کنترل وضعیت سه محوره ماهواره با ترکیب تراستر و چرخ های عکس العملی

نوع مقاله: مقالة‌ تحقیقی‌ (پژوهشی‌)

نویسندگان

1 مهندسی مکانیک، دانشکده فنی، دانشگاه تهران، تهران، ایران.

2 دانشکده مکانیک، دانشگاه صنعتی شریف

3 دانشگاه تهران - علوم و فنون نوین - گروه مهندسی هوافضا

چکیده

در این مقاله، کنترل وضعیت ماهواره با استفاده از ترکیب چرخ عکس ­العملی و تراستر مورد بررسی قرار می‌گیرد. پس از استخراج معادلات حاکم بر دینامیک وضعیت ماهوراه، از روش کنترلی PID برای تعیین گشتاور کنترلی مناسب استفاده می­شود. با در نظر گرفتن مدل و قیود حاکم بر چرخ­ عکس­ العملی، مومنتوم زاویه­ای و گشتاور اعمالی چرخ­های عکس ­العملی به­ دست آمده و برای شرایط اولیه مختلف آنالیز می­ گردد. نتایج به­دست آمده نشان می­دهد تا زمانی­ که چرخ ­ها اشباع نشده­ اند، کنترل وضعیت با استفاده از چرخ­ ها با دقت مناسب صورت می­ گیرد ولی با اشباع چرخ­ ها کنترل وضعیت به درستی صورت نگرفته و زوایای اویلر به شدت افزایش می­ یابد. برای اشباع زدایی چرخ­ ها از تراستر استفاده می­ شود به طوری‌که هم مومنتوم زاویه ­ای چرخ ­ها کاهش یابد و هم وضعیت ماهواره به مقدار مطلوب کنترل شود. سه استراتژی مختلف برای کاهش دور چرخ­ ها با روش­های PWM و PWPF ارائه شده و نتایج مقایسه شده و روش مناسب برای کنترل وضعیت و از اشباع خارج ساختن چرخ­ های عکس‌العملی ارائه می­ گردد. نتایج این مقاله می­ تواند برای کنترل وضعیت ماهوراه­ های مشابه نیز مفید واقع شود.

کلیدواژه‌ها


عنوان مقاله [English]

Satellite 3Axis Attitude Control Using the Combination of Reaction Wheels and Thrusters

نویسندگان [English]

  • ehsan maani 1
  • Hossein Nejat Pishkenari 2
  • امیررضا Kosari 3
1 Department of Mechanical Engineering, University of Tehran, Tehran, Iran.
2 Mechanical Engineering Department, Sharif University of Technology, Tehran
3 Faculty of New Sciences and Technologies, University of Tehran, Tehran, IRAN
چکیده [English]

In this paper, the combination of reaction wheels and thrusters is applied to attitude control of a satellite. First, governing equations of satellite attitude dynamics are given using quaternion and PID controller is designed based on the satellite quaternion to determine the applied control torque. By applying the reaction wheels physical constraints such as its maximum torque, its maximum momentum and maximum power on the desired torque, reaction wheels angular momentums and torques are found. The obtained results show that the unsaturated reaction wheels capabilities in attitude control. Results also show that the wheels saturation leads to error in control and increases the Euler angles and quaternions. Satellite thrusters are utilized to reaction wheels de-saturation and attitude control simultaneously.Three different strategies are proposed in this paper for wheels de-saturation using thrusters. Two well known methods, pulse width modulator (PWM) and pulse width pulse frequency (PWPF) modulator are used to attitude control using thrusters. All methods are compared together and the optimal method is proposed for the satellite attitude control. This paper results can be useful in design and control of different class of satellites.

کلیدواژه‌ها [English]

  • satellite
  • Attitude control
  • Reaction wheel
  • Saturation
  • Thruster

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