自由関節で連結された宇宙構造物の形状制御

概要

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Building large-scale space structures involves many technical problems. Elasticisty-induced vibration is one of major problems, for which many material and control oriented works have been done. In this paper, we propose new type of space structure and discuss its dynamics and control. The structure is called space multibody structure. It consists of many relatively small bodies, each of which can be considered a rigid body. The bodies are connected by passive joints and make a kinematic chain. We assume one of the bidies has an orientation control device such as control momentum wheels. This type of structure would be useful for space resource strage, for instance. A major advantage of the structure is the fact that it is free from the elasticity-induced vibration. However, the structure would change its shape due to various disturbances. An important control problem is to stabilize its shape. From dynamics point of view, it forms an underactuated mechanical system subject to nonholonomic constraints with drift terms. The dynamics is to be analized and a stabilizing control is proposed based on the result. Simulation results verify its effectiveness.
社団法人日本ロボット学会の論文
1993-09-15