摘要
针对地面三自由度气浮平台模拟集群航天器自主拼接实验精度不高和实验系统过于复杂的问题,基于嵌入式系统和串级PID旋翼推进控制设计了一套连续小推力高精度全物理仿真系统。首先根据集群航天器在轨相对动力学,结合地面仿真环境扰动分析,建立了带扰动修正的地面全物理仿真系统动力学模型;设计了一套位姿解耦旋翼式推进系统,结合运动捕捉系统和主控上位机与底层下位机平台,设计了基于μCOS操作系统的仿真航天器单体和基于串级PID算法的三自由度运动控制系统。后续的双航天器自主拼接气浮实验表明,本文建立的全物理仿真系统动力学模型仿真数据与实验数据吻合,地面仿真航天器的实测姿态指向控制精度不低于0.1°,位置控制精度不低于1 mm,达到了集群航天器自主拼接半物理仿真的高精度需求,为大规模卫星集群仿真实验系统的搭建提供了借鉴方案。
To address the issues of low accuracy and excessive complexity in ground-based three-degreeof-freedom air-floating platform simulations for autonomous spacecraft cluster docking experiments,we de⁃signed a continuous small-thrust,high-precision full-physical simulation system.This system was based on an embedded architecture and employed cascaded PID rotor propulsion control.Initially,a dynamic model for the ground-based full-physical simulation system,incorporating disturbance correction,was es⁃tablished.This model was developed based on the relative on-orbit dynamics of spacecraft clusters and the analysis of disturbances present in the ground simulation environment.A decoupled rotor propulsion sys⁃tem was then designed,which was integrated with a motion capture system,a master control host comput⁃er,and a lower control platform.The simulation spacecraft unit was developed using theμCOS operating system,and a three-degree-of-freedom motion control system was implemented based on a cascaded PID algorithm.Subsequent dual-spacecraft autonomous docking air-floating experiments were conducted to val⁃idate the system.The experimental results demonstrated that the simulation data generated by the dynam⁃ic model of the full-physical simulation system closely matched the experimental data.Specifically,the measured attitude pointing control accuracy of the ground simulation spacecraft was found to be no less than 0.1°,while the position control accuracy was no less than 1 mm.These results indicate that the devel⁃oped system meets the high-precision requirements necessary for semi-physical simulation of autonomous spacecraft cluster docking.Furthermore,the successful implementation of this system provides a reference framework for the development of large-scale satellite cluster simulation systems.The approach described in this paper offers a practical solution for overcoming the challenges associated with ground-based simula⁃tions of spacecraft docking,ensuring both accuracy and system simplicity,which are crucial for advancing the study and development of spacecraft cluster operations.
作者
许传晓
康国华
武俊峰
陶新勇
吴佳奇
周佳艺
吴阳
XU Chuanxiao;KANG Guohua;WU Junfeng;TAO Xinyong;WU Jiaqi;ZHOU Jiayi;WU Yang(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 211100,China)
出处
《光学精密工程》
CSCD
北大核心
2024年第24期3566-3579,共14页
Optics and Precision Engineering
基金
江苏省双创人才项目(No.JSSCBS20210181)。
关键词
集群航天器
自主拼接
全物理仿真系统
PID控制
旋翼推进
clustered spacecraft
autonomous docking
full physical simulation system
PID
rotor pro⁃pulsion control
