Abstract:

In order to avoid the disturbance caused by the remanence of the satellite platform in space detection missions, lightweight flexible manipulators are applied to keep different payloads away from the satellite platform itself. Because of the coupling between the flexible manipulator and the satellite platform, elastic vibration of the manipulator will reduce accuracy and stability of satellite attitude control. To solve the problem, a vibration control strategy for combining Optimal Input Shaping(OIS) with Adaptive Disturbance Rejection Filter(ADRF) is developed. The OIS is applied to suppress vibration of the flexible manipulators, and ADRF is designed to further offset to the disturbance caused by residual vibration of manipulators. Finally, the control method is validated in an established semi physical simulation experimental platform. Experiment results show that the proposed control method could improve attitude control accuracy greatly through disturbance rejection and vibration suppression.

Key words: Flexible manipulators, Vibration control, Optimal input shaping, Adaptive disturbance rejection filter, Semi physical simulation experiment