University of Illinois Urbana-Champaign

Dynamic modeling of a robotic spacecraft for NASA’s asteroid redirect robotic mission

Saxena, Ayush ASaxena

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https://hdl.handle.net/2142/95399

Description

Title
Dynamic modeling of a robotic spacecraft for NASA’s asteroid redirect robotic mission
Author(s)
Saxena, Ayush ASaxena
Issue Date
2016-12-07
Director of Research (if dissertation) or Advisor (if thesis)
Chung, Soon-Jo
Department of Study
Aerospace Engineering
Discipline
Aerospace Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
  • Dynamics
  • Modeling
  • National aeronautics and space administration (NASA)
  • Asteroid redirect robotic mission (ARRM)
  • Asteroid
  • Euler
  • Lagrange
Abstract
NASA’s Asteroid Redirect Robotic Mission (ARRM) aims to pick up a boulder from the surface of a large asteroid and transport it to a distant retrograde orbit around the Moon for future exploration by a manned mission. This thesis presents a detailed analysis of the dynamic modeling of the ARRM spacecraft grasping the boulder. This model is used for three-axis attitude control design and simulation of the system. This thesis presents a 30 degree-of-freedom nonlinear lumped-mass model for the structural dynamics of the spacecraft-boulder system. This model is derived using the Euler-Lagrange formulation and simulated in the Matlab-Simulink environment. Another model is derived using Kane’s formulation and SD/FAST, a software package dedicated to deriving dynamic models. Both models are linearized numerically about an equilibrium point. The frequency domain analysis of these linearized models is presented to understand the system behavior and dominant modes. Both models are compared to each other and to an independently developed finite-element model to validate the modeling approach.
Graduation Semester
2016-12
Type of Resource
text
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http://hdl.handle.net/2142/95399
Copyright and License Information
Copyright 2016 Ayush Saxena

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