Experimental evaluation of the torque shaping method for slew maneuver of flexible space structures

摘要

A torque-shaping method using trigonometric series expansion is demonstrated experimentally for a flexible space structure testbed. ^The hub-appendage structure is carefully designed and assembled to provide an environment to achieve the rest-to-rest maneuver and vibration suppression. ^The reaction wheel assembly is used as an actuator to drive the structure, while an encoder, a gyroscope, and a piezoelectric transducer are used as sensors to detect the slew/flexible motion. ^The experimental testbed is identified by using the data of the structure actuated by an impulsive hub-control torque. ^With a well-adjusted experimental environment, the open-loop experiment results using the torque-shaping method match well with those of the numerical simulations. ^Comparative results with the bang-bang maneuver and the near-minimum-time maneuver experiments show that the proposed torque-shaping method exhibits better performance than the existing open-loop control laws, in view of the residual vibration of the appendage and the applied control input. ^Furthermore, the closed-loop experiment results show that precise targeting is achieved in the presence of various external disturbances. ^(Author)