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PARABOLIC FLIGHT EXPERIMENT TO VALIDATE TETHERED-TUGS DYNAMICS AND CONTROL FOR RELIABLE SPACE TRANSPORTATION APPLICATIONS

机译：抛物线飞行实验验证四轮飞行动力学的可靠性和对可靠空间运输应用的控制

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The Fly Your Thesis! programme of the European Space Agency's Education Office offers university students the opportunity to conduct their scientific experiments in microgravity conditions, during a parabolic flight campaign. In this framework, the PoliTethers team, from Politecnico di Milano, Department of Aerospace Science and Technologies, was selected to fly an experiment on-board Novespace's Zero-G aircraft, the flight campaign being scheduled for October 2016. The SatLeash experiment is going to investigate the dynamics and control of tow-tethers, for space transportation: tethered towing objects in space is becoming an appealing concept for many missions, such as Active Debris Removal, LEO satellites disposal, low-to-high energy orbit transfer and even asteroids retrieval. Space tugs, made of a passive orbiting target interconnected through a flexible link to an active chaser the thrusters of which excite the stack dynamics, open new challenges for guidance and control design. The chaser is required to robustly and reliably perform operations, while damping dangerous vibrations of flexible elements and connections, avoiding instability, collisions and tether entanglement. One of the most common critical modes that may arise during towing operations is the bounce-back effects: whenever thrust is shut down, the tether slackens and the residual tension accelerates the two objects towards each other, increasing the collision risk; the control recovery is then difficult and not always possible. The tether may entangle on the target or the chaser itself and, hence, break. Control methods based on shaping the thrust profile through a wave-based controller, using tension feedback, proved to be effective in simulation to stabilize the system during tensioning and release phases. Validated simulation tools describing tethered-tugs dynamics, and their stabilization via control laws, are considered of primary importance to design future missions. To this end, the team exploits a multibody dynamics simulator - developed at PoliMi-DAER - to describe tethered-satellite-systems dynamics and synthetize their control. The in-flight experiment focuses on validating the adopted models and verifying the implemented control laws. A reduced-scale tethered floating test bed is going to fly equipped with a stereovision system to reconstruct its 3D trajectory. Different tether stiffness will be tested as well as control schemes to verify their effectiveness in reducing bouncing-back effects. Developed models and control laws, together with numerical simulation results are presented in the paper; the experiment design and integration is also described and ground tests' results are summarized.
机译：飞你的论文！欧洲航天局教育办公室的计划为大学生提供了在抛物线飞行运动中在微重力条件下进行科学实验的机会。在此框架中，来自航天科学技术部米兰理工大学的PoliTethers团队被选中在Novespace的Zero-G飞机上进行实验，该飞行活动计划于2016年10月进行。SatLeash实验将用于调查用于空间运输的拖链的动力学和控制：在太空中，被束缚的牵引物体正成为许多任务的诱人概念，例如主动清除碎片，LEO卫星处置，低能量到高能量轨道转移，甚至小行星检索。由被动轨道目标组成的太空拖船通过柔性链接与主动追赶者互连，主动追赶者的推进器激发了堆的动力学特性，为制导和控制设计提出了新的挑战。追赶者需要稳健而可靠地执行操作，同时还要减轻柔性元件和连接件的危险振动，避免不稳定，碰撞和系绳缠结。牵引操作过程中可能会出现的最常见的临界模式之一是反跳效应：每当关闭推力时，系绳就会松弛，残余张力会加速两个物体相互靠近，从而增加碰撞风险;这样，控制恢复就变得困难而并非总是可能的。系绳可能会缠绕在目标或追赶者身上，因此会折断。通过使用张力反馈通过基于波的控制器对推力轮廓进行整形的控制方法被证明在模拟中有效，可以在张紧和释放阶段稳定系统。经验证的仿真工具可描述系链拖轮的动力学特性，并通过控制定律对其进行稳定处理，对于设计未来的任务至关重要。为此，该团队利用了由PoliMi-DAER开发的多体动力学模拟器来描述卫星系留系统的动力学并综合其控制。飞行中的实验着重于验证所采用的模型并验证所实施的控制规律。缩小尺寸的系留浮动试验台将配备立体视觉系统，以重建其3D轨迹。将测试不同的系绳刚度以及控制方案，以验证其在减少反跳效果方面的有效性。本文介绍了已开发的模型和控制律，以及数值模拟结果。还描述了实验设计和集成，并总结了地面测试的结果。

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