Compensation for passive damping in a large-amplitude microgravity suspension system

Mark C. Anderson; Timothy K. Hasselman; Thomas C. Pollock

doi:10.1117/12.274204

9 May 1997 Compensation for passive damping in a large-amplitude microgravity suspension system

Mark C. Anderson, Timothy K. Hasselman, Thomas C. Pollock

Proceedings Volume 3045, Smart Structures and Materials 1997: Passive Damping and Isolation; (1997) https://doi.org/10.1117/12.274204
Event: Smart Structures and Materials '97, 1997, San Diego, CA, United States

Abstract

ACTA has developed and demonstrated a three-dimensional, large amplitude, actively-controlled, multi-cable suspension system for dynamically testing large space structures in a simulated microgravity environment. Tension in the cables is actively controlled by large amplitude rotary actuators designed and built at Texas A&M University. The actuators passively support the weight of the test article on soft spiral springs. Spring stiffness in each actuator is compensated by a torque- controlled direct current motor. Bearing and brush friction and damping are actively compensated as well as the algorithmic damping induced by the control law. Actuator stiffness properties were determined by measuring the torque- deflection characteristics of the actuator. Hysteresis loops are compared for the different spring materials Actuator friction and damping properties (velocity-dependent resistance) are determined by measuring the torque-speed characteristics of the actuator with the spring disconnected. Multiple tests were conducted to establish the degree of randomness in these characteristics for robust control design. This paper describes the characterization of actuator stiffness, kinetic friction, and damping, and describes how these characteristics are used to negate the resulting resistance torques in the suspension system. Conclusions regarding the effectiveness of the system and possible enhancements are discussed.

Citation Download Citation

Mark C. Anderson, Timothy K. Hasselman, and Thomas C. Pollock "Compensation for passive damping in a large-amplitude microgravity suspension system", Proc. SPIE 3045, Smart Structures and Materials 1997: Passive Damping and Isolation, (9 May 1997); https://doi.org/10.1117/12.274204

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