Technical Controllability of the Free-flying Automated Space Module
- 30 Downloads
Consideration was given to the free-flying automated space module, a facility intended for servicing the orbiting space station and its accompanying objects. The notion of technical controllability of the free-flyer was introduced. A theorem about the necessary and sufficient conditions for technical controllability was proved. Methods for establishing the domains of technical controllability in the space of the generalized coordinates of object motion were proposed. By means of an illustrative example, the results of applying the notion of technical controllability were demonstrated, the domains of the given degree of technical controllability were established, and the minimal necessary vector of constraints on control of the object was determined.
KeywordsMechanical Engineer Space Station System Theory Technical Controllability Object Motion
Unable to display preview. Download preview PDF.
- 1.Bogomolov, V.P., Rutkovskii, V.Yu., and Sukhanov V.M., Designing the Optimal Mechanical Structure of the Free-flying Space Robot-engineering Module as an Object of Automatic Control, I, II, Avtom. Telemekh., 1998, no. 5, pp. 27–40; no. 6, pp. 75–88.Google Scholar
- 2.Kulakov, F.M., Supervizornoe upravlenie manipulyatsionnymi robotami (Supervisor Control of Manipulation Robots), Moscow: Nauka, 1980.Google Scholar
- 3.Rutkovskii, V.Yu. and Sukhanov, V.M., A Dynamic Model of the Free-flying Space Robot-engineering Module, Avtom. Telemekh., 2000, no. 5, pp. 39–57.Google Scholar
- 4.Large Space Stations: Dynamics and Control, Aerokosm. Tekh., 1985, vol. 3, no. 6, pp. 1–180.Google Scholar
- 5.Spravochnik po teorii avtomaticheskogo upravleniya (Handbook of the Theory of Automatic Control), Krasovskii, A.A., Ed., Moscow: Nauka, 1987.Google Scholar
- 6.Gantmakher, F. R., Teoriya matrits (Theory of Matrices), Moscow: Nauka, 1988. Translated into English under the title The Theory of Matrices, New York: Chelsea, 1959.Google Scholar
- 7.Glumov, V.M., Zemlyakov, S.D., Rutkovskii, V.Yu., and Sukhanov, V.M., Spatial Angular Motion of the Flexible Spacecraft: The Modal-physical Model and its Characteristics, Avtom. Telemekh., 1998, no. 12, pp. 38–50.Google Scholar