Dynamic modeling and trajectory optimization for the rigid-flexible coupled spacecraft with the free-floating manipulator and solar panels

IF 4.4 2区 工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY
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引用次数: 0

Abstract

The rigid-flexible coupled spacecraft, composed of flexible solar panels and a multilink manipulator, has gained prominence in on-orbit servicing due to rapid advancements in space technology. However, the intricate effects of rigid-flexible coupling pose significant challenges for dynamic modeling, trajectory planning, and control. This paper aims to develop general dynamic approaches for modeling and trajectory planning in such spacecraft, considering large deformations. The main distinguishing feature is the use of the referenced nodal coordinate formulation to accurately describe the large-deformed solar panels rather than directly treating them as disturbance for the free-floating system. Additionally, the common recursive model for the multilink manipulator is integrated into the same framework. The modal reduction method with modal derivatives techniques is employed to address geometric nonlinearity resulting from large deformations. Polynomial trajectory parameters with different performance characteristics are obtained by defining various optimization objectives. The coupling analysis is conducted based on an accurate reduced-order dynamic model, the results of which can be used for designing manipulator tasks. Coupling values are defined as the objective for trajectory optimization, offering advantages such as insensitivity to dynamic model accuracy and a fast optimization process. After validating the accuracy of the proposed dynamic model through simulations, the performances of different optimized trajectories are demonstrated using numerical examples.

刚柔耦合航天器由柔性太阳能电池板和多连杆操纵器组成,由于空间技术的快速发展,刚柔耦合航天器在在轨服务中的地位日益突出。然而,刚柔耦合的复杂效应给动态建模、轨迹规划和控制带来了巨大挑战。本文旨在开发用于此类航天器建模和轨迹规划的通用动态方法,同时考虑到大变形。其主要特点是使用参考节点坐标公式来精确描述大变形太阳能电池板,而不是直接将其视为自由浮动系统的干扰。此外,多连杆机械手的常用递归模型也被集成到同一框架中。利用模态导数技术的模态还原法来解决大变形导致的几何非线性问题。通过定义各种优化目标,可获得具有不同性能特征的多项式轨迹参数。耦合分析基于精确的降阶动态模型进行,其结果可用于设计机械手任务。耦合值被定义为轨迹优化的目标,具有对动态模型精度不敏感和优化过程快等优点。在通过仿真验证了所提出的动态模型的准确性后,利用数值示例演示了不同优化轨迹的性能。
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来源期刊
Applied Mathematical Modelling
Applied Mathematical Modelling 数学-工程:综合
CiteScore
9.80
自引率
8.00%
发文量
508
审稿时长
43 days
期刊介绍: Applied Mathematical Modelling focuses on research related to the mathematical modelling of engineering and environmental processes, manufacturing, and industrial systems. A significant emerging area of research activity involves multiphysics processes, and contributions in this area are particularly encouraged. This influential publication covers a wide spectrum of subjects including heat transfer, fluid mechanics, CFD, and transport phenomena; solid mechanics and mechanics of metals; electromagnets and MHD; reliability modelling and system optimization; finite volume, finite element, and boundary element procedures; modelling of inventory, industrial, manufacturing and logistics systems for viable decision making; civil engineering systems and structures; mineral and energy resources; relevant software engineering issues associated with CAD and CAE; and materials and metallurgical engineering. Applied Mathematical Modelling is primarily interested in papers developing increased insights into real-world problems through novel mathematical modelling, novel applications or a combination of these. Papers employing existing numerical techniques must demonstrate sufficient novelty in the solution of practical problems. Papers on fuzzy logic in decision-making or purely financial mathematics are normally not considered. Research on fractional differential equations, bifurcation, and numerical methods needs to include practical examples. Population dynamics must solve realistic scenarios. Papers in the area of logistics and business modelling should demonstrate meaningful managerial insight. Submissions with no real-world application will not be considered.
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