This paper deals with the design of the control system for a joint prototype of ESA space manipulator DELIAN. A joint model is developed, focusing on assessment of joint structural parameters and most important torque disturbances, mainly related to dependence of friction on velocity, position and temperature. Then, analysis and design of the P/PI controller are carried out, giving stability conditions, and proposing an optimal tuning for velocity and position loops, with respect to setpoint tracking and disturbance rejection requirements.

Ultra-Lightweight Space Arm DELIAN: Mechatronic Analysis and Joint Control Design

CAVENAGO, FRANCESCO;BASCETTA, LUCA;MAGNANI, GIANANTONIO;
2017

Abstract

This paper deals with the design of the control system for a joint prototype of ESA space manipulator DELIAN. A joint model is developed, focusing on assessment of joint structural parameters and most important torque disturbances, mainly related to dependence of friction on velocity, position and temperature. Then, analysis and design of the P/PI controller are carried out, giving stability conditions, and proposing an optimal tuning for velocity and position loops, with respect to setpoint tracking and disturbance rejection requirements.
The 20th World Congress of the International Federation of Automatic Control (IFAC 2017)
2405-8963
Design methodologies; Identification; Control methods; Mechatronic systems
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1032770
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