIREBall experiment with simplified assumptions on the pointing system, and on the damping and disturbance models. The dynamics of the flight chain are described in [33] with a Lagrangian approach. The flight chain is a complex system that can be modeled as 11 rigid bodies, including the balloon B 0 , various elements B 1 to B 9 , and the gondola B 10 , linked with 10 revolute joints J 1 to J 10 .…”

Section: K(s)mentioning

confidence: 99%

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Linear Fractional Transformation modeling of multibody dynamics around parameter-dependent equilibrium

Kassarian,

Sanfedino,

Alazard

et al. 2021

Preprint

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This paper proposes a new Linear FractionalTransformation (LFT) modeling approach for uncertain Linear Parameter Varying (LPV) multibody systems with parameter-dependent equilibrium. The most common procedure relies on the polynomial fitting of a set of Linear Time Invariant models over a grid of equilibrium points, which may be time consuming and miss worst-case configurations. An alternative is the symbolic linearization of the nonlinear equations, but it is often computationally heavy for complex systems. The proposed approach relies on the linearization of the equations at the substructure level before assembly of the multibody system. The linearized model is obtained under the form of a block-diagram, from which the LFT representation can be derived as a continuous function of the uncertain, varying and design parameters. Thus, the model covers all plants within the specified bounds without introducing conservatism or fitting errors. The method can be extended to boundary conditions, bodies and kinematic joints others than those addressed in this paper by deriving their individual linearized models. Targeted engineering applications include modeling of uncertain LPV systems, robust vibrations control, robust gain scheduling, integrated control/structure co-design. Two numerical applications: gain scheduling for a LPV robotic arm, and control/structure co-design of a stratospheric balloon with on-board telescope, are proposed to illustrate the approach.

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“…This dependency is coupled with the parametric uncertainties (not represented in the figure). The nominal model perfectly matches the model obtained in [33] with a Lagrangian approach.…”

Section: K(s)supporting

confidence: 66%

Section: Derivative Of Vector X With Respect To Time In Frame Rxmentioning

confidence: 99%

Section: K(s)mentioning

confidence: 99%

See 1 more Smart Citation

Linear Fractional Transformation modeling of multibody dynamics around parameter-dependent equilibrium

Kassarian,

Sanfedino,

Alazard

et al. 2021

Preprint

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show abstract

“…This behavior changes the actual elevation angle and significantly affects the trajectory accuracy and range safety; therefore, detailed discussions on these pendulum dynamics are necessary to predict the change in elevation angle. Although a complete dynamic model of balloon-borne systems was proposed by Kassarian [16], relative motions and separations of an internal object cannot be considered. In this section, a pendulum model is proposed for a suspended launcher with a launch object.…”

Section: Discussionmentioning

confidence: 99%

“…A suspended telescope was oriented to the target direction with an accuracy of one arcminute using a control moment gyroscope (CMG) as the attitude control device. There exists a coupling of pendulum and azimuth dynamics through the azimuth control loop and a complete dynamic model of balloon-borne systems was proposed [16].…”

Section: Introductionmentioning

confidence: 99%

Air-Launch Experiment Using Suspended Rail Launcher for Rockoon

Shoyama

Banno

Furuta³

et al. 2021

Aerospace

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The method of air-launching a rocket using a launcher suspended from a balloon, referred to as a rockoon, can improve the flight performance of small rockets. However, there have been safety issues and flight trajectory errors due to uncertainty with respect to the launch direction. Air-launch experiments were performed to demonstrate a rail launcher equipped with a control moment gyroscope to actively control the azimuth angle. As a preliminary study, it was suspended via a crane instead of a balloon. The rockets successfully flew along the target azimuth line and impacted the predicted safe area. The elevation angle of the launcher rail exhibited a fluctuation composed of two frequency components. A double-pendulum model with a rigid rod suspended by a wire was proposed to predict this behavior. Significant design parameters and error sources were investigated using this model, revealing the constraining effect of a large mass above the wire and elevation angle fluctuation, which caused trajectory errors due to the friction force on the rail guide and thrust misalignment. Finally, tradeoffs in designing the rail length were found between the launcher clear velocity and elevation fluctuations.

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Modeling of stratospheric balloons and robust line-of-sight pointing control

Kassarian¹,

Sanfedino

Alazard

et al. 2023

CEAS Space J

Self Cite

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This paper investigates state-of-the-art modeling and control techniques for the robust line-of-sight pointing control of an optical payload on-board a stratospheric balloon, to meet stringent pointing requirements in the context of astronomy missions. Previous experience shows that the pointing performance of such systems is essentially limited by the rejection of the natural pendulum-like oscillations of the flight chain. This observation justifies the need for a model that accurately predicts such flight conditions that cannot be replicated in laboratory, and for a systematic methodology addressing the line-of-sight controller design to reject these flexible dynamics excited by wind disturbances. Moreover, it is sought to ensure robust stability and performance to the parametric uncertainties inherent to balloon-borne systems, such as complex balloon's properties or release of ballast throughout the flight, especially since experimental validation is limited. In this paper, a first dynamical model of the complete system is proposed, based on Lagrangian mechanics; the comparison with flight data show that the frequency content of the platform's motion is accurately predicted. Then, a multibody approach is applied to derive a second model taking into account the parametric uncertainties with the Linear Fractional Transformation representation. Finally, the control of the line-of-sight is tackled as a robust, structured H 2 ∕H ∞ problem that improves the performance with regard to traditional PID controller. A -sensitivity analysis is also proposed to identify the most sensitive parameters and verify the performance.

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Modeling and stability of balloon-borne gondolas with coupled pendulum-torsion dynamics

Cited by 11 publications

References 23 publications

Linear Fractional Transformation modeling of multibody dynamics around parameter-dependent equilibrium

Linear Fractional Transformation modeling of multibody dynamics around parameter-dependent equilibrium

Air-Launch Experiment Using Suspended Rail Launcher for Rockoon

Modeling of stratospheric balloons and robust line-of-sight pointing control

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