Skip to main content
SpringerLink
Log in

Angular Motion Control of a Large Space Structure with Elastic Elements

  • CONTROL IN TECHNICAL SYSTEMS
  • Published:
Automation and Remote Control Aims and scope Submit manuscript

Abstract

The task of angular orientation and stabilization of a space structure during its assembly in orbit is solved. The structure includes elastic elements that are installed during the assembly process. The elastic elements of the structure have no sensors to obtain information about their deformation parameters. Control algorithms are proposed to ensure the stability of the angular motion of the structure. A nonlinear extended Kalman filter is used to obtain the necessary information. A joint estimation algorithm for the coordinates of the angular motion of the considered mechanical system and the coordinates of the elastic vibration tones, as well as an algorithm for the identification of their unobservable parameters are developed. The results of mathematical modeling of a variant of the mechanical system of a space structure are presented, which confirm the operability and efficiency of the developed algorithms for estimating coordinates and parameters.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1.
Fig. 2.

REFERENCES

  1. Akulenko, L.D., Krylov, S.S., Markov, Yu.G., Win, T.T., and Filippova, A.S., Dynamics of Spacecraft with Elastic and Dissipative Elements in the Attitude Control Mode, Izv. RAN. Teoriya i Sistemy Upravleniya, 2014, no. 5, pp. 106–115.

  2. Gecha, V.Ya., Grinevich, D.V., Chirkov, V.P., and Kanunnikova, E.A., Influence of Elastic Transformable Structural Elements on Spacecraft Stabilization Accuracy, Spravochnik. Inzhenernyj zhurnal, 2013, no. 5, pp. 3–6.

  3. Nurre, G.S., Ryan, R.S., Scofield, H.N., and Sims, J.L., Dynamics and Control of Large Space Structures, J. of Guidance, Control, Dynam., 1984, vol. 7, no. 5, pp. 514–526.

    Article  Google Scholar 

  4. Rutkovsky, V.Yu. and Sukhanov, V.M., Large Space Structure: Models, Methods of Study, and Control, Autom. Remote Control, 1996, vol. 57, no. 7, pp. 953–963.

    Google Scholar 

  5. Mikulas, M.M., Collins, T.J., and Hedgepeth, J.M., Preliminary Design Considerations for 10–40 Meter-Diameter Precision Truss Reflectors, J. Spacecraft Rockets, 1991, vol. 28, no. 4, pp. 439–447.

    Article  Google Scholar 

  6. Boning, P. and Dubowsky, S., Coordinated Control of Space Robot Teams for the On-Orbit Construction of Large Flexible Space Structures, Advanced Robotics, 2010, vol. 24, no. 3, pp. 303–323.

    Article  Google Scholar 

  7. Belonozhko, P.P., Space Robotics for Assembly and Service, Potential Problems, Concepts of Perspective Systems, Vozdushno-Kosmicheskaya Sfera, 2018, no. 4, pp. 84–97.

  8. Flores-Abad, A., Ma, O., Pham, K., and Ulrich, S., A Review of Space Robotics Technologies for On-Orbit Serving, Progr. Aerospace Scie., 2014, no. 68, pp. 1–26.

  9. Papadopoulos, E., Aghili, F., Ma, O., and Lampariello, R., Manipulation and Capture in Space: A Survey, Front. Robot. AI., 2021, no. 8, pp. 1–36.

  10. Ishijima, Yo., Tzeranis, D., and Dubowsky, S., The On-Orbit Maneuvering of Large Space Flexible Structures by Free-Flying Robots, Pros. of the 8 Int. Symp. on Artificial Intelligence, Robotics and Automation in Space (SAIRAS-2005), Munich, Sept. 5–8, 2005, Noordwijk: ESTEC, 2005, pp. 419–426 (ESA SP ISSN 1609-042X. no. 603).

  11. Timakov, S.N. and Zhirnov, A.V., Algorithm of Active Damping of Elastic Vibrations of the International Space Station Structure, Vestnik MGTU im. N.E. Baumana, Ser. Priborostroenie, 2014, no. 3, pp. 37–53.

  12. Krutova, I.N. and Sukhanov, V.M., Dynamic Features of Flexible Spacecraft Control in Process of Its Transformation into a Large Space Structure, Autom. Remote Control, 2008, vol. 69, no. 5, pp. 774–787.

    Article  MathSciNet  Google Scholar 

  13. Teoriya upravleniya. Dopolnitel’nye glavy (Control Theory. Additional Chapters), Novikov, D.A., Ed., Moscow: LENAND, 2019.

    Google Scholar 

  14. Krutova, I.N. and Sukhanov, V.M., Design of Modified PD Algorithm to Control Angular Motion of Large Space Structure, Autom. Remote Control, 2009, vol. 70, no. 1, pp. 33–42.

    Article  MathSciNet  Google Scholar 

  15. Krutova, I.N. and Sukhanov, V.M., Design of Discrete Control System of Flexible SpacecraftMaintaining Robust Stability of Elastic Oscillations, Autom. Remote Control, 2009, vol. 70, no. 7, pp. 1109–1119.

    Article  MathSciNet  Google Scholar 

  16. Rutkovsky, V.Yu., Sukhanov, V.M., Zemlyakov, S.D., and Glumov, V.M., Models and Methods of Control of Large Space Structures with Discretely Changing Construction, Proceedings of International Conference on Nonlinear Problems in Aviation and Aerospace (ICNPAA-2008). Cambridge Scientific publishers. Ed. by S. Sivasundaram, 2009, Plenary paper, chapter 12, pp. 115–142.

  17. Glumov, V.M., Krutova, I.N., and Sukhanov, V.M., Fuzzy Logic-based Adaptive Control System for Inorbit Assembly of Large Space Structures, Autom. Remote Control, 2004, vol. 65, no. 10, pp. 1618–1634.

    Article  MathSciNet  Google Scholar 

  18. Rutkovsky, V.Yu., Glumov, V.M., and Sukhanov, V.M., New Adaptive Algorithm of Flexible Spacecraft Control, Complex Systems. Relationships between Control, Communications, and Computing, Dordrecht, The Netherlands: Springer International Publishing, 2016, pp. 313–326.

    Google Scholar 

  19. Kalman, R.E. and Bucy, R., New Results in Linear Filtering and Prediction Theory, Trans. ASME. J. Basic Eng., 1961, vol. 83D, pp. 95–108.

    Article  Google Scholar 

  20. Ermilov, A.S. and Ermilova, T.V., Estimating Nonmeasurable Coordinates of Elastic Oscillations for Large Space Constructions with a Gyroforse Engine, Autom. Remote Control, 2013, vol. 74, no. 9, pp. 1545–1556.

    Article  MathSciNet  Google Scholar 

  21. Glumov, V.M., Krutova, I.N., and Sukhanov, V.M., A Method of Constructing the Mathematical Model of a Discretely Developing Large Space Structure, Autom. Remote Control, 2003, vol. 64, no. 10, pp. 1527–1543.

    Article  Google Scholar 

  22. Glumov, V.M., Krutova, I.N., and Sukhanov, V.M., Some Features of Powered Gyrostabilization of a Large Space Structure Assembled in Orbit, Autom. Remote Control, 2017, vol. 78, no. 12, pp. 1345–1355.

    Google Scholar 

  23. Dinamika i upravlenie kosmicheskimi ob”ektami (Dynamics and Control of Space Objects), Matrosova, V.M. and Reshetneva, M.F., Eds., Novosibirsk: Nauka. Sib. Otd. RAN, 1992.

    Google Scholar 

  24. Glumov, V.M., Adaptive Control of Free-Flying Space Manipulation Robot in the Working Area when Assembling a Large Space Structure in Orbit, Proceedings of the 12th International Conference “Management of Large Space System Development” (MLSD), M: IEEE, 2019, pp. 1–4. https//ieeeexplore.ieee.org/document/8911089.

    Google Scholar 

Download references

Funding

The work was partially supported by the Russian Foundation for Basic Research under grant no. 20-08-00073.

Author information

Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

    V. Yu. Rutkovskii, V. M. Glumov & A. S. Ermilov

Authors
  1. V. Yu. Rutkovskii
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. V. M. Glumov
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. A. S. Ermilov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to V. M. Glumov or A. S. Ermilov.

Additional information

This paper was recommended for publication by A.I. Matasov, a member of the Editorial Board

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Rutkovskii, V.Y., Glumov, V.M. & Ermilov, A.S. Angular Motion Control of a Large Space Structure with Elastic Elements. Autom Remote Control 84, 882–892 (2023). https://doi.org/10.1134/S0005117923080076

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S0005117923080076

Keywords:

Search

Navigation