Modeling and Feedback Control for a Guyed, Flexible, Tubular Lunar Tower
Name
portmann-vpp-sb-meche-2023-thesis.pdf
Description
Thesis PDF
Size
625.14 KB
Format
Adobe PDF
Checksum (MD5)
c90ceec005465710621521b69bbee2e9
Author(s)
Portmann, Victor Paul
Advisor(s)
Chin, Harrison H.
Date Issued
June 2023
Publisher
Massachusetts Institute of Technology
Abstract
The Self-Erecting Lunar Tower for Instruments (SELTI) is a compact, self-deploying composite lunar tower being developed in support of the NASA Artemis campaign. SELTI can elevate instrument payloads for the purposes of navigation, power beaming, communication, sensing, and imaging around permanently shadowed lunar regions. SELTI deploys by unspooling a collapsible carbon fiber composite mast, which transitions into an erect tubular state. Due to variations in the manufacturing process, an 11 m deployment without stabilization exhibits eccentricity and large tip deflections, causing the payload orientation to deviate from a center, upright position. To control the payload orientation, SELTI has guy wires that manipulate the tip position of the tower. It is necessary to develop feedback control for this system to achieve the desired orientation of payload instruments. To facilitate control system development and to mitigate the risk of damaging the tower, a tenth-scale physical model of SELTI was designed and built for experimentation and analytical model verification. The system dynamics were approximated using a “first principles” second order model. The model’s step response was compared to reality to assess the model’s accuracy. A full state feedback controller was created using the analytical model and simulated to demonstrate the improved step response.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
In Copyright - Educational Use Permitted
Copyright retained by author(s)
Persistent DSpace Link
