نوع مقاله : مقالة‌ تحقیقی‌ (پژوهشی‌)

نویسندگان

1 دانشکدة مهندسی هوافضا، دانشگاه صنعتی مالک اشتر، تهران، ایران

2 صنعتی خواجه نصیرالدین طوسی

3 دانشکدة فنی، دانشگاه تهران

4 آزمایشگاه تحقیقات فضایی، دانشگاه صنعتی خواجه نصیرالدین طوسی

چکیده

This article describes the details of a Tri-axial Spacecraft Simulator Testbed (TSST) that has been developed as part of a research program on spacecraft multi-body rotational dynamics and control in Space Research Laboratory (SRL) at K. N. Toosi University of Technology. This dumbbell style simulator includes a variety of components: spherical air-bearing, inertial measurement unit (IMU), rechargeable battery, reaction wheels (RW), on-board computer (OBC) and balancing masses. In this paper, an attitude control problem for the spacecraft simulator actuated by three reaction wheels is studied. Under the assumption of uniform gravity and frictionless air-bearing environment, reaction wheels generate control moments about the roll, pitch and yaw axes of the base body. The control objective is to perform attitude commands sent from users with the least power consumption and a high precision. To handle the non-linear model, a Linear Quadratic Ricatti (LQR) controller has been programmed and it efficaciously controlled the computer-modeled simulator for any given slewing maneuver. This control approach has been developed to facilitate the system to accomplish large-angle, three-axis slewing maneuvers using RWs as effective actuators

کلیدواژه‌ها

عنوان مقاله [English]

Optimal Control of a Tri-axial Spacecraft Simulator Test bed Actuated by Reaction Wheels

نویسندگان [English]

  • Hojat Taei 1
  • M. Mirshams 2
  • M. Ghobadi 3
  • M. A. Vahid D. 4
  • H. Haghi 4

1 Department of Aerospace Engineering, Malek Ashtar University of Technology.Tehran.IRAN

2 Department of Aerospace Engineering, K. N. Toosi University of Technology

3 Callege of Engineering, University of Tehran

4 Space Research Lab, K. N. Toosi University of Technology

چکیده [English]

This article describes the details of a Tri-axial Spacecraft Simulator Testbed (TSST) that has been developed as part of a research program on spacecraft multi-body rotational dynamics and control in Space Research Laboratory (SRL) at K. N. Toosi University of Technology. This dumbbell style simulator includes a variety of components: spherical air-bearing, inertial measurement unit (IMU), rechargeable battery, reaction wheels (RW), on-board computer (OBC) and balancing masses. In this paper, an attitude control problem for the spacecraft simulator actuated by three reaction wheels is studied. Under the assumption of uniform gravity and frictionless air-bearing environment, reaction wheels generate control moments about the roll, pitch and yaw axes of the base body. The control objective is to perform attitude commands sent from users with the least power consumption and a high precision. To handle the non-linear model, a Linear Quadratic Ricatti (LQR) controller has been programmed and it efficaciously controlled the computer-modeled simulator for any given slewing maneuver. This control approach has been developed to facilitate the system to accomplish large-angle, three-axis slewing maneuvers using RWs as effective actuators

کلیدواژه‌ها [English]

  • spacecraft simulator
  • air-bearing
  • Reaction wheel
  • LQR
[1]  Kim, B., Velenis, E., Kriengsiri, P. and Tsiotras, P., "Designing a Low-Cost Spacecraft Simulator, Control Systems," IEEE, Vol. 23, No. 4, 2003, pp. 26-37.
[2]  Schwartz, J. L., Peck, M. A. and Hall, C. D., "Historical Review of Air-Bearing Spacecraft Simulators," Journal of Guidance, Control, and Dynamics, Vol. 26, No. 4, 2003, pp. 513-522.
[3]  Liu, Y., Zhou, J., Chen, H. and Mu, X., "Experimental Research for Flexible Satellite Dynamic Simulation on Three-Axis Air-Bearing Table," Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering, Vol. 227, No. 2, 2013, pp. 369-380.
[4]  Mirshams, M., Taei, H., Ghobadi, M. and Haghi, H., "Spacecraft Attitude Dynamics Simulator Actuated by Cold Gas propulsion System," Proceeding of the Institution of Mechanical Engineering, Part G: Journal of Aerospace Engineering, Vol. 229, No. 8, 2015, pp. 1510-1530.
[5]  Prado, J., Bisiacchi, G., Reyes, L., Vicente, E., Contreras, F., Mesinas, M. and Juárez, A., "Three-Axis Air-Bearing Based Platform for Small Satellite Attitude Determination and Control Simulation," Journal of Applied Research and Technology, Vol. 3, No. 3, 2005, pp. 222-237.
[6]  Cho, S. and McClamroch, N. H., "Feedback Control of Triaxial Attitude Control Testbed Actuated by Two Proof Mass Devices," Decision and Control, Proceedings of the Conference on, USA, 2002, pp. 498-503.
[7]  Saulnier, K., Pérez, D., Huang, R., Gallardo, D., Tilton, G. and Bevilacqua, R., "A Six-Degree-of-Freedom Hardware-in-the-Loop Simulator for Small Spacecraft, Acta Astronautica," Vol. 105, No. 2, 2014, pp. 444-462.
[8]  Kinnett, R. L., System Integration and Control of a Low-Cost Spacecraft Attitude Dynamics Simulator, (M. Sc. Thesis) Aerospace Engineering, California Polytechnic State University, 2010.
[9]  Wilson, W. R., Jones, L. L. and Peck, M. A., "A Multimodule Planar Air Bearing Testbed for CubeSat-Scale Spacecraft," Journal of Dynamic Systems, Measurement, and Control, Vol. 135, No. 4, 2013, pp. 1-10.
[10]         Li, J., Post, M. A. and Lee, R., "Nanosatellite Attitude Air Bearing System Using Variable Structure Control," Proceeding of Electrical & Computer Engineering (CCECE), China, 2012.
[11]         Peck, M. A., Miller, L., Cavender, A. R., Gonzalez, M. and Hintz, T., "An Airbearing-Based Testbed for Momentum Control Systems and Spacecraft Line of Sight,"  Advances in the Astronautical Sciences, Vol. 114, 2003, pp. 427-446.
[12]         Aghalari, A., Kalhor, S. A., Dehghan, M. M. and Cheheltani, S. H., "Manufacturing and Test of an Attitude Dynamics Simulator for Microsatellites Based on CMG," Journal of Aerospace Science and Technology, Vol. 7, No. 3, 2013, pp. 51-67 (In Persian).
[13]         Kim, J. J. and Agrawal, B. N., "Automatic Mass Balancing of Air-Bearing-Based Three-Axis Rotational Spacecraft Simulator," Journal of Guidance, Control, and Dynamics, Vol. 32, No. 3, 2009, pp. 1005-1017.
[14]         Jung, D. and Tsiotras, P., "A 3-dof Experimental Test-Bed for Integrated Attitude Dynamics and Control Research," AIAA Guidance, Navigation and Control Conference, USA, 2003.
[15]         Mirshams, M., Taei, H. and Vahid, M., A Systems Engineering for Satellite Simulator Design, ASME Conference on Systems Engineering,  Turkey, 2010.
[16]         Sidi, M.J., Spacecraft Dynamics and Control: A Practical Engineering Approach, UK: Cambridge University Press, 2000.
[17]         Shen, J., McClamroch, N. H. and Bloch, A. M., "Local Equilibrium Controllability of the Triaxial Attitude Control Testbed," Proceedings of 41st IEEE Conference on Decision and Control, USA, 2002.
[18]         Williams, R. and Lawrence, D., Linear State-Space Control Systems, USA: Ohio University, 2007.
[19]         Taei, H., Optimal Design of a Satellite Attitude Motion Simulator, (M. Sc. Thesis), Aeospace Engineering Faculty, K. N. Toosi University of Technology, 2009 (In Persian).