طراحی و پیاده‌سازی کنترل پسگام - مد لغزشی وضعیت ماهواره در بستر تست پردازشگر در حلقه

نوع مقاله: مقالة‌ تحقیقی‌ (پژوهشی‌)

نویسندگان

1 پژوهشکده علوم و فناوری فضا، دانشگاه صنعتی امیرکبیر

2 دانشکدة مهندسی مکانیک، دانشگاه صنعتی امیرکبیر

چکیده

در این مقاله، یک الگوریتم کنترل وضعیت مقاوم، مبتنی بر روش کنترل پسگام- مد لغزشی برای یک ماهواره با استفاده از چهار چرخ عکس‌العملی با ساختار هرمی طراحی شده است. پایداری مجانبی الگوریتم ارائه شده با کمک تئوری لیاپانوف در حضور دینامیک چرخ عکس‌العملی اثبات شده است. سپس یک بستر تست پردازشگر در حلقه کم هزینه و بلادرنگ به منظور ارزیابی عملکرد کنترلر وضعیت طراحی شده، ساخته شده است. این بستر توانایی ارزیابی بلادرنگ کنترل وضعیت پسگام- مد لغزشی را دارد. در این بستر، مد‌ل‌سازی بلادرنگ دینامیک ماهواره، اغتشاشات محیطی وارد بر آن و مدل دقیق چرخ‌های عکس‌العملی در کامپیوتر شبیه‌ساز انجام شده و الگوریتم کنترل وضعیت طراحی شده برای تحقق مأموریت ماهواره، به‌صورت زمان حقیقی بر روی الکترونیک وضعیت پیاده‌سازی و عملکرد آن مورد بررسی قرار گرفته است.

کلیدواژه‌ها


عنوان مقاله [English]

Design and Implementation of Backstepping-Sliding mode Attitude Controller in The Prossecor in The Loop Test Bed

نویسندگان [English]

  • F. Fani Saberi 1
  • M. Kabganian 2
  • A. Fazlyab 2
  • A. Ajorkar 2
چکیده [English]

In this paper, a robust attitude control algorithm is developed based on back‌stepping-sliding mode control for a satellite using four reaction wheels in a tetrahedron configuration. In this method, asymptotic stability of the proposed algorithm has been proven in the presence of reaction wheels dynamic model based on Lyapunov theory. Then, in order to evaluate the performance of the proposed algorithm, a low-cost real-time prossecor in the loop test bed is provided. The presented test bed is capable of real-time assessing the attitude backstepping-sliding mode control algorithm. In this test bed, real-time modeling of satellite dynamic, environmental disturbances and reaction wheels are achieved in a simulator computer and the proposed control algorithm performance is investigated by implementing it in an electronic control board of the prossecor in the loop test bed.

کلیدواژه‌ها [English]

  • Attitude control
  • Backstepping
  • Reaction wheel
  • satellite
  • Sliding mode
  • Software in the loop

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