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Abstract
A relatively general Lagrangian formulation for studying the dynamics of a large class of spacecraft characterized by interconnected flexible members forming a tree topology, is presented. Methodology and development of the computer code suitable for parametric dynamical study and control are briefly outlined. Versatility of the general formulation is demonstrated through dynamics studies of the Permanently Manned Configuration (PMC) of the proposed Space Station Freedom and the slewing dynamics and control of the two-link Mobile Servicing System (MSS) aboard Freedom. The PMC study indicates the effect of flexibility cannot be overlooked. Even a small disturbance on the main or stinger can result in unacceptable magnitudes of velocity and acceleration. The MSS study compares the system response subjected to the InPlane (IP) and Out-of-Plane (OP) maneuvers. Results indicate that, without control, the OP maneuver excites large yaw motion of the Space Station. Consequently, the OP maneuver has a large pointing error. Nonlinear control, based on the Feedback Linearization Technique, appears promising. By controlling the librational motion of the station, the performance of the OP maneuver improves significantly.
Published Version
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