Volume 34 Issue 3
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Dong Qiuhuang, Chen Li. Impact Dynamics of Flexible Space Manipulator Capturing a Satellite, Stabilization Control and Flexible Vibration Linear Quadratic Optimal Suppression[J]. Chinese Journal of Space Science, 2014, 34(3): 367-376. doi: 10.11728/cjss2014.03.367
Citation: Dong Qiuhuang, Chen Li. Impact Dynamics of Flexible Space Manipulator Capturing a Satellite, Stabilization Control and Flexible Vibration Linear Quadratic Optimal Suppression[J]. Chinese Journal of Space Science, 2014, 34(3): 367-376. doi: 10.11728/cjss2014.03.367
shu

Impact Dynamics of Flexible Space Manipulator Capturing a Satellite, Stabilization Control and Flexible Vibration Linear Quadratic Optimal Suppression

doi: 10.11728/cjss2014.03.367

  • School of Mechanical Engineering and Automation, Fuzhou University, Fuzhou 350108

  • Received Date: 2013-05-20
  • Rev Recd Date: 2013-12-19
  • Publish Date: 2014-05-15
    Abstract
  • The impact dynamics of space manipulator system capturing a satellite, and control of post-impact unstable system were discussed. The dynamics model of space manipulator system was derived by the second Lagrange equation. At the impact moment when the space manipulator capturing a satellite, the impact effect for the space manipulator was calculated by momentum impulse method. For stabilizing the post-impact unstable space manipulator and satellite combination system, the linear feedback and linear quadratic optimal composite control algorithm was proposed for the space manipulator stabilization control and flexible link vibration suppression, and there was no need for the position control of the free-floating base under the proposed control algorithm employed, which would save the fuel consumption of free-floating base thruster. Finally, numerical examples are proposed to simulate the impact effect for space manipulator motion state which is caused by the impact, and the effectiveness of above control algorithm is verified.

     

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