论文标题
用于测试翻译和态度控制的六道航天器动力学模拟器
Six-DOF Spacecraft Dynamics Simulator For Testing Translation and Attitude Control
论文作者
论文摘要
本文提出了一种控制操纵器系统，掌握刚体有效载荷的方法，因此，由于外部施加的力与另一个自由浮动的刚性体（具有不同的惯性特性）相同，因此组合系统的运动相同。这允许在1-G实验室环境中测试下缩放的航天器原型的零G仿真。由运动反馈和力量/力矩反馈组成的控制器调整了测试航天器的运动，以匹配飞行航天器的运动，即使后者具有灵活的附属物（例如太阳能电池板），而前者则是刚性的。总体研究整体系统的稳定性，结果表明，只要两个航天器的惯性特性不同，并且尊重有效载荷与操纵器的惯性比率的上行，则该系统保持稳定。还提出了重要的实际问题，例如校准和对传感器噪声和量化的敏感性分析。
This paper presents a method to control a manipulator system grasping a rigid-body payload so that the motion of the combined system in consequence of externally applied forces to be the same as another free-floating rigid-body (with different inertial properties). This allows zero-g emulation of a scaled spacecraft prototype under the test in a 1-g laboratory environment. The controller consisting of motion feedback and force/moment feedback adjusts the motion of the test spacecraft so as to match that of the flight spacecraft, even if the latter has flexible appendages (such as solar panels) and the former is rigid. The stability of the overall system is analytically investigated, and the results show that the system remains stable provided that the inertial properties of two spacecraft are different and that an upperbound on the norm of the inertia ratio of the payload to manipulator is respected. Important practical issues such as calibration and sensitivity analysis to sensor noise and quantization are also presented.
