Shaping control of space flexible system based on travelling wave method

For the residual vibration of a flexible system caused by the orbital transfer, attitude adjustment and space docking of the aircraft, a method to suppress the residual vibration was proposed. The dynamic model and response of the flexible system based on travelling wave theory was described, and a no-vibration input form of system was obtained. Then, the wave shaper control method was proposed based on the travelling wave theory. Some experiments on typical flexible systems like flexible mechanical arms and travelling pendulums were conducted to verify the method. The experimental results show that the residual vibrations are reduced by a factor of 20 at least compared with no-control situations, which indicates that the wave control method remarkably suppresses the residual vibration of the system. In combination of the technical advantages of the travelling wave method and the shaping control in open-loop inputs, the method can be implemented easily.