Date of Award
Spring 4-2020
Access Type
Thesis - Open Access
Degree Name
Master of Science in Aerospace Engineering
Department
Aerospace Engineering
Committee Chair
Troy A. Henderson
First Committee Member
Richard Prazenica
Second Committee Member
Morad Nazari
Abstract
An air bearing is being designed as a spacecraft rotational motion simulator, featuring the Sawyer Robot and its control box. The objective is to maneuver the robot as desired, performing operations specific to on-orbit servicing operations while maintaining stability of the system. Before the control can be designed, the dynamics of the platform and the robot must be modeled. The dynamics of the robot can be derived utilizing a Newton-Euler recursive approach. By beginning with a simple pendulum, then adding links (degrees of freedom) to more closely resemble the Sawyer arm, the equations of motion for the robot can be developed. After the equations of motion for the robot are derived, the next step is to model the dynamics of the entire platform, which adds three more degrees of freedom to the system. The Newton-Euler recursive approach is not compatible with the system with the addition of the spherical joint; therefore a new approach is adopted to model the attitude dynamics in terms of Euler angles. Once the dynamics are modeled, control design can take place, where an incremental non-linear dynamic inversion controller is designed to reject the disturbances of the robot performing its maneuver, while also actuating the platform to a desired attitude.
Scholarly Commons Citation
Korczyk, Jacob Joseph, "Dynamic and Control of Air-Bearing Spacecraft Simulator" (2020). Doctoral Dissertations and Master's Theses. 504.
https://commons.erau.edu/edt/504
