طراحی کنترل کنندۀ وضعیت تطبیقی برای شبیه ساز آزمایشگاهی سمت فضاپیما

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشکده مهندسی مکانیک، دانشگاه صنعتی امیرکبیر، تهران، ایران

2 پژوهشکده علوم و فناوری فضا، دانشگاه صنعتی امیرکبیر، تهران، ایران

چکیده

چکیده: در این مقاله پس از معرفی مختصری از شبیه‌ساز سمت دانشگاه صنعتی امیرکبیر به استخراج روابط حاکم بر آن پرداخته می‌شود. به‌دلیل وجود اصطکاک در یاتاقان‌های شبیه‌ساز سمت، در دینامیک شبیه‌ساز از مدل اصطکاک ویسکوز برای مدل‌سازی اصطکاک در یاتاقان‌ها استفاده می‌شود. هدف این مقاله طراحی یک کنترل‌کنندۀ وضعیت تطبیقی برای کنترل
شبیه‌ساز سمت و تخمین ضرایب اصطکاک ویسکوز یاتاقان‌ها می‌باشد. به‌منظور جلوگیری از پدیده تکینگی در روابط حاکم، از پارامترهای رودریگز برای نمایش سینماتیک شبیه‌ساز استفاده می‌شود. ابتدا روابط حاکم بر شبیه‌ساز به فرم رباتیکی استخراج می‌شود. سپس پارامترهای تانسور ممان اینرسی شبیه‌ساز سمت و ضرایب اصطکاک ویسکوز به عنوان پارامترهای نامعلوم سامانه انتخاب م یشوند. در مرحله بعد با تعریف یک تابع لیاپانوف و بررسی پایداری سامانه، پارامترها به گون های تخمین زده م یشوند که خطا محدود شده و سامانه پایدار گردد. در مرحله بعد شبیه‌سازی سامانه در نرم‌افزار متلب انجام شده و تخمین پارامترهای تانسور اینرسی و ضرایب اصطکاک ویسکوز به‌دست می‌آیند. در نهایت با به‌دست آمدن نمودارهای مربوط به سرعت عملگرهای چرخ عکس‌العملی نشان داده خواهد شد که این کنترل کنندۀ وضعیت قابلیت پیاده‌سازی بر روی شبیه‌ساز سمت امیرکبیر را دارد.

کلیدواژه‌ها

موضوعات

عنوان مقاله [English]

Designing an Adaptive Control Algorithm for Amirkabir’s Laboratory Attitude Simulator of a Spacecraft

نویسندگان [English]

  • M. Nabipour 1
  • M. Kabganian 1
  • F. F. Saberi 2
1 Department of Mechanical Engineering, Amirkabir University of Technology, Tehran, Iran
2 Faculty of Space Science and Technology Institute, Amirkabir University of Technology, Tehran, Iran
چکیده [English]

ABSTRACT: In this paper, after presenting a brief introduction about Amirkabir University of Technology’s
attitude simulator, governing equations are obtained. Viscous friction model is chosen to model the existing friction
in the bearings of the attitude simulator. The main purpose of this paper is to design an adaptive attitude control
algorithm for the attitude simulator in order to control it in the desired path and estimate the coefficients of friction
due to simulator’s bearings. In order to prevent singularity in simulations, Rodriguez parameters are used for
kinematics representation. Firstly, the governing equations are transformed into a robotic form. The moments of
inertia and coefficients of viscous friction model are assumed as uncertainties. Then, by introducing a Lyapunov
function, the stability of the system is checked and the parameters are estimated. The adaptation law is obtained
by the Lyapunov function and the stability of the system is then proved. In order to demonstrate the efficiency of
this adaptive control algorithm, a nonlinear Lyapunov-based attitude control algorithm is designed and compared to
the adaptive controller. The simulations are done in Matlab software package and the parameters of the moment of
inertia matrix and coefficients of viscous friction model are estimated by the adaptation law of the controller. During
the simulation, the rotational velocity of the reaction wheels are obtained and it is shown that this attitude control
algorithm is implementable on the attitude simulator.

کلیدواژه‌ها [English]

  • Satellite
  • Attitude Simulator
  • Robotic form of satellite dynamic equation
  • Adaptive control
  • Parameter estimation

مراجع

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نشریه مهندسی مکانیک امیرکبیر
دوره 50، شماره 1
فروردین و اردیبهشت 1397
صفحه 163-174

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