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Spin deployment of Hub-Spoke tethered satellite formation with sliding mode tether tension control

ADVANCES IN SPACE RESEARCH 2023年第5期71卷 2509-2520页

作者： Liu, Chenguang Wang, Wei Kang, Junjie Zhu, Zheng H. Northwestern Polytech Univ Sch Automat Xian 710072 Shaanxi Peoples R China York Univ Dept Mech Engn Toronto ON M3J 1P3 Canada

This work develops a tension control strategy for deploying an underactuated spin-stable tethered satellite formation in the hub-spoke configuration. First, the Lagrange equation is used to model the spin-deployment dynamics of the tethered satellite formation. The cen-tral spacecraft is modeled as a rigid body, and the tethered subsatellites are simplified as lumped masses. Second, a pure tension con-troller has been proposed to suppress the tether libration motion in the deployment without thrusting at the subsatellites. A nonlinear sliding mode control is introduced in the tension controller for the underactuated system to suppress the periodic gravitational perturbations caused by the spinning hub-spoke tethered satellite formation. The unknown upper bounds of the perturbations are esti-mated by adaptive control law. The bounded stability of the closed-loop tension controller has been proved by the Lyapunov theory. Finally, numerical simulations validate the effectiveness and robustness of the proposed controller, i.e., tethers are fully deployed stably to the desired hub-spoke configuration.(c) 2022 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： tethered satellite formation Hub-Spoke formation tether deployment Underactuated control Sliding mode control Adaptive law

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tether System in Martian-Moons-eXploration-Like Mission for Phobos Surface Exploration

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JOURNAL OF SPACECRAFT AND ROCKETS 2023年第1期61卷 319-326页

作者： Aslanov, Vladimir S. Moscow Aviat Inst Natl Res Univ Moscow 125993 Russia Moscow Inst Aviat Technol Mechatron & Theoret Mech Dept 4 Volokolamskoe ShosseA-80GSP 3 Moscow Russia

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Analysis of satellite attitude motion in a three-body tethered system during deployment via integral manifolds

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ACTA ASTRONAUTICA 2025年 226卷 716-727页

作者： Zhang, Ying Wang, Changqing Zabolotnov, Yuriy Li, Aijun Lu, Hongshi Northwestern Polytech Univ Sch Automat Xian 710129 Peoples R China Northwestern Polytech Univ Chongqing Innovat Ctr Chongqing 401135 Peoples R China Samara Natl Res Univ Samara 443086 Russia

This paper aims to analyze the impact of unideal end-body configurations on attitude motion during the tether deployment process in a linear three-body tethered system (LTBTS). Amain challenge in this process is the resonance between the nutation and spin angles caused by the unideal end-body configurations, leading to severe nutation angle oscillations. These oscillations can result in tether entanglement with the end-bodies or even tether rupture. To address this issue, the deployment model for the LTBTS is first established using the Lagrangian equations, with the end-body attitude described by Eulerian angles. Secondly, the system involves the separation of two subsatellites from the central main satellite in opposite directions. The dynamics response of the deployment process under unideal configuration of end-bodies is investigated. Resonance phenomena in nutation and spin angles are observed due to errors in initial angles/angular velocities, offset errors of tether connection points, and unideal structural characteristics of the satellites. Thirdly, to further understand this resonance, analytical solutions for resonance are derived by transforming the nutation angle equations, and satellite attitude equations are systematically solved via integral manifold methods. Potential resonance issues are mitigated by reducing system asymmetry and minimizing initial disturbances. Finally, the effectiveness of the dynamic analysis is validated through simulations.

关键词： Linear three-body tethered satellite tether deployment Unideal configuration Satellite dynamics Resonance

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The deployment Mechanism of the ETPACK Deorbit System: Functional and Qualification tests

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ACTA ASTRONAUTICA 2025年 226卷 39-47页

作者： Brunello, A. Anese, G. Chiodini, S. Colombatti, G. Polato, G. Salmistraro, S. Valmorbida, A. Lorenzini, E. C. Univ Padua Dept Ind Engn DII Padua Italy Univ Padua Ctr Studies & Act Space CISAS GColombo Padua Italy Univ Trento Dept Phys Trento Italy

The Horizon 2020 (H2020) Future Emerging Technologies (FET) OPEN Project *** is dedicated to advancing Electrodynamic tether (EDT) technology by developing a specialized Deorbit Device prototype for end-of-life satellite deorbiting. In collaboration with the *** consortium, the University of Padova conducted test campaigns aimed at evaluating the deployment Mechanism design. This paper offers an overview of these tests, with a specific emphasis on the outcomes derived from tape spool examinations and deployment tests conducted on specific tape lengths. Furthermore, the paper delineates the setup for upcoming end-to-end deployment tests, highlighting the integration of a tape collecting machine to minimize manual intervention. The three-coil spool successfully passed qualification tests under thermal-vacuum conditions, exhibiting no instances of cold-welding. Additionally, shaker tests validated the spool ability to withstand launch conditions without requiring additional containment flanges. Furthermore, the deployment Mechanism demonstrated its proficiency in smoothly deploying tapes with varying characteristics within the desired velocity range. Moreover, the deployment process, following a specific profile, proceeded seamlessly without any complications. Consistent continuity was maintained throughout the deployment processes, with no instances of jams or disruptions observed. These testing outcomes represent a fundamental step in the preparation and testing of the Engineering Qualification Model of the deployment Mechanism, instilling confidence that subsequent end-to-end deployment tests will progress smoothly. To this end, a specific upsidedown configuration will be implemented, and a recollecting machine was designed and manufactured to facilitate tape gathering, ensuring a streamlined and efficient testing process. A description of the end-to-end deployment test setup, including the recollecting machine, is also provided in this paper.

关键词： Space tethers tether deployment Hardware design deployment tests

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Learning-based data-driven optimal deployment control of tethered space robot

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ADVANCES IN SPACE RESEARCH 2024年第5期74卷 2214-2224页

作者： Jin, Ao Zhang, Fan Huang, Panfeng Northwestern Polytech Univ Res Ctr Intelligent Robot Sch Automat Xian Peoples R China Northwestern Polytech Univ Res Ctr Intelligent Robot Sch Astronaut Xian Peoples R China

To avoid complex constraints of the traditional nonlinear method for tethered space robot (TSR) deployment, a data-driven optimal control framework with an improve deep learning based Koopman operator is proposed in this work. In consideration of nonlinearity of tethered space robot dynamics, its finite dimensional global linear representation called lifted linear system is derived with the Koopman operator theory. A deep learning scheme is adopted to find the embedding functions associate with Koopman operator. And an auxiliary neural network is developed to encode the nonlinear control term of finite dimensional lifted system. Then a controllability constraint is considered for learning a controllable lifted linear system. Besides two loss functions that relate to reconstruction and prediction ability of lifted linear system are designed for training the deep neural network. With the learned lifted linear dynamics, Linear Quadratic Regulator (LQR) is applied to derive the optimal control policy for the tethered space robot deployment. Finally, simulation results verify the effectiveness of proposed framework and show that it could deploy tethered space robot more quickly with less swing of in-plane angle. (c) 2024 Published by Elsevier B.V. on behalf of COSPAR.

关键词： tethered Space Robot (TSR) tether deployment Data-driven optimal control Deep neural networks

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Digital deployment control of a tethered satellite system with constrained tension

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ADVANCES IN SPACE RESEARCH 2023年第10期72卷 4184-4196页

作者： Xu, Shidong Chen, Ti Wen, Hao Jin, Dongping Nanjing Univ Aeronaut & Astronaut State Key Lab Mech & Control Aerosp Struct 29 Yudao St Nanjing 210016 Peoples R China Nanjing Univ Aeronaut & Astronaut Coll Aerosp Engn 29 Yudao St Nanjing 210016 Peoples R China

This paper investigates the dynamics and digital control issues of deploying a tethered satellite using constrained tether tension. To cater to the requirements of the digital techniques applied in engineering applications, unlike existing results, this study develops a digital feedback control strategy to achieve the rapid and stable tether deployment. The proposed digital control law consists of discretized and quantized tether states and is derived based on continuous-time dynamical model instead of the discrete-time one. To keep tether tension at a positive value when implementing control action, the constraint on tether tension is explicitly accounted for during controller design. Furthermore, the discretization and quantization errors are treated as the uncertain terms in the closed-loop system which can be handled by robust analysis and synthesis techniques. A Lyapunov functional, together with an integral performance index, is made to prove the stability of the system, and the desired controller is obtained by solving an optimization problem. Finally, the effectiveness of the proposed controller is demonstrated by numerical simulation. (c) 2023 COSPAR. Published by Elsevier B.V. All rights reserved.

关键词： tethered satellite system tether deployment Tension control Tension constraint

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Stable deployment Control of a Multi-tethered Formation System Considering the Spinning Motion of Parent Satellite

Stable Deployment Control of a Multi-tethered Formation Syst...

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Asia-Pacific International Symposium on Aerospace Technology (APISAT)

作者： Chen, Shumin Liu, Chenguang Zabolotnov, Yu. M. Li, Aijun Northwestern Polytech Univ Sch Automat Xian 710072 Shaanxi Peoples R China Samara Natl Res Univ Fac Informat Samara 443086 Russia

ISBN: (纸本)9789811926358;9789811926341

tethered satellite formation systems have attracted significant attention in recent years, primarily because they offer potential advantages for certain space missions, such as space interferometry measurement. This work considers the stable deployment of a spinning multi-mass tethered system arranged in a hub-spoke configuration in the orbital plane. The system contains a parent satellite (hub) modeled as a rigid body, and several sub-satellites connected to the hub via inelastic tethers (spokes). The deployment dynamics are derived using Lagrange's equations. The spinning motion of the parent satellite is controlled by active torque, while tether deployment is conducted by release mechanisms on the parent satellite and low-thrust engines installed on each sub-satellite. Considering the physical restraints of tether tension during the deployment process, an optimal controller is proposed using Bellman dynamic programming, based on a simplified dynamic model. Then, the obtained controller is employed in the complete model, where the coupling effect between the spinning of parent body and tether deployment are taken into account. Finally, numerical simulations are presented to illustrate the effectiveness of the proposed control strategy.

关键词： Multi-tethered satellite formation tether deployment Spinning motion Bellman dynamic programming Optimal control

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Fixed-Time Sliding Mode Control for the deployment of Space tethered System with Input Saturation

Fixed-Time Sliding Mode Control for the Deployment of Space ...

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2024 International Conference on Guidance, Navigation and Control

作者： Li, Xiaolei Huan, Baizheng Kui, Qixin Cheng, Peng Harbin Inst Technol Harbin 150001 Peoples R China

ISBN: (纸本)9789819622306;9789819622283;9789819622276

A fixed-time sliding mode control approach for the deployment control issues of space tethered system (STS) is proposed in this paper, which achieves fast convergence performance under input saturation. Firstly, a fixed-time sliding mode control algorithm is designed, which guarantees the fixed-time stability of the sliding surface and the global fixed-time stability of STS. Secondly, an auxiliary system is proposed to compensate the impact of input saturation, which can be stable in fixed time too. Combining the fixed-time sliding mode control algorithm with the auxiliary system, an effective and robust controller is developed for the deployment of STS, which can achieve fixed-time convergence even in the presence of input saturation. Finally, the effectiveness of the proposed controller is demonstrated through numerical simulations.

关键词： Space tethered system fixed-time sliding mode control tether deployment input saturation

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Adaptive super-twisting control for deployment of space-tethered system with unknown boundary disturbances

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART G-JOURNAL OF AEROSPACE ENGINEERING 2022年第13期236卷 2739-2750页

作者： Dong, Zhe Zhang, Lei Li, Aijun Wang, Changqing Shi, QingSheng Henan Univ Technol Coll Elect Engn 100 Lianhua St Zhengzhou 450052 Henan Peoples R China Northwestern Polytech Univ Sch Automat Xian Shaanxi Peoples R China

This paper proposes an adaptive super-twisting control (ASTC) for the deployment of space-tethered systems with the consideration of uncertainty of external and internal disturbances with unknown boundaries. The main advantage of the ASTC scheme is that it can deal with the unknown bounds of uncertainties and disturbances. The proposed control law consists of two adaptive control gains that ensure the establishment, in a finite time, of a real second-order sliding mode. This, in turn, guarantees a convergence to a small domain and without overestimating the control gains. The stability of the control law is demonstrated theoretically. Compared with the sliding mode control algorithm with power reaching law, the newly proposed adaptive super-twisting control method performs better in the settling time, the maximum in-plane angle, and angular velocity control and suppressing oscillations. Numerical simulations are presented to validate the effectiveness and robustness of the proposed ASTC scheme.

关键词： Space-tethered system tether deployment tension control adaptive super-twisting control disturbances with unknown boundaries

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On libration suppression of partial space elevator with a moving climber

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NONLINEAR DYNAMICS 2019年第4期97卷 2107-2125页

作者： Li, Gangqiang Zhu, Zheng H. York Univ Dept Earth & Space Sci & Engn 4700 Keele St Toronto ON M3J 1P3 Canada York Univ Dept Mech Engn 4700 Keele St Toronto ON M3J 1P3 Canada

This paper develops a high-fidelity and high-accuracy dynamic model to investigate libration suppression of partial space elevator caused by a moving climber through tether deployment and/or retrieval at main and subsatellites. The model is based on the nodal position finite element method in the arbitrary Lagrangian-Eulerian description. In this approach, moving nodes are assigned to the climber and satellites and variable-length elements are used to represent the movement of climber and tether deployment and/or retrieval. In conjunction with the moving nodes, a merging and dividing element scheme is derived to describe the climber moving across the boundary of tether elements. The results show that the deployment of tether at the subsatellites produce a positive effect to suppress the libration motion of partial space elevator, while the retrieval of tether produce a negative effect.

关键词： Partial space elevator Nodal position finite element method Arbitrary Lagrangian-Eulerian description tether deployment retrieval Material node Variable-length element

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