Control of Angular Motion of the Robotic Space Module Transporting a Flexible Load

Consideration was given to designing the optimal control of a free-flying robotic space module equipped with relay actuators which carries a bulky flexible load. The procedure of designing a spatial modal-physical model of the robotic space module with a flexible load was described. For this construction, numerical analysis of the dynamic portrait which accompanies the model enables one to establish the profile of its elastic oscillations which has the form of a multiextremal function in the space of possible values of the coordinate of the point where the load is gripped by the manipulator. The global extremum (minimum) of this dependence, which was accepted as the goal function, was used as a criterion for designing the algorithm optimizing the gripper position on the load axis upon stabilizing the angular motion of the module. The calculated extremum is used in the loop of adaptive adjustment of the gripper parameter, which prevents resonance swinging of the flexible load transported to the place of installation.