Compliant control for reconfiguration of combination body of micro-nano satellites under constraint of magnetic hinge

Abstract:

To overcome the obstruction of resistance moment of magnetic hinge so as to realize the reconfiguration of combination body of micro-nano satellites (CBMS), and meanwhile prevent the magnetic hinge from desorbing and reduce the impact when modules re-splicing, a compliant control method was proposed. First, the dynamic model of the multibody system under the constraint of magnetic hinge was established by using the second kind of Lagrangian equation, and the fuzzy control law of reconfiguration was designed. Then, a fuzzy regulator of quantization factors Ke and Kc was introduced into the original controller to improve the proposed control method. The method has two advantages: one is that it does not rely on the dynamic model of the system and the other is that only the module participating in reconfiguration needs to be controlled. In order to evaluate the compliance degree of reconfiguration quantitatively, two parameters were designed. Lastly, the compliance degrees of reconfiguration using the original controller and the improved controller were compared through simulations and physical experiments. The results of mathematical simulations and physical experiments on the air-bearing platform show that compared with the fuzzy controller whose quantization factors are constant, the improved control method could make the angular velocity of the module change more gently during reconfiguration, and the relative angular velocity was smaller when the modules were re-spliced, which indicates that the proposed method can achieve the target of compliant reconfiguration.