Abstract
Spacecraft Automatic Levelling and Equalizing Hoist Device (SALEHD) is a kind of hoisting device developed for eccentric spacecraft level-adjusting, based on hanging point adjustment by utilizing XY-workbench. To make the device automatically adjust the spacecraft to be levelling, the controller for SALEHD was designed in this paper. Through geometry and mechanics analysis for SALEHD and the spacecraft, the mathematical model of the controller is established. And then, the link of adaptive control and the link of variable structure control were added into the controller to adapt the unknown parameter and eliminate the interference of support vehicle. The stability of the controller was analysed, through constructing Lyapunov energy function. It was proved that the controller system is asymptotically stable, and converged to origin that is equilibrium point. So the controller can be applied in SALEHD availably and safely.
Highlights
Hoist device, as an important actuating unit in spacecraft hoisting, has been widely used in assembly and integration of spacecraft, such as propellant tank assembling, modules docking, spacecraft environment test, containing and transportation for spacecraft
In spacecraft hoisting currently, the deviation of spacecraft centre of gravity (COG) from its geometric centre or theoretical centre is contributed to differences in assembly degree and operating condition
Adaptive controller based on hanging point adjustment by utilizing XY-workbench was designed, and stability of the controller was analysed, which is proved to be asymptotically stable and converged to equilibrium point
Summary
As an important actuating unit in spacecraft hoisting, has been widely used in assembly and integration of spacecraft, such as propellant tank assembling, modules docking, spacecraft environment test, containing and transportation for spacecraft. Hoisting is an important process for quality control and safety guarantee in spacecraft assembly[1][2]. In spacecraft hoisting currently, the deviation of spacecraft centre of gravity (COG) from its geometric centre or theoretical centre is contributed to differences in assembly degree and operating condition. This would become hidden safety trouble such as inclinations, swing and clash, by special hoisting device of traditional fixed structure which could not self-adapt the eccentric spacecraft. Adaptive controller based on hanging point adjustment by utilizing XY-workbench was designed, and stability of the controller was analysed, which is proved to be asymptotically stable and converged to equilibrium point
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