Date of Award

Summer 1995

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Electrical & Computer Engineering

Program/Concentration

Electrical Engineering

Committee Director

Oscar R. Gonzalez

Committee Member

Thomas E. Alberts

Committee Member

John W. Stoughton

Call Number for Print

Special Collections LD4331.E55 M667

Abstract

The major contribution of system identification is the development of analytical models of a system. Many identification techniques can adequately describe the input and output map. One of the challenges of these techniques is to correctly infer from the measured data the characteristics of the individual, contributing components producing a more accurate system model.

In this thesis linear, dynamic, multivariable state-space models for three joints of the Dexterous Orbital Servicing System (DOSS) are identified. DOSS is a representative space station manipulator at the NASA Langley Research Center. The dynamic models of the manipulator will first be estimated by applying nonparametric identification methods to determine each joint's response characteristics using various input excitations. These excitations include stun of sinusoids, pseudorandom binary sequences (PRBS), bipolar ramping pulses, and chirp input signals. Next, two different parametric system identification techniques will be applied to identify the best dynamical description of the joints. The manipulator is localized about a representative space station orbital replacement limit (ORU) task allowing the use of linear system identification methods. Comparisons, observations, and results of both parametric system identification techniques are discussed.

The thesis concludes by proposing a model reference control system to aid in astronaut ground tests. This approach would allow the identified models to mimic on-orbit dynamic characteristics of the actual flight manipulator thus providing astronauts with realistic on-orbit responses to perform space station tasks in a ground-based environment.

Rights

In Copyright. URI: http://rightsstatements.org/vocab/InC/1.0/ This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s).

DOI

10.25777/ytp5-6a67

Download

Share

COinS