TY - GEN
T1 - Agile Pointing Control Method for a New Type of Satellite-borne Flexible Cable Parallel Platform
AU - Zhang, Xiangrui
AU - Zhang, Yao
N1 - Publisher Copyright:
© 2023 ACM.
PY - 2023/4/20
Y1 - 2023/4/20
N2 - In order to realize the agile pointing of the new type of satellite-borne flexible cable parallel platform, this paper combines with the dynamic model of spacecraft and platform and proposes a force and position integrated control method considering the flexible cable driving unit model. In this paper, the dynamic model of the platform is established firstly, and the minimum 2-norm of the cable tension is used as the index to allocate the redundant tension. Based on the dynamic model of the flexible cable driving unit, this paper designs a PID controller with feedforward terms. Then, the force and position integrated control loop of the whole platform is built with the platform pointing attitude and the flexible cable tension as expectations. Finally, the dynamic equation of the whole satellite with the flexible cable parallel platform is established. This paper designs the integrated control system based on the whole dynamic model, and the agile pointing effect is verified by simulation.
AB - In order to realize the agile pointing of the new type of satellite-borne flexible cable parallel platform, this paper combines with the dynamic model of spacecraft and platform and proposes a force and position integrated control method considering the flexible cable driving unit model. In this paper, the dynamic model of the platform is established firstly, and the minimum 2-norm of the cable tension is used as the index to allocate the redundant tension. Based on the dynamic model of the flexible cable driving unit, this paper designs a PID controller with feedforward terms. Then, the force and position integrated control loop of the whole platform is built with the platform pointing attitude and the flexible cable tension as expectations. Finally, the dynamic equation of the whole satellite with the flexible cable parallel platform is established. This paper designs the integrated control system based on the whole dynamic model, and the agile pointing effect is verified by simulation.
KW - Agile pointing
KW - Cable-driven platform
KW - Force control
KW - Satellite
UR - http://www.scopus.com/inward/record.url?scp=85174496452&partnerID=8YFLogxK
U2 - 10.1145/3608367.3608369
DO - 10.1145/3608367.3608369
M3 - Conference contribution
AN - SCOPUS:85174496452
T3 - ACM International Conference Proceeding Series
SP - 9
EP - 15
BT - RSAE 2023 - 2023 the 5th International Conference on Robotics Systems and Automation Engineering
PB - Association for Computing Machinery
T2 - 5th International Conference on Robotics Systems and Automation Engineering, RSAE 2023
Y2 - 20 April 2023 through 22 April 2023
ER -