Rigid-flexible coupling dynamic modeling and analysis of dumbbell-shaped spacecraft

Wang, Boyang; Liu, Zhuyong; Zheng, Ping

doi:10.1016/j.ast.2022.107641

Cited by 12 publications

(5 citation statements)

References 28 publications

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“…The related parameters of the locking angle are provided in Table 1 where the parameters (𝜃 J1 , 𝜃 J2 , 𝜃 J9 , 𝜃 J10 , 𝜃 J11 , 𝜃 J12 , 𝜃 J13 , 𝜃 J14 and 𝜃 J18 ) are the locking angle of the corresponding hinges. The internal stress at the key hinge is obtained by using ADAMS for dynamic simulation [25][26][27][28][29][30] based on the dynamic model of the satellite antenna panel. The reliability experiment [31][32][33] can also be used to measure the internal stress at the key hinge.…”

Section: Results Of Dynamic Simulationmentioning

confidence: 99%

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Accuracy analysis of satellite antenna panel expansion based on BP neural network

Qian

Zhang

Huang

et al. 2023

Quality & Reliability Eng

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Large deployable space mechanisms are widely used in the field of aerospace and have been paid increasingly high attention recently. The satellite antenna expansion system is the classic large deployable space mechanism. However, during the expansion of the satellite antenna deployable mechanism, the expansion accuracy is affected by the existing various uncertain factors which even result in scraping the satellite. For example, the hinge locking error has the significant influence on the deployment accuracy of the satellite antenna panel. In term of this issue, considering the advantage of the back‐propagation (BP) neural network for the high dimensional nonlinear problem, this paper mainly adopts it to analyze the impact of hinge locking error on the expansion accuracy of the antenna panel. The results show that the probability of the actual flatness deviation of the satellite antenna panel falling in the required accuracy area is 99.56%, and the probability of the actual pointing angle deviation falling in the required accuracy area is 99.84%.

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Section: Results Of Dynamic Simulationmentioning

confidence: 99%

“…The internal stress at the key hinge is obtained by using ADAMS for dynamic simulation 25–30 based on the dynamic model of the satellite antenna panel. The reliability experiment 31–33 can also be used to measure the internal stress at the key hinge.…”

Section: Construction Of Bp Neural Networkmentioning

confidence: 99%

Accuracy analysis of satellite antenna panel expansion based on BP neural network

Qian

Zhang

Huang

et al. 2023

Quality & Reliability Eng

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“…First, the key technical parameters of dumbbell-shaped spacecraft are provided with reference [6], and the parameters are shown in Table 1. Section 5.1 verifies the correctness of the dumbbell-shaped spacecraft dynamic model.…”

Section: Simulation and Analysismentioning

confidence: 99%

“…The dumbbell-shaped spacecraft is rigid at both ends and connected by a large flexible truss in the middle. The structure and mass distribution are quite different from those of traditional spacecraft [6]. Therefore, its dynamic characteristics, attitude control, and vibration suppression will be different.…”

Section: Introductionmentioning

confidence: 97%

Adaptive Robust Control and Active Vibration Suppression of Dumbbell-Shaped Spacecraft

Liu

Fan

et al. 2022

International Journal of Aerospace Engineering

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In this paper, the dynamic modelling of a new configuration spacecraft is investigated. The significance of dumbbell-shaped spacecraft to deep space exploration and the configuration of dumbbell-shaped spacecraft are introduced firstly. Then, the vibration problem of the dumbbell-shaped spacecraft of large-angle attitude maneuver is investigated, and a control program based on the combination of adaptive robust control (ARC) and component synthesis vibration suppression method-seven-section path planning (CSVS-SPP) is proposed. The large-angle attitude maneuver route of the spacecraft, which serves as the reference path, is planned using the CSVS-SPP approach, and the attitude controller is designed using the ARC. This program can effectively reduce the influence of external disturbance and parameter uncertainty on the system performance while completing attitude maneuver and suppress the vibration of the flexible beam during large-angle attitude maneuver. The numerical simulations show the superiority and effectiveness of the proposed ARC+CSVS-SPP.

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“…Therefore, the prerequisite for feedforward compensation is an accurate leg dynamics model. Dynamic modeling is mainly achieved through Euler's method and Lagrange's method [23], with common modeling methods for flexible bodies being the finite-element method [24,25] and assumed-modes method [26,27]. Ren [28] derived the rigid-soft coupled dynamic equations for a parallel-legged hexapod robot based on the assumed-modes method and Lagrange equations.…”

Section: Introductionmentioning

confidence: 99%

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

Yang,

Liu,

Liu

et al. 2023

Biomimetics

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The motion process of legged robots contains not only rigid-body motion but also flexible motion with elastic deformation of the legs, especially for heavy loads. Hence, the characteristics of the flexible components and their interactions with the rigid components need to be considered. In this paper, a hierarchical control strategy for robots with rigid–flexible coupling characteristics is proposed. This strategy involves (1) leg force prediction based on real-time motion trajectories and feedforward compensation for the error caused by flexible components; (2) building upon the centroid dynamics model of the rigid-body chassis, the centroid trajectories (centroid angular momentum (CAM) and centroid linear momentum (CLM)) and the body trajectory are taken into account to derive the optimal drive torque for maintaining body stability; (3) finally, the precise force control of the hydraulic drive units is achieved through the sliding mode control algorithm, integrating the dynamic model of the flexible legs. The proposed methods are validated on a giant hexapod robot weighing 3.5 tons, demonstrating that the introduced approach can reduce the robot’s vibrations.

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Rigid-flexible coupling dynamic modeling and analysis of dumbbell-shaped spacecraft

Cited by 12 publications

References 28 publications

Accuracy analysis of satellite antenna panel expansion based on BP neural network

Accuracy analysis of satellite antenna panel expansion based on BP neural network

Adaptive Robust Control and Active Vibration Suppression of Dumbbell-Shaped Spacecraft

A Hierarchical Control Strategy for a Rigid–Flexible Coupled Hexapod Bio-Robot

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