Multi-stage damping stabilization control for a space-borne series-wound flexible capturing mechanism

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Journal of Vibration and Shock ›› 2018, Vol. 37 ›› Issue (5) : 42-49.

CHU Ming1, 2 DONG Zhenghong3 REN Shanshan1, 2 JIA Qingxuan1, 2

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Abstract

Using a space-borne tandem arrest mechanism to do spacecraft docking is an important link of on-orbit operations. Impact force induced by docking is easy to cause disturbance and instability of the capture mechanism and the free-floating base. Aiming at the stabilization control problem of an unstable system after capturing, a generalized model for a series –wound flexible capturing mechanism with multi-stage controllable damping was proposed. Furthermore, integrated dynamic equations for the free-floating base-capturing mechanism coupled system were established using Kane approach. The global dispersive multi-stage damping forces were modeled as a particle swarm, and an objective fitness function was constructed. Based on the particle swarm optimization (PSO), a multi-stage damping optimal stabilization control for the unstable system was realized. The numerical simulation results of a certain type of space-borne 12-DOF flexible arrest mechanism showed that the proposed control method can significantly improve dynamic responses of the capturing mechanism and the free-floating base after docking to guarantee the system to be asymptotically stable. Finally, the capturing collision simulation test was conducted on the prototype of a two-joint four-stage damping flexible capturing mechanism. The effectiveness of the multi-stage damping stabilization control method was verified with the test results.

Key words

space docking / capturing mechanism / multi-stage damping / particle swarm optimization (PSO)

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CHU Ming1, 2 DONG Zhenghong3 REN Shanshan1, 2 JIA Qingxuan1, 2. Multi-stage damping stabilization control for a space-borne series-wound flexible capturing mechanism[J]. Journal of Vibration and Shock, 2018, 37(5): 42-49

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