Maneuver and vibration control of flexible manipulators using variable-speed control moment gyros

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Maneuver and vibration control of flexible manipulators using variable-speed control moment gyros

Hu, Quan / Zhang, Jingrui

Abstract In this paper, the variable-speed control moment gyros (VS-CMGs) are adopted as actuators for vibration suppression of space flexible manipulators. They are directly mounted on the flexible links of the manipulator. Such system can be viewed as a flexible multibody system in chain topology actuated by both joint motors and VS-CMGs. We first develop a general approach for establishing the system equations of motion through Kane׳s method. Then, two controllers are designed for trajectory tracking and vibration suppression: one is an inverse dynamics control, whereas the other is based on the singular perturbation method. The proposed two control strategies are applied to a free-flying platform with a flexible manipulator. Sample numerical results show that the VS-CMGs can significantly suppress the induced vibration of the flexible links during the large angle maneuver.

Highlights • CMGs can be directly mounted on the flexible manipulators for vibration suppression. • A general approach is developed using Kane method to obtain the system dynamics model. • The singular perturbation method is adopted to avoid the CMGs steering law design. • Sample numerical results validate the efficacy of the proposed method.