8600

7981

كارشناسي ارشد

طراحي كاربردي

اصفهان: دانشگاه صنعتي اصفهان، دانشكده مكانيك

1392

يازده،80ص.: مصور،جدول،نمودار

ص.ع.به فارسي و انگليسي

مهدي كشميري

محمدجعفرصديق، Arun.k.M.isra

13/12/92

محمد دانش، سعيد بهبهاني

مهندسي مكانيك

ID7981

به فارسي و انگليسي: قابل رويت در نسخه ديجيتالي

Dynamic Analysis and Control Synthesis of a Space Tethered Robot Manipulating a Space Structure Mehrzad Soltani mehrzad soltani@me iut ac ir 18th January 2014 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 IranDegree MSc Language FarsiSupervisor Mehdi Keshmiri mehdik@cc iut ac irAbstract Dynamics and control of a tethered space robot TSR manipulating a space structure was analyzedin this thesis The system investigated in the thesis consists of a main satellite moving on a predefinedcircular orbit around the Earth a two link manipulator a tether connecting the robot to the mainsatellite and rigid structure manipulating by the robot It is assumed that the main satellite is fullycontrolled and the TSR dynamics does not affect its motion A reel mechanism in the main satellite isused to change the tether length Transferring the along a given trajectory and moving it to a specificpoint is the mission of this TSR system Due to limited range of tether length variation during themission typical control schemes fails to perform the task To analyze the system dynamics and design acontroller dynamics of the system is initially modeled and equations of motion of the system werederived Partitioning dynamics of the system into two parts librational motion of the tether andmanipulation of the structure a hybrid NMPC CTM controller was then introduced to achieve theproposed control goals The nonlinear model predictive controller was mainly introduced to control thetether libration while keeping the tether length more or less unchanged The computed torque part wasestablished to handle the structure manipulation The NMPC controller was initially designed for a simple tethered system consisting of a point massconnected to the main satellite trough a rigid tether and stabilization of the tether libration of the in itsequilibrium position is analyzed numerically It was observed that the controller was capable to performthe control task while the tether length changed less than one percent In the next step the designedcontroller used in the proposed hybrid system considering the manipulator coupling dynamics as thedisturbance on the tether libration Then the hybrid controller was used to study stabilization andtrajectory tracking in the structure manipulation problems It was seen that the controller succeeded tohandle both control objective and to keep the change of the tether length limited Finally the effect of the tether flexibility on the performance of the control system was studiedconsidering the effect of the tether flexibility as the system disturbance Keywords Tethered Space Robot Model Predictive Control Trajectory Tracking Hybrid Controller

مهدي كشميري

محمدجعفرصديق، Arun.k.M.isra

محمد دانش، سعيد بهبهاني