0
Research Papers

Flexible Multibody System Linear Modeling for Control Using Component Modes Synthesis and Double-Port Approach

[+] Author and Article Information
Jose Alvaro Perez

Department of Flight Dynamics and Control,
ONERA Toulouse,
Toulouse 31055, France
e-mail: jose-alvaro.perez_gonzalez@onera.fr

Daniel Alazard

Professor
System Dynamics and Control,
ISAE-SUPAERO Toulouse,
Toulouse 31055, France
e-mail: daniel.alazard@isae.fr

Thomas Loquen

Department of Flight Dynamics and Control,
ONERA Toulouse,
Toulouse 31055, France
e-mail: thomas.loquen@onera.fr

Christelle Pittet

Department of AOCS,
CNES Toulouse,
Toulouse 31055, France
e-mail: christelle.pittet@cnes.fr

Christelle Cumer

Department of Flight Dynamics and Control,
ONERA Toulouse,
Toulouse 31055, France
e-mail: christelle.cumer@onera.fr

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 23, 2015; final manuscript received June 29, 2016; published online August 17, 2016. Assoc. Editor: Tarunraj Singh.

J. Dyn. Sys., Meas., Control 138(12), 121004 (Aug 17, 2016) (16 pages) Paper No: DS-15-1336; doi: 10.1115/1.4034149 History: Received July 23, 2015; Revised June 29, 2016

The main objective of this study is to propose a methodology for building a parametric linear model of flexible multibody systems (FMS) for control design. This new method uses a combined finite element (FE)–state-space approach based on component mode synthesis and a double-port approach. The proposed scheme offers the advantage of an automatic assembly of substructures, preserving the elastic dynamic behavior of the whole system. Substructures are connected following the double-port approach for considering the dynamic coupling among them, i.e., dynamic coupling is expressed through the transfer of accelerations and loads at the connection points. The proposed model allows the evaluation of arbitrary boundary conditions among substructures. In addition, parametric variations can be included in the model for integrated control/structure design purposes. The method can be applied to combinations of chainlike or/and starlike flexible systems, and it has been validated through its comparison with the assumed modes method (AMM) in the case of a rotatory spacecraft and with a nonlinear model of a two-link flexible arm.

Copyright © 2016 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Fig. 1

Substructure displacements decomposition

Grahic Jump Location
Fig. 2

Substructure A linked to structure P

Grahic Jump Location
Fig. 3

Block diagram representation of the connections of appendage A, projected in the frame Ra

Grahic Jump Location
Fig. 4

Substructure A linked to structure P and substructure Q in chainlike assembly

Grahic Jump Location
Fig. 5

Block diagram of the TITOP model

Grahic Jump Location
Fig. 6

Appendage A in connection with P through a revolute joint along ea

Grahic Jump Location
Fig. 7

Taking into account a local mechanism model K(s) in the two-port model of a body A

Grahic Jump Location
Fig. 9

FMS modeling with the TITOP model (mast II is not represented for simplicity)

Grahic Jump Location
Fig. 10

The TITOP LFR model, which takes into account parametric variations inside the block Δ

Grahic Jump Location
Fig. 11

Maneuverable flexible spacecraft configuration

Grahic Jump Location
Fig. 12

TITOP modeling of each appendage Ai

Grahic Jump Location
Fig. 13

TITOP modeling of the whole structure

Grahic Jump Location
Fig. 14

Root-mean-square (RMS) error for each method for the first six flexible modes: RMS=16Σi=16(ωi−ωirefωiref)2

Grahic Jump Location
Fig. 15

Frequency response comparison: from hub torque to hub acceleration, for Mt=2.290 kg

Grahic Jump Location
Fig. 16

Frequency response comparison: from hub torque to tip acceleration, for Mt=2.290 kg

Grahic Jump Location
Fig. 17

Frequency response comparison: from hub torque to tip acceleration, for Mt = 0 kg

Grahic Jump Location
Fig. 18

Frequency response comparison: from hub torque to tip acceleration, for Mt=114.5 kg

Grahic Jump Location
Fig. 19

Rotatory spacecraft final assembly when considering length and tip mass variations in all the appendages

Grahic Jump Location
Fig. 20

Bode system comparison when varying length and tip mass for all the appendages simultaneously

Grahic Jump Location
Fig. 21

Bode system comparison when varying length and tip mass for one appendage only

Grahic Jump Location
Fig. 22

The planar two-link flexible arm

Grahic Jump Location
Fig. 23

TITOP assembly of a single flexible link i

Grahic Jump Location
Fig. 24

TITOP assembly of the inverse dynamics model of the two-link flexible arm

Grahic Jump Location
Fig. 25

Dynamic evolution of link 1 (α1) and link 2 (α2) under step input (αref1=60 deg) and fully extended arm (α2(0)=0 deg)

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In