Flexible Multi-Body Spacecraft Simulator: Design, Construction, and Experiments
Abstract
The aim of this thesis was to develop and construct a flexible multi-body spacecraft simulator for use in testing optimal control-based slew and maneuver designs. The simulator is modified from an earlier prototype, which had a flexible arm and actuated robotic arm on an aluminum plate atop an air bearing. The new simulator features enhanced capabilities, with an improved passive flexible appendage, a commercial-off-the-shelf (COTS) robotic arm, a reaction wheel momentum control system, a wireless flight control system, and a battery-powered electrical distribution system. The COTS robotic arm was modified to function with either flexible or rigid joints, and was used as a basis for initial experimentation. The simulators purpose is to test agile cooperative maneuvers designed using optimal control theory. A specific maneuver was developed and tested for the robotic arm in its flexible joint configuration. It is shown experimentally that maneuver time could be reduced by 50% as compared to a baseline (standard) maneuver, and that the optimal control-based solution significantly reduced post maneuver vibrations.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 2017
- Accession Number
- AD1053058
Entities
People
- Adam L. Atwood
Organizations
- Naval Postgraduate School