Dynamic Analysis and Experiments on the Assembly Control of Planar Deployable Modules

On-orbit assembly via deployable modules offers a promising solution for constructing large-scale space infrastructure beyond the limitations of launch vehicle volume. This paper designs a deployable assembly module and studies the assembly control incorporating both morphing control and motion control of the module. The module consists of 3 hexagonal mechanisms connected by thin carbon-fiber shells and integrates motors, magnets, electromagnets, and nozzles to achieve deployment and docking purposes. The paper shows how to establish a rigid–flexible coupled dynamic model for the assembly module by combining the Natural Coordinate Formulation and Absolute Nodal Coordinate Formulation in the framework of arbitrary Lagrange–Euler. Then, it gives the design of proportional-derivative controllers to achieve morphing control and motion control. Both numerical simulations and ground experiments verify that the proposed control strategy can effectively reduce geometric errors and successfully complete the assembly process. The results demonstrate the effectiveness of the deployable module and provide a foundation for the on-orbit assembly of modular deployable structures.