Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing

Wei, Yaqiang; Yang, Xiao; Xu, Zhigang; Bai, Xinlin

doi:10.1016/j.ast.2023.108587

Cited by 5 publications

(2 citation statements)

References 40 publications

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“…Full-sized simulators with complete physical characteristics are typically constructed in FPS, which incurs high costs. In addition, it is difficult to achieve frictionless movement along the direction of gravity in the simulation of 6-DoF spatial weightlessness motion [8][9][10]. DS, not reliant on physical hardware, conducts verification of debris removal processes only through mathematical modeling [11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Stability Analysis and Delay Compensation for Space Instable Target Simulator

Bai,

Li,

Zhao

et al. 2024

Actuators

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The space instable target simulator (SITS) is a vital actuator for ground verification of on-orbital capture technology, the motion performance of which directly affects simulation credibility. Different delays reduce the stability of SITS and ultimately lead to its divergence. In order to achieve high-fidelity simulation, the impacts of force measurement delay, the discrete control cycle, and simulator response delay on stability are analyzed first. Then, the dynamic equation and transfer function identification model of the hybrid simulator is constructed, and the necessary and sufficient conditions of its stability and convergence are obtained using the Routh criterion. After that, a novel switching compensator with variable gain is proposed to reduce the superimposed effects of the three delays, the compensation principle diagram of which was built, and its mathematical model including the energy observer and nonlinear tracking differentiator is also established. Finally, three sets of numerical simulations were conducted to validate the correctness of the stability analysis and effectiveness of the proposed compensation method. The simulation results show that all three types of delays can cause SITS to lose stability under critical stable motion states, and the delay in force measurement has the greatest impact, followed by the influence of the control cycle. Compared with the force applied to the simulated target, the velocity, and the recovery coefficient of the space instable target using fixed gain and linear gain compensation, the proposed compensator has significantly better performance.

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Section: Introductionmentioning

confidence: 99%

Stability Analysis and Delay Compensation for Space Instable Target Simulator

Bai,

Li,

Zhao

et al. 2024

Actuators

Self Cite

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“…Since the 1990s, space manipulators used to manipulate and capture payloads have received extensive attention [1][2][3][4][5][6]. Space manipulator can not only be installed on a space station to assist astronauts in the maintenance of the space station [7][8][9], but can also be installed on an unmanned satellite to carry out in-orbit maintenance of the satellite and capture space debris [10][11][12][13]. In 2007, the US Orbital Express project carried out capture and maintenance experiments of controlled target satellites using unmanned satellites equipped with a manipulator [14].…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling and Improved Nonlinear Model Predictive Control of a Free-Floating Dual-Arm Space Robot

Guo,

Ju,

et al. 2024

Applied Sciences

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With the increasing demand for space missions, space robots have become the focus of research and attention. As a typical representative, the free-floating dual-arm space robot has the characteristics of multiple degrees of freedom, a floating base, and dynamic coupling between the manipulator and the base, so its modeling and control are very challenging. To address these challenges, a novel dynamic modeling and control method is proposed for a free-floating dual-arm space robot. First, an explicit dynamic model of a free-floating dual-arm space robot is established based on the explicit canonical multi-rigid-body dynamic modeling theory and combined with the concept of a dynamic equivalent manipulator. The establishment process of this model is not only simple and canonical to avoid the definition and calculation of many intermediate variables, but the symbolic result expression of the model also has the characteristics of iteration, which is convenient for computer automatic modeling. Next, aiming at addressing the problem of trajectory tracking and the base attitude stability of a free-floating dual-arm space robot with parameter perturbation and external disturbance, an improved nonlinear model predictive control method introducing the idea of sliding mode variable structure is proposed. Theoretical analysis shows that the proposed controller has better robustness than the traditional nonlinear model predictive controller. Then, an in-orbit service task is designed to verify the effectiveness of the proposed dynamic modeling and control strategy of the free-floating dual-arm space robot. Finally, the dynamic modeling and control methods proposed are discussed and summarized. The proposed methods can not only realize the tracking of the desired trajectory of the arms of the free-floating space robot, but can also realize the stable control of the base of the free-floating space robot. This paper provides new insights into the difficult problems regarding the dynamics and control of free-floating dual-arm space robots.

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Nonsingular Fast Terminal Sliding Mode Control of Uncertain Robotic Manipulator System Based on Adaptive Fuzzy Wavelet Neural Network

Liu,

Zhang

et al. 2024

Int. J. Fuzzy Syst.

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Novel ground microgravity experiment system for a spacecraft-manipulator system based on suspension and air-bearing

Cited by 5 publications

References 40 publications

Stability Analysis and Delay Compensation for Space Instable Target Simulator

Stability Analysis and Delay Compensation for Space Instable Target Simulator

Dynamic Modeling and Improved Nonlinear Model Predictive Control of a Free-Floating Dual-Arm Space Robot

Nonsingular Fast Terminal Sliding Mode Control of Uncertain Robotic Manipulator System Based on Adaptive Fuzzy Wavelet Neural Network

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