Design, Manufacturing and Test of a Three Degrees-of-Freedom Attitude Control Simulator for an Agile Micro-Satellite Based on Single Gimbal Control Moment Gyros

Aghalari, A.R.; Kalhor, A.; Dehghan, S. M. M.; Cheheltani, S. H.

Design, Manufacturing and Test of a Three Degrees-of-Freedom Attitude Control Simulator for an Agile Micro-Satellite Based on Single Gimbal Control Moment Gyros

Authors

A.R. Aghalari

A. Kalhor

S. M. M. Dehghan

S. H. Cheheltani

Abstract

The Agile Satellite Attitude Control System Simulator (ASACSS) is a laboratory system designed for the purpose of developing and testing attitude control algorithms in a low-risk, low-cost environment. In this paper, the design and development of the ASACSS is described, including hardware and software. There are many papers that present a new mathematical technique or prove a new theory, but this study presents the design and development of a new experimental system. This simulator consists of four main components: 1) power supply system 2) on-board control system 3) supporting equipments and 4) monitoring computer. On-board control system includes a industrial computer, four single gimbal control moment gyros and a sensor for attitude determination. Supporting equipments include a platform for installing simulator subsystems, a semi-spherical air bearing and a pedestal. A high-speed wireless LAN connection enables remote command initiation, monitoring and data collection for post-experimental analysis. In this paper, The design and construction process of the simulator are described. More over some experimental results presented from the application of a simple PID attitude controller on the spacecraft simulator. Finally, experimental results are compared with those obtained from simulation.

Keywords

simulator

Agile satellite

Attitude control

Single

gimbal control moment gyro

Air bearing

Article Title Persian

طراحی، ساخت و تست یک شبیه‌ساز کنترل وضعیت برای میکروماهواره چابک بر مبنای عملگرهای ژایروی کنترل ممان تک‌جیمبال

Authors Persian

علیرضا آقالاری

احمد کلهر

سیدمحمدمهدی دهقان

سید هادی چهل‌تنی

Abstract Persian

شبیه‌ساز زیرسیستم کنترل وضعیت ماهواره یک سیستم آزمایشگاهی است که به‌منظور توسعه و تست الگوریتم‌های مختلف کنترلی در یک محیط با ریسک و هزینة پایین طراحی شده است. این سیستم آزمایشگاهی قادر است تا شرایط واقعی ماهوارة چابک در فضا را با دقت بسیار خوبی در روی زمین ایجاد کند. شبیه‌ساز توسعه داده شده از چهار بخش‌ مهم سیستم تأمین توان، سیستم کنترل آن‌بورد، نگهدارندة شبیه‌ساز و کامپیوتر زمینی تشکیل شده است. سیستم کنترل آن‌بورد شامل یک کامپیوتر صنعتی، چهار عملگر ژایروی کنترل ممان تک‌جیمبال و یک حسگر تعیین وضعیت است. نگهدارندة شبیه‌ساز شامل یک صفحه پلتفرم به‌منظور نصب تجهیزات، یاتاقان هوایی نیم‌کروی و پایه است. ارتباط بین کامپیوتر زمینی و شبیه‌ساز به‌صورت بی‌سیم فراهم شده است. در این مقاله، ابتدا مراحل طراحی، ساخت و تست شبیه‌ساز ارائه شده و سپس به منظور تست آن، نتایج پیاده‌سازی الگوریتم‌ کنترلی PID بر اساس زوایای اویلر و نیز فیدبک کواترنیون به همراه نتایج شبیه‌سازیارائه می‌شود.

Keywords Persian

شبیه‌ساز

ماهوارة چابک

کنترل وضعیت

ژایروی کنترل ممان تک‌جیمبال

یاتاقان هوایی

Schwartz, J. L., Peck, M. A. and Hall, C. D. "Historical Survey of Air-Bearing Spacecraft Simulators,"Journal of Guidance, Control and Dynamics, 26, No. 4, 2003, pp. 513-522.
Available, [on line]: http:\\ascl.kaist.ac.kr, Access Date: 2009.
Omagari, K., Usuda, T. and Matunaga, S. "Research of Control Momentum Gyros for Micro-Satellites and 3-DOF Attitude Dynamics Simulator Experiments,"Proceeding of The 8^th International Symposium on Artifical Intelligence, Robotics and Automation in Space-iSAIRAS, Munich, Germany, September 2005.
Available, [on line]: http:\\www.ee.surrey.ac.uk/ SSC/research/controlsystems, Access Date: 2009.
Hall, J.S., Design and Integration of a Three Degrees- of- Freedom Robotics Vehicle withControl Moment Gyro for the Autonomous Multi-Agent Physically Interacting Spacecraft (AMPHIS) Testbed, (M.Sc. Thesis), Naval Postgraduate School, Monterey, California, 2006.
Lappas, V. J., Steyn, W. H. and Underwood, C. I., "Attitude Control for Small Satellites Using Control Moment Gyros,"Acta Astronautica, Vol. 51, No. 1-9, 2002, pp. 101-111.
Available, [on line]: http:\\Staff.ee.sun.ac.za/ whsteyn/ papers/usu2002_CMG.pdf, Access Date: 2009.
Lappas, V. J. and et.al., "Design, Analysis and In-orbit Performance of the BILSAT-1 Microsatellite Twin Control Moment Gyroscope Experimental Cluster,"55^th International Astronautical Congress, Vancouver, Canada,
Kim, J. J., Sands, T. and Agrawal, B. N. "Acquisition, Tracking and Pointing Technology Development for Bifocal Relay Mirror Spacecraft,"Proceeding of SPIE, Vol. 6569, 2007.
Schwartz, L., The Distributed Spacecraft Attitude Control System Simulator: from Design Concept to Decentralized Control, (PhD Thesis), Virginia Polytechnic Institute and State University, Aerospace Engineering, 2004.
Aghalari, A. Study on Satellite Simulators, Designing and Fabrication of a Single Gimbal Control Moment Gyro for Simulator, Technical Report, Aerospace University Complex, University of TechnologyMalek Ashtar 1389 (In Persian).
Aghalari, A. and Abedian, A. Designing and Integration of a Satellite Simulator with Single Gimbal Control Moment Gyros, Technical Report, Aerospace University Complex, University of Technology Malek Ashtar1389 (In Persian).
Kalhor, A. and Cheheltani, S. H., Designing and Integration of Electronics and Computer Parts of Satellite Simulator with Single Gimbal Control Moment Gyros, Technical Report, Aerospace University Complex,University of Technology Malek Ashtar, 1390 (In Persian).
Saeedimanesh, M. Software Simulation and Analysis of the Air Bearing Used in The Satellite Simulator, Technical Report, Aerospace University Complex,University of Technology Malek Ashtar, 1390 (In Persian).
Available, [on line]: http://www.Microstrain.com, Access Date: 2009.
Aghalari, A., Kalhor, A., Dehghan, S. M. M. and Abedian, A. "Designing, Testing and Evaluation of A Single Gimbal Control Moment Gyro for Microsatellite,"Journal of Space Science and Technology, 2, No. 3, pp. 13-24, 1388 (In Persian).
Aghalari, A. and Abedian, A., Designing and Fabrication of Reaction Wheel Disturbances Measuring Setup, Technical Report, Aerospace University Complex, University of Technology Malleke Ashtar, 1387 (In Persian).
Available, [on line]: ati-ia.com, Access Date: 2006.
Aghalari, A. Fabrication, Functional and Vibration Tests of Single Gimbal Control Moment Gyro, Technical Report, Aerospace University Complex, University of Technology Maleke Ashtar, 1391 (In Persian).
Aghalari, A., Iranzad, M. and Mahdiabadi, M.,"Measuring and Simulation of a Prototype Reaction Wheel Disturbances,"18^thInternational Conference of Mechanical Engineering, Sharif University of Technology, Tehran, Iran, 1389 (In Persian).
Available, [on line]: maxonmotors.com, Access Date: 2009.
Available, [on line]: inducoder.com, Access Date: 2009.
Available, [on line]: avagotech.com, Access Date: 2009.
Available, [on line]: microchip.com, Access Date: 2009.
http://www.nxp.com, Access Date: 2009.
Available, [on line]: toshiba.com, Access Date: 2009.
MIT CIPD. "Understanding D. C. Motor Characteristics," Designing with D. C. Motors MIT, Mechanical Engineering, CIPD, 2009.
Chien, K. L., Hrones, J. A. and Reswick, J. B. on the Automatic Control of Generalized Passive Systems, Transactions of the American Society of Mechanical Engineers., Bd. 74, Cambridge (Mass.), USA,1952, pp. 175-185
Available, [on line]: aaeon.com, Access Date: 2009.
Available, [on line]: http://liionbms.com/php/ pouch_ tips.php#Side_clamping, Access Date: 2009.
Available, [on line]: peak-system.com, Access Date: 2009.
Kalhor, A., Aghalari, A., Faghihinia, A. and Yaghubi, R., Study of Singularity, Modeling, Designing and Simulation of Controllers for Satellite Simulator with Single Gimbal Control Moment Gyros, Technical Report, Aerospace University Complex, University of Technology Malek Ashtar,1389 (In Persian).
Aghalari, A. and Faghihinia, A.,"PD and Feedback Quaternion Control Strategy for Attitude Control of a Satellite Equipped with Four Single Gimbal Control Moment Gyros," 10^th International Conference of Aerospace Engineering, University of Tarbiat-Modarres, Tehran, Iran, 1389 (In Persian).