A 'Kane's Dynamics' model for the active rack isolation system. Part One: a linearised model

Abstract

Many microgravity space-science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) addresses these isolation requirements on the International Space Station (ISS) at the rack level. Effective model-based vibration isolation requires: an appropriate isolation device; an adequate dynamical model of that isolator; and a suitable, corresponding controller. ARIS provides the ISS response to the first requirement. This paper presents the use of 'Kane's Dynamics' to develop a state-space, analytical (algebraic) set of linearised equations of motion meeting the second requirement, for use in addressing the third via optimal controller design.