Attitude maneuver of liquid-filled spacecraft with a flexible appendage by momentum wheel

Attitude maneuver of liquid-filled spacecraft with an appendage as a cantilever beam by momentum wheel is studied. The dynamic equations are derived by conserva- tion of angular momentum and force equilibrium principle. A feedback control strategy of the momentum wheel is ap- plied for the attitude maneuver. The residual nutation of the spacecraft in maneuver process changes with some chosen parameters, such as steady state time, locations of the liq- uid container and the appendage, and appendage parame- ters. The results indicate that locations in the second and fourth quadrants of the body-fixed coordinate system and the second quadrant of the wall of the main body are better choices for.placing the liquid containers and the appendage than other locations if they can be placed randomly. Higher density and thicker cross section are better for lowering the residual nutation if they can be changed. Light appendage can be modeled as a rigid body, which results in a larger residual nutation than a flexible model though. The resid- ual nutation decreases with increasing absolute value of the initial sloshing angular height.

Dynamic response of liquid-filled rectangular tank with elastic appendages under pitching excitation

Nonlinear dynamics of liquid-filled rectangular tank with elastic appendages are studied. Based on the assumption of ideal fluid, the coupling dynamic equations of rigid tank, elastic appendages and liquid fuel are derived using H-O principle. In the case of pitch excitation, the modified potential function and wave height function are introduced to describe the moving boundary of fluid, then Galerkin＇s method is used to discretize the dynamic equations into ordinary differential equations. The natural frequencics of the coupling system are formulated in liquid depth, the length of the tank, etc. The formulae are confirmed by numerical simulations, which also show that the effects of liquid and elastic appendages on the attitude angular of rigid.

Nonlinear dynamic model and control of three-axis stabilized liquid-filled spacecraft attitude system

The fuel slosh in the storage tanks affects the attitude dynamics of the liquid-filled spacecraft during orbit transferring. To describe the interactions between the fuel slosh dynamics and the spacecraft attitude dynamics, a novel nonlinear dynamic model for three-axis liquid-filled spacecraft is presented, and in this paper, the multi-body dynamics method is utilized. In this model, the fuel slosh is represented by the motions of an equivalent sphere pendulum, and the fuel slosh is underactuated. The proposed dynamics model meets the demand of attitude controller design of liquid-filled spacecraft. Then, a nonlinear proportional-plus-derivative (PD) type controller is designed for the proposed model based on the Lyapunov direct approach. This controller can suppress the fuel slosh and stabilize the attitude of the liquid-filled spacecraft. Numerical simulations are presented to verify the effectiveness of the proposed nonlinear dynamic model and the designed underactuated controller when compared with the conventional control scheme.

Heteroclinic bifurcations in attitude maneuver of coupled slosh-spacecraft with flexible appendage

In this paper, the chaotic dynamics in an attitude transition maneuver of a slosh-spacecraft coupled with flexible appendage in going from minor axis to major axis spin under the influence of dissipative effects due to fuel slosh and a small flexible appendage constrained to only torsional vibration is investigated. The slosh-spacecraft coupled with flexible appendage in attitude maneuver carrying a sloshing liquid is considered as multi-body system with the sloshing motion modeled as a spherical pendulum. The focus in this paper is that the dynamics of the liquid and flexible appendage vibration are coupled. The equations of motion are derived and transformed into a form suitable for the application of Melnikov’s method. Melnikov’s integral is used to predict the transversal intersections of the stable and unstable manifolds for the perturbed system. An analytical criterion for chaotic motion is derived in terms of system parameters. This criterion is evaluated for its significance to the design of spacecraft. The dependence of the onset of chaos on quantities such as body shape and magnitude of damping values, fuel fraction and torsional vibration frequency of flexible appendage are investigated. In addition, we show that a spacecraft carrying a sloshing liquid, after passive reorientation maneuver, will end up with periodic limit motion other than a final major axis spin because of the intrinsic non-linearity of fuel slosh. Furthermore, an extensive numerical simulation is carried out to validate the Melnikov’s analytical result.

带挠性附件卫星的模型化及截断

本文给出了具有中心刚体和P个挠性附件的空间飞行器姿态动力学方程式,并用约束和非约束两种模态展开,得到时域求解的状态方程式和频域中的增广姿态角对控制力矩的逆传递函数阵。推导中考虑了挠性附件对中心刚体的相对运动。本文还给出了两种模态恒等式,其中之一可用来做控制系统分析时截断高阶方程式的截断准则。

带弹性伸展附件充液航天器姿态动力学研究

研究了带弹性伸展附件充液航天器姿态动力学问题，利用动量矩定理、动量矩守恒定律、牛顿运动定律导出液体运动方程、系统运动方程、弹性板质量微元运动方程，在板等速伸展的情况下，对极质量微元运动方程进行变换，通过尤格－库塔积分法求出极振动的振幅，再由系统运动方程求出航天器姿态角速率．

航天器弹性附件伸展动力学研究

利用动量矩定理推导出带伸展弹性板航天器的姿态动力学方程 ,在弹性板等速伸展的情况下 ,导出板的振动与伸展运动耦合微分方程 ,航天器姿态运动与板的伸展运动、振动耦合微分方程 ,通过龙格—库塔积分法得出了数值解 ,结果表明 :弹性板等速伸展时 ,其振动的振幅随板长度的增长而增大 ,航天器姿态角速度随板长度的增长而减小。弹性板等速伸展的速率越大 。

航天器附件展开动力学仿真

用Newton-Euler法建立了中心刚体带挠性附件的航天器动力学方程, 进行挠性附件展开的动力学仿真,研究附件展开对主体姿态的影响。当航天器 附件展开机构失效时,利用航天器姿态抖动来帮助展开附件。本文用ADAMS软 件建立了航天器的虚拟物理模型,用ADAMS和Matlab/Simulink联合仿真了航 天器姿态抖动过程。仿真结果表明此方法是有效的。

柔性全充液航天器大角度姿态机动混沌动力学

研究了受液体燃料黏性阻尼及柔性附件扭振影响的全充液航天器由最小惯量轴向最大惯量作大角度姿态机动过程中的混沌姿态动力学,尤其是液体燃料和柔性附件振动的耦合效应对航天器姿态动力学的影响.推导了耦合系统的动力学方程并利用尺度化方法将其转化为扰动系统的标准形式以便应用Melnikov方法对系统进行混沌姿态预测.推导了以系统参数形式表达的混沌姿态预测的解析准则.将利用数值方法所得到的对系统的数值仿真结果与Melnikov解析准则进行了比较和评述.研究了诸如航天器构型、液体燃料惯量及阻尼、柔性附件固有频率等系统特征量对混沌姿态的影响.

带挠性轴太阳帆板充液航天器流—弹—刚耦合动力学研究

本文研究了带挠性轴太阳帆板充液航天器流-弹-固耦合动力学问题,首先由系统对质心的动量矩定理导出了系统动力学方程,接着分析了航天器贮箱内液体涡旋运动、太阳帆板挠性轴扭转运动,最后给出了航天器姿态角速率与液体涡旋运动、挠性轴扭转运动的关系式,给出了数值结果,分析了液体涡旋运动、挠性轴扭转运动对航天器姿态运动的影响。

动态滑模在航天器姿态控制中的应用

针对挠性航天器大角度姿态机动问题,采用动态滑模控制的方法设计了姿态机动控制律。首先,用挠性航天器三轴姿态角描述其姿态运动学方程,得到挠性航天器的系统模型;然后,通过对传统滑模控制中的切换函数进行微分得到新的切换函数,设计出挠性航天器的动态滑模控制律,并证明了其稳定性。最后的仿真结果表明,与传统滑模控制器相比,动态滑模不仅具有鲁棒性强、参数变化不敏感等优点,而且能有效地削弱抖振,抑制挠性附件振动,从而使挠性航天器的跟踪误差快速收敛到零,具有较好的控制性能。