三轴姿态控制仿真系统快速自动精确调平方法研究及仿真

基于三轴气浮转台的航天器姿态控制仿真系统在进行地面实验时,往往会受到由于重心与气浮球轴承球心不重合带来的重力干扰力矩的影响,降低仿真实验结果的可信度。该文针对现有调平手段用时长、精度低的问题,提出了一种可以快速自动精调平的方法,该方法利用仿真系统实验的稳态阶段过程动态变化小的特点,可以精确地估计并补偿重力干扰力矩,可为航天器姿态控制地面全物理仿真实验提供近似零干扰力矩的仿真环境。建立了重力干扰力矩的数学模型和基于动量执行机构控制的地面全物理仿真系统的动态系统数学模型,设计了系统稳态控制阶段干扰力矩观测器和补偿方法,介绍了自动调平的硬件机构。最后通过实际仿真实验证明了该方法的有效性。实验结果表明,这种自动调平方法可快速将由重力引起的10mNm量级干扰力矩减小到1mNm以内,满足航天器姿态控制地面仿真的需要。

Research and simulation on a method for automatic mass balancing of a 3-aixs attitude control test bed

A 3-axis attitude control test bed is easily interrupted by the disturbance torque introduced by the misalignment between the barycenter and the rotating center of the air bearing when performing ground simulation experiments,thus reducing the experiment trustworthiness.The existing auto mass balancing methods lack of accuracy and quickness,therefore,a fast auto mass balancing method was developed in this paper which can accurately estimate and compensate the disturbance torque in steady state of the dynami...