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UBC Theses and Dissertations
Dynamics and control of orbiting deployable multimodule manipulators Cao, Yang
Abstract
This thesis focuses on the planar dynamics and control of a variable geometry manipulator which may be used in space- as well as ground-based operations. The system is composed of a flexible orbiting platform supporting two modules connected in a chain topology. Each module consists of two links: one free to slew while the other permitted to deploy. The model used and the governing order-N equations of motion, as developed by Caron, are explained. A detailed dynamical response study is undertaken which assesses the influence of initial conditions, system parameters, and manipulator maneuvers on the system response. Results suggest that under critical combinations of system parameters and disturbances the response may not conform to the acceptable limit. This points to a need for active control. Two different control methodologies are used: (i) the nonlinear Feedback Linearization Technique (FLT) applied to rigid degrees of freedom with flexible generalized coordinates indirectly regulated through coupling; (ii) a synthesis of the FLT and Linear Quadratic Regulator (LQR) to achieve active control of both rigid and flexible degrees of freedom. Furthermore, the FLT is used to track several prescribed trajectories with considerable accuracy. Finally, a two unit ground-based prototype manipulator, designed and constructed by Chu, is used to assess effectiveness of the Proportional-Integral- Derivative (PID) and FLT control procedures in performing several trajectory tracking maneuvers. The study lays a sound foundation for further exploration of this class of novel manipulators.
Item Metadata
Title |
Dynamics and control of orbiting deployable multimodule manipulators
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Creator | |
Publisher |
University of British Columbia
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Date Issued |
1999
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Description |
This thesis focuses on the planar dynamics and control of a variable geometry
manipulator which may be used in space- as well as ground-based operations. The system is
composed of a flexible orbiting platform supporting two modules connected in a chain
topology. Each module consists of two links: one free to slew while the other permitted to
deploy. The model used and the governing order-N equations of motion, as developed by
Caron, are explained. A detailed dynamical response study is undertaken which assesses the
influence of initial conditions, system parameters, and manipulator maneuvers on the system
response. Results suggest that under critical combinations of system parameters and
disturbances the response may not conform to the acceptable limit. This points to a need for
active control. Two different control methodologies are used: (i) the nonlinear Feedback
Linearization Technique (FLT) applied to rigid degrees of freedom with flexible generalized
coordinates indirectly regulated through coupling; (ii) a synthesis of the FLT and Linear
Quadratic Regulator (LQR) to achieve active control of both rigid and flexible degrees of
freedom. Furthermore, the FLT is used to track several prescribed trajectories with
considerable accuracy. Finally, a two unit ground-based prototype manipulator, designed
and constructed by Chu, is used to assess effectiveness of the Proportional-Integral-
Derivative (PID) and FLT control procedures in performing several trajectory tracking
maneuvers. The study lays a sound foundation for further exploration of this class of novel
manipulators.
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Extent |
8916147 bytes
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Genre | |
Type | |
File Format |
application/pdf
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Language |
eng
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Date Available |
2009-06-18
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Provider |
Vancouver : University of British Columbia Library
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Rights |
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.
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DOI |
10.14288/1.0088956
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URI | |
Degree | |
Program | |
Affiliation | |
Degree Grantor |
University of British Columbia
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Graduation Date |
1999-11
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Campus | |
Scholarly Level |
Graduate
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Aggregated Source Repository |
DSpace
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Item Media
Item Citations and Data
Rights
For non-commercial purposes only, such as research, private study and education. Additional conditions apply, see Terms of Use https://open.library.ubc.ca/terms_of_use.