【作者】 鲁兴举；

【导师】 郑志强；

【作者基本信息】 国防科学技术大学 ， 控制科学与工程， 2005， 硕士

【摘要】 随着航天技术的发展,新一代航天器将具有空前的自主能力和指向精度。然而,空间飞行器的发射是一项高投入、高风险的任务。一个降低风险的途径就是在上天前对系统软硬件进行充分的地面验证试验。由于地球引力和摩擦的影响,要想在地球上的实验室实际复现航天器动力学无疑是非常困难的。而气浮支承方式则为试验提供了一个极低力矩的条件,从而为复现太空自由环境提供了可能。气浮台系统通过配置可具备若干平动或转动的自由度,采用球形气浮轴承则可以提供三轴的转动自由度,是研究空间飞行器姿态动力学与控制问题的理想平台。本文对新型的三轴气浮转台进行了设计与控制研究,重点研究了系统的姿态确定及动力学与控制问题。基于刚体运动学,本文给出了由惯性测量单元的输出所确定的气浮台姿态解算方程,并提出了利用陀螺仪的动态输出与加速度计的静态输出进行组合的姿态确定方法。在给出三轴气浮台姿态动力学方程的基础上,进行了控制系统建模、分析和仿真,并初步进行了单通道试验。更多还原

【Abstract】 Along with the development of the aerospace technology, the next generation of spacecraft will have an unprecedented degree of autonomy and pointing accuracy. However, launching a spacecraft is a high-cost, high-risk venture. One way to mitigate much of this risk is to demonstrate hardware and algorithm performance in ground-based test-beds. It is typically difficult to experimentally replicate spacecraft dynamics in an Earth-bound laboratory because of the influences of gravity and friction. An air bearing provides a very low-torque environment for experimentation, thereby recapturing the freedom of the space environment as effectively as possible. Depending upon configuration, air-bearing systems provide some combination of translational and rotational freedom; the three degrees of rotational freedom provided by a spherical air bearing are ideal for investigation of spacecraft attitude dynamics and control problems.This thesis has researched the design and control of a new triaxial air-bearing experimental system. In this thesis, the attitude determination and the attitude dynamics and control of the system was focused on. In the base of rigid body kinematics, the equations of attitude computation was developed via the IMU sensor’s output, and a new method of the integrated attitude determination using gyroscope’s dynamic output and accelerometer’s static output was presented. Based on the development of triaxial air-bearing test-bed’s attitude dynamics equations, this thesis has established a mathematic model of the control systems, then the analysis and simulation were done, at last the basic experiment was performed.更多还原