tailieunhanh - Mechatronic Systems, Simulation, Modeling and Control 2012 Part 8

Tham khảo tài liệu 'mechatronic systems, simulation, modeling and control 2012 part 8', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 214 Mechatronic Systems Simulation Modelling and Control presented to demonstrate the effectiveness of the designed control system. The scenario presented represents a potential real-world autonomous proximity operation mission where a small spacecraft is tasked with performing a full 360 degree circle around another spacecraft for the purpose of inspection or pre-docking. These experimental tests validate the navigation and control approach and furthermore demonstrate the capability of the robotic spacecraft simulator testbed. Autonomous Proximity Maneuver using Vectorable Thrusters and MSGCMG along a Closed Circular Path Fig- 6 Fig. 7 and Fig. 8 report the results of an autonomous proximity maneuver along a closed circular trajectory of NPS SRL s second generation robotic spacecraft simulator using its vectorable thrusters and MSGCMG. The reference path for the center of mass of the simulator consists of 200 waypoints taken at angular intervals of deg along a circle of diameter 1m with a center at the point m m in the ICS which can be assumed for instance to be the center of mass of the target. The reference attitude is taken to be zero throughout the maneuver. The entire maneuver lasts 147 s. During the first 10 s the simulator is maintained fixed in order to allow the attitude Kalman filter time to converge to a solution. At 10 s into the experiment the solenoid valve regulating the air flow to the linear air bearings is opened and the simulator begins to float over the epoxy floor. At this point the simulator begins to follow the closed path through autonomous control of the two thrusters and the MSGCMG. As evidenced in Fig. 6a through Fig. 6d the components of the center of mass of the simulator as estimated by the translation linear quadratic estimator are kept close to the reference signals by the action of the vectorable thrusters. Specifically the mean of the absolute value of the tracking error is cm for AX with a standard deviation .