Research on High-Precision Attitude Control of Joint Actuator of Three-Axis Air-Bearing Test Bed

Zhiming Chen,Yunhua Wu,Zhouhuai Luo,Wenxing Li,Wei Xue,Yongji Wang

doi:10.1155/2021/5582541

Abstract

Three-axis air-bearing test bed is important semiphysical simulation equipment for spacecraft, which can simulate spacecraft attitude control, rendezvous, and docking with high confidence. When the three-axis air-bearing table is maneuvering at a large angle, if it is only controlled by the flywheel, it will cause the problems of slow maneuvering speed and high energy consumption, and when the external interference torque becomes large, the control accuracy will decline. A combined actuator including flywheel, air-conditioner thruster, and automatic balancing device is designed, and a hierarchical saturation PD control algorithm is proposed to improve the control accuracy and anti-interference ability of the three-axis air-bearing test bed. Finally, the mathematical simulation of the proposed control algorithm is carried out, and the physical verification is carried out on the three-axis air-bearing test bed. The results show that the control algorithm has higher control accuracy than the traditional control algorithm, and the control accuracy is better than 0.1 ∘ and basically meets the attitude control requirements of the ground simulation in-orbit satellite.

Highlights

With the continuous development of space technology, more and more satellites are used in space to perform different tasks [1]
According to the principle of error attitude angle and right-hand rule, the direction of dynamic disturbance torque is estimated in real time; at the same time, the magnitude of dynamic disturbance torque is estimated through the actual output torque of the flywheel; the dynamic disturbance torque is compensated by rotating the high-precision stepping motor and moving the mass on the automatic balancing device in real time
To show the control effect more intuitively, this paper first sets up the control situation under the influence of dynamic disturbance torque in the simulation part, compensates the dynamic disturbance torque in real time, and compares the two

Summary

Introduction

With the continuous development of space technology, more and more satellites are used in space to perform different tasks [1]. Due to the high development cost, high maintenance cost, and difficult maintenance after entering orbit, it is very important to simulate and verify the satellite systems before entering space [2]. E three-axis air-bearing test bed is composed of an attitude measurement system, control system, air-bearing system, and other systems, which can effectively simulate the microgravity environment. The interference torque has always been an important factor restricting the use of the three-axis air-bearing test bed. Airbearing test bed on the market is greatly affected by the interference torque when in use, and many scientific researchers only stay at reducing the interference torque experienced by the air-bearing test bed before using. Since the air-bearing test bed is a precision instrument, the interference torque of the milliN level will affect the control accuracy of the air-bearing test bed

Methods

Results

Conclusion