基于气浮台的交会对接仿真控制系统设计与实现
摘要
伴随着科学技术的飞速发展以及人类探索太空步伐的进行,外层太空的国际战略地位就显得日益重要起来,空间的交会对接技术已经成为了在太空中建立大型的空间站以及完成空间操作的必不可少的任务,交会对接地面试验平台是验证交会对接任务近程阶段制导与控制策略重要而有效的手段。本文主要工作是实现了五自由度交会对接气浮仿真台的软硬件功能,并且设计了相应的姿态和位移控制器。
首先,设计了基于TI公司的F2812 DSP芯片的气浮台控制系统电路板,完成了以nRF24L01为基础的无线网络设计并辅助以AT89S51单片机系统和地面工控机构成的监控系统,实现了系统硬件电气平台的搭建。
其次,根据所设计的硬件系统和所要完成的交会对接任务需要,利用C/C++语言,实现了基于DSP、单片机以及地面工控计算机的软件程序设计,并分别对程序的各个子模块进行了可行性测试,而且对整个软件系统做了初步的整体调试。
最后,根据姿态控制的任务要求,结合罗德里格参数方法设计了基于线性反馈的姿态控制器。在位移控制方面,则根据所要完成的对接任务,建立了气浮台的平移运动追踪误差方程,采用自抗扰控制技术(ADRC)设计了位移控制器,从仿真的效果来看两者均达到系统预期的控制要求。
With the rapid development of science and technology, the exploration of space has been proceeded forward and forward. At the same time, the strategic position of outer space is becoming increasingly significant. The space rendezvous and docking has become an important mission for the establishment of large space station as well as other space tasks. Till now it is still a brand new challenge for our country’s space technology. The ground rendezvous and docking simulation air-bearing platform is an important approach to test and verify the rationality and effectiveness of guidance and control method and theory in the final stage. The main task of the paper is that it achieves the design for software and hardware function of the 5-DOF rendezvous and docking air-bearing platform, meanwhile, it respectively designs the attitude and displacement controllers.
First, the paper designs the circuit board of the flotation control system based on TI’s F2812 DSP chip. It completes nRF24L01-based wireless network. With the assistance of the AT89S51 SCM system and the ground industrial institutions, a monitoring system is established. Therefore these parts consist of the hardware electric platform of the control system.
Secondly, in accordance with the hardware designed above and the rendezvous and docking mission requirements, the paper implements the software programming based on DSP, microcontroller and industrial computer in C/C++ language. Then the sub-modules of the program are respectively given several possible tests. Furthermore, some preliminary overall debugging has been carried out for the entire software system.
Finally, according to the requirements of the attitude control, with the method of Rodrigues parameters the attitude controller is designed based on linear feedback. For the displacement control, a translational tracking error equation is acquired, and a displacement controller is also obtained with the Adaptive Disturbance Rejection Control technique. According to the simulation results, both the controller we designed satisfy the performance requirement..
首先,设计了基于TI公司的F2812 DSP芯片的气浮台控制系统电路板,完成了以nRF24L01为基础的无线网络设计并辅助以AT89S51单片机系统和地面工控机构成的监控系统,实现了系统硬件电气平台的搭建。
其次,根据所设计的硬件系统和所要完成的交会对接任务需要,利用C/C++语言,实现了基于DSP、单片机以及地面工控计算机的软件程序设计,并分别对程序的各个子模块进行了可行性测试,而且对整个软件系统做了初步的整体调试。
最后,根据姿态控制的任务要求,结合罗德里格参数方法设计了基于线性反馈的姿态控制器。在位移控制方面,则根据所要完成的对接任务,建立了气浮台的平移运动追踪误差方程,采用自抗扰控制技术(ADRC)设计了位移控制器,从仿真的效果来看两者均达到系统预期的控制要求。
With the rapid development of science and technology, the exploration of space has been proceeded forward and forward. At the same time, the strategic position of outer space is becoming increasingly significant. The space rendezvous and docking has become an important mission for the establishment of large space station as well as other space tasks. Till now it is still a brand new challenge for our country’s space technology. The ground rendezvous and docking simulation air-bearing platform is an important approach to test and verify the rationality and effectiveness of guidance and control method and theory in the final stage. The main task of the paper is that it achieves the design for software and hardware function of the 5-DOF rendezvous and docking air-bearing platform, meanwhile, it respectively designs the attitude and displacement controllers.
First, the paper designs the circuit board of the flotation control system based on TI’s F2812 DSP chip. It completes nRF24L01-based wireless network. With the assistance of the AT89S51 SCM system and the ground industrial institutions, a monitoring system is established. Therefore these parts consist of the hardware electric platform of the control system.
Secondly, in accordance with the hardware designed above and the rendezvous and docking mission requirements, the paper implements the software programming based on DSP, microcontroller and industrial computer in C/C++ language. Then the sub-modules of the program are respectively given several possible tests. Furthermore, some preliminary overall debugging has been carried out for the entire software system.
Finally, according to the requirements of the attitude control, with the method of Rodrigues parameters the attitude controller is designed based on linear feedback. For the displacement control, a translational tracking error equation is acquired, and a displacement controller is also obtained with the Adaptive Disturbance Rejection Control technique. According to the simulation results, both the controller we designed satisfy the performance requirement..
引文
1王华交会对接仿真系统[D]国防科技大学硕士学位论文，2002
2李季苏，牟小刚，张锦江卫星控制系统全物理仿真航天控制2004，22f21：37．41
3刘恒钊卫星控制系统仿真系统仿真学报1995，7f21：23
4许剑，杨庆俊，包刚，王捷冰多自由度气浮仿真试验台的研究与发展航天控制2009，27(6)：96～101
5 Jana L Schwartz，Mason A Peck，and Christopher D Hall Historical Review-ofAir-Bearing Spacecraft Simulators Journal of Guidance，Control，andDynamics 2003 7～8 26(4)
6 Schwartz Jana L，Peck Mason A，Hall Christopher D Historical review-of spacecraft simulator Advances in the Astronautical Sciences 2003，1 14：405-423
7 Schwa~z J L The Distributed Dpacecraft Attitude Control System Simulatorfrom Design Concept to Decentralized Control[D]Virginia Polytechnic Instiuteand State UniVersity,2004
8 Spencer M GChemesky VBaker J，et al Bifocal Relay Minor Experiments onthe NPS Three Axis Spacecraft Simulator AAS／AIAA Guidance，Navigation，andControl Conference and Exhibit，Monterey,California，2002-503 1
9 Lau Jimmy，Joshi Sanjay s，Agrawal Brij N，et al Disturbance filtering and identification on the naval postgraduate school 3-axis spacecraft simulator AIAA Guidance，Navigation，and Control Conference 2005，San Francisco,CA,United States,2005．AIAA,2005：3771-3791．
1 0 Kim Jong-Woo，Cristi Roberto，Agrawal Brij N Attitude Determination for NPS Three-Axis Spacecraft Simulator AIAA／AAS Astrodynamics Specialist Conference, Providence,RI,United States,2004．AIAA,2004：1454-1464．
11 Otero Alvar Saenz，Chen Allen，Miller David W，et al SPHERES：Development of an ISS Laboratory for formation flight and docking research IEEE Aerospace Conference，2007 IEEE，2007：59～73
12 Soon．Jo Chung．New-Control Strategies for Underactuated Tethered Formation Flight Spacecraft．AIAA Guidance．Navigation and Control Conference and Exhibit，2007-6858
13 Kim Byungmoon，Velenis Efstathios，Kriengsiri Patrick，etal Designing a Low-Cost Spacecraft Simulator IEEE Control Systems Magazine 2003，23(4)：26～37
14 A 5．dof Experimental Facility for Autonomous Rendezvous and Docking [2009-02-03]http：／／www ae gatech edu／labs／dcsl／research-9 html
15 Jung Dongwon．Tsiotras Panagiotis A 3-DoF Experimental Test-Bed for Integrated Attitude Dynamics and Contr01 Research AIAA Guidance．Navigation．and Contr01 Coference and Exhibit．Austin．Texas．2003 American Institute of Aeronautics and Astronautics．2003
16 Ledebuhr A G．Ng L C PlumeSat：A Micro．Satellite Based Plume Imagery Collection Experiment Annual American Institute of Aeronautics and Astronautics／Missile Defense Agency Technology Conference and Exhibit，Monterey,CA．2002 AIAA．2002：1～14
17 Wilt Gloria Doven．to．Earth Testing of Microsatellites Science&Technologv Review 1998(9)：24-26
18 Regehr Martin W．Acikmese Ahmet B．Ahmed AsiEet al The Formation Control Testbed 2004 IEEE Aerospace Conference Proceedings，Big Sky,MT, United States．2004 Institute of Electrical and Electronics Engineers Computer Society,2004：557-563
19 Scharf Daniel P，Hadaegh Fred Y，Keim Jason A，et al Flight-Like Ground Demonstration of Precision Formation Flying Spacecra~Techniques and Instrumentation for Detection of Exoplanets III，San Diego，CA，United States，2007 SPIE．2007：701～712
20 Kres Sandor M．Lincoln Nick K．Gabriel Steve B Testbed for Satellite Formation Flying Contr01 System Verification AIAA InfbT0ch at Aerospace Conference．Rohnert Park．CA．United States．2007 AIAA．2007：23 82～2392
21 Kres Sandor M．Lincoln Nick K．Gabriel Steve B Testbed for Satellite Formation Flying Contr01 System Verification AIAA InfbT0ch at Aerospace Conference．Rohne~Park．CA．United States．2007 AIAA．2007：2382-2392
22 Simulation Facility for Micro．Spacecra~2002
23 Astrium Microsim Hardware User Manual&Interface Description[M]Msim- AS_r_MAN．02．2003
24林来兴空间交会对接技术[M]国防工业大学出版社，1995：4-6
25孙丽明TMs320F2812原理及其c语言程序开发[M]清华大学出版社，2008，1～12
26温国忠JTAG接口电路设计与应用[J].做计算机信息2007，23：298
27何仑，杨松华基于SOC测试的IEEE P1500[J].做计算机信息2005，7：5428戴佳，戴卫恒，刘文博51单片机c语言应用程序设计实例精讲(第二版[M]电子工业出版社2008，375～390
29王斌斌电阻层析成像并行数据采集系统设计[D]天津大学硕士学位论文2007：43
30讯通科技nRF24L01使用手册
31张全柱，黄成玉，邓永红，潘玉民单片微机cAN控制器的应用与实践华北科技学院学报2010，07(4)：78
32龚建伟，熊光明visual c++／_rLlrho c串口通信编程实践[M]电子工业出版社，27～29
33许剑，任迪，杨庆俊，包钢五自由度气浮仿真试验台的动力学建模…宇航学报2010，1(1)，60～64
34王勇军，秦永元，杨波四元数、Rodrlgues参数在卫星姿态解算上的对比研究[J]中国空间科学技术2007，6(3)，18～23
35周江华，苗育红，王明海姿态运动的：Rodrlgues参数描述[LIll宇航学报2004，9(5)，514～519
36刘暾，赵钧空间飞行器动力学[M]哈尔滨工业大学出版社，2003，153～166
37郭永交会对接地面仿真系统控制方法研究与实现[D]，哈尔滨工业大学硕士学位论文2010
38韩京清白抗扰控制技术估计补偿不确定因素的控制技术[M]国防工业出版社2008 09
39孙鑫vc++深入详解[M]电子工业出版社2010
40韩京清从PID技术到“自抗扰技术”[J]控制工程2002，9(3)：13～18
41苏奎峰，吕强，常天庆，张永秀TMs 320X281x DsP原理及c程序开发[M]2008
42韩京清，王伟非线性跟踪-微分器[J]系统科学与数学1989，(4)：864～865
43韩京清非线性跟踪微分器[J]系统科学与数学1994，14(2)：177～183
44黄远灿，韩京清扩张状态观测器用于连续系统辨识[J].控制与决策1998，13(4)：381～384
45陈忻彦，黄一，韩京清等自抗扰控制思想在动力调谐陀螺仪力平衡回路中的应用[J]中国惯性技术学报2003，1(6)：54-59
46许剑五自由度气浮仿真试验台样机的研制及其关键技术的研究[D]哈尔滨工业大学博士学位论文2010
47 HanJingqing Nonlinear state error feedback control law NLSEF[J] Control and Decision 1995，10(3)：221-225
2李季苏，牟小刚，张锦江卫星控制系统全物理仿真航天控制2004，22f21：37．41
3刘恒钊卫星控制系统仿真系统仿真学报1995，7f21：23
4许剑，杨庆俊，包刚，王捷冰多自由度气浮仿真试验台的研究与发展航天控制2009，27(6)：96～101
5 Jana L Schwartz，Mason A Peck，and Christopher D Hall Historical Review-ofAir-Bearing Spacecraft Simulators Journal of Guidance，Control，andDynamics 2003 7～8 26(4)
6 Schwartz Jana L，Peck Mason A，Hall Christopher D Historical review-of spacecraft simulator Advances in the Astronautical Sciences 2003，1 14：405-423
7 Schwa~z J L The Distributed Dpacecraft Attitude Control System Simulatorfrom Design Concept to Decentralized Control[D]Virginia Polytechnic Instiuteand State UniVersity,2004
8 Spencer M GChemesky VBaker J，et al Bifocal Relay Minor Experiments onthe NPS Three Axis Spacecraft Simulator AAS／AIAA Guidance，Navigation，andControl Conference and Exhibit，Monterey,California，2002-503 1
9 Lau Jimmy，Joshi Sanjay s，Agrawal Brij N，et al Disturbance filtering and identification on the naval postgraduate school 3-axis spacecraft simulator AIAA Guidance，Navigation，and Control Conference 2005，San Francisco,CA,United States,2005．AIAA,2005：3771-3791．
1 0 Kim Jong-Woo，Cristi Roberto，Agrawal Brij N Attitude Determination for NPS Three-Axis Spacecraft Simulator AIAA／AAS Astrodynamics Specialist Conference, Providence,RI,United States,2004．AIAA,2004：1454-1464．
11 Otero Alvar Saenz，Chen Allen，Miller David W，et al SPHERES：Development of an ISS Laboratory for formation flight and docking research IEEE Aerospace Conference，2007 IEEE，2007：59～73
12 Soon．Jo Chung．New-Control Strategies for Underactuated Tethered Formation Flight Spacecraft．AIAA Guidance．Navigation and Control Conference and Exhibit，2007-6858
13 Kim Byungmoon，Velenis Efstathios，Kriengsiri Patrick，etal Designing a Low-Cost Spacecraft Simulator IEEE Control Systems Magazine 2003，23(4)：26～37
14 A 5．dof Experimental Facility for Autonomous Rendezvous and Docking [2009-02-03]http：／／www ae gatech edu／labs／dcsl／research-9 html
15 Jung Dongwon．Tsiotras Panagiotis A 3-DoF Experimental Test-Bed for Integrated Attitude Dynamics and Contr01 Research AIAA Guidance．Navigation．and Contr01 Coference and Exhibit．Austin．Texas．2003 American Institute of Aeronautics and Astronautics．2003
16 Ledebuhr A G．Ng L C PlumeSat：A Micro．Satellite Based Plume Imagery Collection Experiment Annual American Institute of Aeronautics and Astronautics／Missile Defense Agency Technology Conference and Exhibit，Monterey,CA．2002 AIAA．2002：1～14
17 Wilt Gloria Doven．to．Earth Testing of Microsatellites Science&Technologv Review 1998(9)：24-26
18 Regehr Martin W．Acikmese Ahmet B．Ahmed AsiEet al The Formation Control Testbed 2004 IEEE Aerospace Conference Proceedings，Big Sky,MT, United States．2004 Institute of Electrical and Electronics Engineers Computer Society,2004：557-563
19 Scharf Daniel P，Hadaegh Fred Y，Keim Jason A，et al Flight-Like Ground Demonstration of Precision Formation Flying Spacecra~Techniques and Instrumentation for Detection of Exoplanets III，San Diego，CA，United States，2007 SPIE．2007：701～712
20 Kres Sandor M．Lincoln Nick K．Gabriel Steve B Testbed for Satellite Formation Flying Contr01 System Verification AIAA InfbT0ch at Aerospace Conference．Rohnert Park．CA．United States．2007 AIAA．2007：23 82～2392
21 Kres Sandor M．Lincoln Nick K．Gabriel Steve B Testbed for Satellite Formation Flying Contr01 System Verification AIAA InfbT0ch at Aerospace Conference．Rohne~Park．CA．United States．2007 AIAA．2007：2382-2392
22 Simulation Facility for Micro．Spacecra~2002
23 Astrium Microsim Hardware User Manual&Interface Description[M]Msim- AS_r_MAN．02．2003
24林来兴空间交会对接技术[M]国防工业大学出版社，1995：4-6
25孙丽明TMs320F2812原理及其c语言程序开发[M]清华大学出版社，2008，1～12
26温国忠JTAG接口电路设计与应用[J].做计算机信息2007，23：298
27何仑，杨松华基于SOC测试的IEEE P1500[J].做计算机信息2005，7：5428戴佳，戴卫恒，刘文博51单片机c语言应用程序设计实例精讲(第二版[M]电子工业出版社2008，375～390
29王斌斌电阻层析成像并行数据采集系统设计[D]天津大学硕士学位论文2007：43
30讯通科技nRF24L01使用手册
31张全柱，黄成玉，邓永红，潘玉民单片微机cAN控制器的应用与实践华北科技学院学报2010，07(4)：78
32龚建伟，熊光明visual c++／_rLlrho c串口通信编程实践[M]电子工业出版社，27～29
33许剑，任迪，杨庆俊，包钢五自由度气浮仿真试验台的动力学建模…宇航学报2010，1(1)，60～64
34王勇军，秦永元，杨波四元数、Rodrlgues参数在卫星姿态解算上的对比研究[J]中国空间科学技术2007，6(3)，18～23
35周江华，苗育红，王明海姿态运动的：Rodrlgues参数描述[LIll宇航学报2004，9(5)，514～519
36刘暾，赵钧空间飞行器动力学[M]哈尔滨工业大学出版社，2003，153～166
37郭永交会对接地面仿真系统控制方法研究与实现[D]，哈尔滨工业大学硕士学位论文2010
38韩京清白抗扰控制技术估计补偿不确定因素的控制技术[M]国防工业出版社2008 09
39孙鑫vc++深入详解[M]电子工业出版社2010
40韩京清从PID技术到“自抗扰技术”[J]控制工程2002，9(3)：13～18
41苏奎峰，吕强，常天庆，张永秀TMs 320X281x DsP原理及c程序开发[M]2008
42韩京清，王伟非线性跟踪-微分器[J]系统科学与数学1989，(4)：864～865
43韩京清非线性跟踪微分器[J]系统科学与数学1994，14(2)：177～183
44黄远灿，韩京清扩张状态观测器用于连续系统辨识[J].控制与决策1998，13(4)：381～384
45陈忻彦，黄一，韩京清等自抗扰控制思想在动力调谐陀螺仪力平衡回路中的应用[J]中国惯性技术学报2003，1(6)：54-59
46许剑五自由度气浮仿真试验台样机的研制及其关键技术的研究[D]哈尔滨工业大学博士学位论文2010
47 HanJingqing Nonlinear state error feedback control law NLSEF[J] Control and Decision 1995，10(3)：221-225