ROM/RMF control of the flexible, articulated-truss space craneThe large size and extreme flexibility of an articulated space crane entail great difficulties in precision positioning. Control strategies for the flexible multibody system are here developed using a Timoshenko-beam finite-element model (FEM) which captures the system's low frequency characteristics. From the FEM, a reduced-order model (ROM) controller is designed which rotates the fixed shape crane about the base alpha joint to actuate positioning control. Eigenvalue analysis of the closed-loop system shows the destabilizing effect of controller-structure interaction (CSI). Making use of a parallel bank of residual mode filters (RMFs) compensated for CSI, restoring system stability and performance. The linear control law is simulated in closed-loop with the beam model. The ROM-based control law with RMF compensation is an effective, low-order controller.
Document ID
19920051869
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Reisenauer, Brian T. (NASA Headquarters Washington, DC United States)
Balas, Mark J. (Colorado, University Boulder, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1992
Subject Category
Spacecraft Design, Testing And Performance
Report/Patent Number
AIAA PAPER 92-2463
Meeting Information
Meeting: AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference