Download or read book A Kane s Dynamics Model for the Active Rack Isolation System written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-05-29 with total page 50 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many microgravity space science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) employs a novel combination of magnetic actuation and mechanical linkages to address these isolation requirements on the International Space Station (ISS). ARIS provides isolation at the rack (International Standard Payload Rack (ISPR)) level. Effective model-based vibration isolation requires: (1) an appropriate isolation device, (2) an adequate dynamic (i.e., mathematical) model of that isolator, and (3) a suitable, corresponding controller. ARIS provides the ISS response to the first requirement. This paper presents one response to the second, in a state space framework intended to facilitate an optimal-controls approach to the third. The authors use "Kane's Dynamics" to develop a state-space, analytical (algebraic) set of linearized equations of motion for ARIS.Hampton, R. D. and Beech, G. S. and Rao, N. N. S. and Rupert, J. K. and Kim, Y. K.Marshall Space Flight CenterMATHEMATICAL MODELS; MICROGRAVITY; VIBRATION ISOLATORS; SPACEBORNE EXPERIMENTS; ISOLATION; VIBRATION; PAYLOADS; LINKAGES; ISOLATORS; INTERNATIONAL SPACE STATION; EQUATIONS OF MOTION; CONTROLLERS; ALGEBRA; ADVANCED RANGE INSTRUMENTATION SHIP

Download or read book A kane s Dynamics Model for the Active Rack Isolation System Part Two written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-05-29 with total page 32 pages. Available in PDF, EPUB and Kindle. Book excerpt: Many microgravity space-science experiments require vibratory acceleration levels that are unachievable without active isolation. The Boeing Corporation's active rack isolation system (ARIS) employs a novel combination of magnetic actuation and mechanical linkages to address these isolation requirements on the International Space Station. Effective model-based vibration isolation requires: (1) An isolation device, (2) an adequate dynamic; i.e., mathematical, model of that isolator, and (3) a suitable, corresponding controller. This Technical Memorandum documents the validation of that high-fidelity dynamic model of ARIS. The verification of this dynamics model was achieved by utilizing two commercial off-the-shelf (COTS) software tools: Deneb's ENVISION(registered trademark), and Online Dynamics Autolev(trademark). ENVISION is a robotics software package developed for the automotive industry that employs three-dimensional computer-aided design models to facilitate both forward and inverse kinematics analyses. Autolev is a DOS-based interpreter designed, in general, to solve vector-based mathematical problems and specifically to solve dynamics problems using Kane's method. The simplification of this model was achieved using the small-angle theorem for the joint angle of the ARIS actuators. This simplification has a profound effect on the overall complexity of the closed-form solution while yielding a closed-form solution easily employed using COTS control hardware.Beech, G. S. and Hampton, R. D. and Rupert, J. K.Marshall Space Flight CenterDYNAMIC MODELS; INVERSE KINEMATICS; VIBRATION ISOLATORS; COMPUTER PROGRAMS; CONTROLLERS; ROBOTICS; COMMERCIAL OFF-THE-SHELF PRODUCTS; COMPUTER AIDED DESIGN; SPACECRAFT EQUIPMENT; RACKS (FRAMES)

Download or read book A Kane s Dynamics Model for the Active Rack Isolation System written by and published by . This book was released on 2001 with total page 52 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book A Kane s Dynamics Model for the Active Rack Isolation System written by National Aeronautics and Space Administration (NASA) and published by Createspace Independent Publishing Platform. This book was released on 2018-08-27 with total page 48 pages. Available in PDF, EPUB and Kindle. Book excerpt: In the late 1980s, microgravity researchers began to voice their concern that umbilical-transmitted energy could significantly degrade the acceleration environment of microgravity space science experiments onboard manned spacecraft. Since umbilicals are necessary for many experiments, control designers began to seek ways to compensate for these "indirect" disturbances. Hampton, et al., used the Kane s method to develop a model of the active rack isolation system (ARIS) that includes (1) actuator control forces, (2) direct disturbance forces, and (3) indirect, actuator-transmitted disturbances. Their model does not, however, include the indirect, umbilical-transmitted disturbances. Since the umbilical stiffnesses are not negligible, these indirect disturbances must be included in the model. Until the umbilicals have been appropriately included, the model will be incomplete. This Technical Memorandum presents a nonlinear model of ARIS with umbilicals included. Model verification was achieved by utilizing two commercial-off-the-shelf software tools. Various forces and moments were applied to the model to yield simulated responses of the system. Plots of the simulation results show how various critical points on an ARIS-outfitted international standard payload rack behave under the application of direct disturbances, indirect disturbances, and control forces. Simulations also show system response to a variety of initial conditions.Rupert, J. K. and Hampton, R. D. and Beech, G. S.Marshall Space Flight CenterMICROGRAVITY; SPACEBORNE EXPERIMENTS; ADVANCED RANGE INSTRUMENTATION SHIP; GRAVITATIONAL EFFECTS; MANNED SPACECRAFT; PROVING; ACTUATORS; NONLINEARITY; PAYLOADS; CRITICAL POINT...

Download or read book Validation of a Kane s Dynamics Model for the Active Rack Isolation System written by Geoffrey S. Beech and published by . This book was released on 2000 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt:

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