کنترل بهینة شبیه‌ساز سه درجه آزادی فضاپیما با عملگرهای چرخ عکس‌العملی

نوع مقاله: مقالة‌ تحقیقی‌ (پژوهشی‌)

نویسندگان

1 دانشکدة مهندسی هوافضا، دانشگاه صنعتی مالک اشتر

2 صنعتی خواجه نصیرالدین طوسی

3 دانشکدة فنی، دانشگاه تهران

4 آزمایشگاه تحقیقات فضایی، دانشگاه صنعتی خواجه نصیرالدین طوسی

چکیده

این مقاله به جزییات طراحی یک شبیه‌ساز سه درجه آزادی فضاپیما که به‌عنوان یک پروژة تحقیقاتی بر روی دینامیک و کنترل فضاپیماها در آزمایشگاه تحقیقات فضایی دانشگاه صنعتی خواجه نصیرالدین طوسی توسعه داده شده است، می‌پردازد. این شبیه‌ساز دمبلی شکل المان‌های متعددی نظیر یاتاقان هوایی کروی، حسگر وضعیت، باتری قابل شارژ، چرخ‌های عکس‌العملی، کامپیوتر مرکزی و اجرام بالانس دارد. در این مقاله، یک مسئله کنترل بهینه برای این شبیه‌ساز فضاپیما که عملگرهای مؤثر آن چرخ‌های عکس‌العملی هستند، مطالعه می‌گردد. با فرض یکنواختی گرانش زمین و چرخش بدون اصطکاک یاتاقان هوایی، چرخ‌های عکس‌العملی گشتاورهای کنترلی مورد نیاز را حول محورهای رول، پیچ و یاو تولید می‌نمایند. هدف سیستم کنترل آن است که فرامین ارسالی از کاربر با حداقل مصرف انرژی و بالاترین دقت اجرا شوند. برای این کار، یک کنترلر LQR برنامه‌ریزی شده و برای انجام مانورهای مورد نظر بر روی کامپیوتر شبیه‌ساز پیاده‌سازی شده است. این رهیافت کنترلی برای انجام مانورهای زاویه‌ای سریع سه‌محوره بزرگ طراحی شده و عملگر مؤثر آن چرخ‌های عکس‌العملی هستند.

کلیدواژه‌ها


عنوان مقاله [English]

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

نویسندگان [English]

  • H. 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
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

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