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Simulation of shuttle flight control system structural interaction with RMS deployed payloadsA simulation of the system made up of the Orbiter, Remote Manipulator System (RMS), and payload grappled by the RMS was completed. The simulation was used to study the stability of this overall system when its attitude is under control of the Orbiter's on-orbit Flight Control System (FCS). The simulation was also used to study the dynamics of the system when the RMS and its associated command software are in active control of the relative Orbiter to payload position and orientation. The simulation models all of the following elements: RMS boom bending (represented by two cubic bending models); RMS boom torsion; RMS joint gearbox compliance (represented by a non-linear wind-up model); flexibility at the RMS to Orbiter interface; flexibility at the RMS to payload interface; joint motor dynamics; joint servo-loop dynamics; RMS on-board computer command logic; data transfer delays between the RMS sensor and the RMS on-board computer and between the RMS on-board computer and RMS joint servos; on-orbit flight control nonlinear control logic; and the Reaction Control System (both Primary and Vernier) jet forces and moments.
Document ID
Document Type
Conference Paper
Turnball, Joe
(Draper (Charles Stark) Lab., Inc. Cambridge, MA, United States)
Date Acquired
September 6, 2013
Publication Date
May 1, 1989
Publication Information
Publication: NASA. Langley Research Center, Proceedings of the Workshop on Computational Aspects in the Control of Flexible Systems, Part 1
Subject Category
Spacecraft Design, Testing And Performance
Accession Number
Distribution Limits
Work of the US Gov. Public Use Permitted.
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