Experimental Design of Robust Controller for a Rigid Flexible Satellite
- Created: Monday, 11 January 2016 00:00
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Future space missions with flexible structures like robotic manipulators; solar sail and satellite with large panels and/or antennas will need great performance and robustness of the Attitude Control Systems (ACS) algorithms. Major limiting factors of that control system are the unwanted vibrations of the flexible parts after big manoeuvres in space. As a result, an active ACS must be used to compensate and/or to damp out the remaining flexible vibrations. On the other hand, one way to increase reliability and reduce cost of the ACS project is using experimental platforms and prototypes to simulate space conditions. Experimental test has the advantage of introducing more realism than the computer simulation, although, it has the difficulty of reproducing zero gravity and torque free space condition. In this paper one studies the dynamics and the control system of a rigid flexible beam using the Quanser Rotary Flexible Link System. The dynamics is investigated by two mathematical models. The first one is developed using the single mass- spring approach and the second one using the assumed modes method. The control system is designed using the traditional LQR (Linear Quadratic Regulator) technique. Although the LQR is very well know, a first important objective of this study is to highlight the advantages and benefits of using experimentally the LQR approach as for control algorithm development aiming at a flexible satellite on board computer implementation. The second is to compare the LQR controller performance and robustness when it is designed using the mass-spring model and the assumed modes model.