【作者】 刘宗明；

【导师】 宋申民；

【作者基本信息】 哈尔滨工业大学 ， 控制科学与工程， 2011， 硕士

【摘要】 伴随着科学技术的飞速发展以及人类探索太空步伐的进行,外层太空的国际战略地位就显得日益重要起来,空间的交会对接技术已经成为了在太空中建立大型的空间站以及完成空间操作的必不可少的任务,交会对接地面试验平台是验证交会对接任务近程阶段制导与控制策略重要而有效的手段。本文主要工作是实现了五自由度交会对接气浮仿真台的软硬件功能,并且设计了相应的姿态和位移控制器。首先,设计了基于TI公司的F2812 DSP芯片的气浮台控制系统电路板,完成了以nRF24L01为基础的无线网络设计并辅助以AT89S51单片机系统和地面工控机构成的监控系统,实现了系统硬件电气平台的搭建。其次,根据所设计的硬件系统和所要完成的交会对接任务需要,利用C/C++语言,实现了基于DSP、单片机以及地面工控计算机的软件程序设计,并分别对程序的各个子模块进行了可行性测试,而且对整个软件系统做了初步的整体调试。最后,根据姿态控制的任务要求,结合罗德里格参数方法设计了基于线性反馈的姿态控制器。在位移控制方面,则根据所要完成的对接任务,建立了气浮台的平移运动追踪误差方程,采用自抗扰控制技术(ADRC)设计了位移控制器,从仿真的效果来看两者均达到系统预期的控制要求。更多还原

【Abstract】 With the rapid development of science and technology, the exploration of space has been proceeded forward and forward. At the same time, the strategic position of outer space is becoming increasingly significant. The space rendezvous and docking has become an important mission for the establishment of large space station as well as other space tasks. Till now it is still a brand new challenge for our country’s space technology. The ground rendezvous and docking simulation air-bearing platform is an important approach to test and verify the rationality and effectiveness of guidance and control method and theory in the final stage. The main task of the paper is that it achieves the design for software and hardware function of the 5-DOF rendezvous and docking air-bearing platform, meanwhile, it respectively designs the attitude and displacement controllers.First, the paper designs the circuit board of the flotation control system based on TI’s F2812 DSP chip. It completes nRF24L01-based wireless network. With the assistance of the AT89S51 SCM system and the ground industrial institutions, a monitoring system is established. Therefore these parts consist of the hardware electric platform of the control system.Secondly, in accordance with the hardware designed above and the rendezvous and docking mission requirements, the paper implements the software programming based on DSP, microcontroller and industrial computer in C/C++ language. Then the sub-modules of the program are respectively given several possible tests. Furthermore, some preliminary overall debugging has been carried out for the entire software system.Finally, according to the requirements of the attitude control, with the method of Rodrigues parameters the attitude controller is designed based on linear feedback. For the displacement control, a translational tracking error equation is acquired, and a displacement controller is also obtained with the Adaptive Disturbance Rejection Control technique. According to the simulation results, both the controller we designed satisfy the performance requirement..更多还原