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工学硕士学位论文气浮实验平台设计及控制方法研究徐峰哈尔滨工业大学2010年7月中图分类号：TP273学校代码：10213U.D.C.:681.52密级：公开工学硕士学位论文气浮实验平台设计及控制方法研究硕士研究生：徐峰导师：宋申民教授申请学位级别：工学硕士学科、专业：控制科学与工程所在单位：控制理论与制导技术研究中心答辩日期：2010年7月授予学位单位：哈尔滨工业大学ClassifiedIndex：TP273U.D.C.:681.52DissertationfortheMasterDegreeinEngineeringRESEARCHONDESIGNANDCONTROLMETHODOFFLOTATIONEXPERIMENTPLATFORMONGROUNDSIMULATIONCandidate：XuFengSupervisor：Prof.SongShenminAcademicDegreeAppliedfor：MasterofEngineeringSpecialty：ControlScienceandEngineeringDateofOralExamination：July,2010University：HarbinInstituteofTechnology哈尔滨工业大学工学硕士学位论文-I-摘要随着我国航天技术的发展，空间飞行器的交会对接相关技术的发展迫在眉睫。在空间飞行器的交会对接技术研究过程中，为验证控制系统方案设计的正确性，提高飞行器在轨运行的可靠性，减少飞行器失控的风险，对系统进行半物理仿真试验很有必要。飞行器所在太空环境有两大特点：失重和真空，而地面仿真试验设备处于重力加速度作用下，因此考虑在半物理仿真系统中引入气浮台。气浮台依靠压缩空气在气浮轴承和轴承座之间的间隙形成气膜，使气浮台悬浮，抵消了重力影响的同时实现了近似无摩擦的相对运动条件，以模拟飞行器在外层空间所受干扰力矩极小的力学环境。作为飞行器控制系统物理仿真的核心部件，气浮试验台能够模拟飞行器在轨失重条件下的姿态运动，是在地面条件下研究空间飞行器姿态动力学和控制系统的理想平台。本文对气浮实验台进行了设计与控制方法研究，主要工作如下：首先，建立了气浮台的姿态动力学模型，给出了台体转动惯量的测量方法。其次，针对四自由度气浮平台进行控制系统建模、分析和仿真，并以气浮台单通道的平动为例对控制算法效果进行了验证。针对三自由度气浮平台，以控制力矩陀螺为执行器研究其控制效果。仿真结果表明，所设计的控制系统满足对接试验要求。最后，针对空间飞行器交会对接地面仿真试验系统，完成了目标星相关的结构设计工作，气浮台气路和部分结构的设计工作。关键词：半物理仿真系统；气浮台；姿态动力学与控制；控制力矩陀螺；哈尔滨工业大学工学硕士学位论文-II-AbstractWiththedevelopmentoftheaerospacetechnology,therequirementsforspacecraftrendezvousanddockingrelatedtechnologiesaregettingmoreandmorecomplex.Intheprocessoftheresearchforrendezvousanddockingrelatedtechnologies,toverifythecorrectnessofthesolutioncontrolsystem,toimprovethereliabilityofspacecraftinorbit,toreducetheriskofaircraftoutofcontrol,physicalsimulationofthesystemtestisnecessary.Spaceenvironmenthastwomaincharacteristics:weightlossandvacuum.Atthesametimethegroundsimulationtestfacilitiesintheaccelerationofgravityunder,therefore,consideringthephysicalsimulationsystem,theintroductionofairbearingtableisnecessary.Bythehelpofthecompressedairbetweenthefilmoftheairbearingandthebearinggap,air-bearingtest-bedoffsetstheinfluenceofgravity,whileachievingthesimilarconditionsofrelativemotionwithoutfriction.Asthecorecomponentsofaircraftcontrolsystemphysicalsimulation,air-bearingtest-bedcansimulatetheweightlessconditionsinorbit,soitisanidealplatformfortheresearchofspacecraftattitudedynamicsandcontrolsystemonground.Thisthesishasresearchedthedesignandcontrolofaair-bearingexperimentalsystem.WhatIhavedonehasbeenlistedasfollows:Firstofall,aflotationplatformattitudedynamicsmodelhasbeenestablished.Themeasurementmethodoftheair-bearingtest-bed’smomentofinertiahasbeengiven.Secondly,contrarytotheair-bearingtest-bedwithfourdegreesoffreedom,thisthesishasestablishedamathematicmodelofthecontrolsystems,thentheanalysisandsimulationweredone,atlastthebasicexperimentwasperformed.Contrarytotheflotationplatformwiththreedegreesoffreedom,hasmadearesearchofthecontrolmethodofcontrolmomentgyro.Simulationresultshasshownthatcontrolsystemdesignedcanmeetthetestrequirementsofdocking.Lastbutnotleast,contrarytothespacecraftrendezvousanddockingforgroundsimulationtestsystem,thestructuredesignworkofthetargetsatellite-relatedandpartoftheairbearingtablehavebeenCompleted.Keywords:physicalsimulationsystem;air-bearingtest-bed;attitudedynamicsandcontrol;controlmomentgyro哈尔滨工业大学工学硕士学位论文-III-目录摘要.....................................................................................................................................IAbstract...............................................................................................................................II第1章绪论......................................................................................................................11.1课题背景及研究意义..............................................................................................11.2国内外研究现状及分析..........................................................................................11.2.1交会对接技术的国内外研究历史与现状.......................................................11.2.2气浮台的国内外研究历史与现状...................................................................41.3本文的主要内容......................................................................................................9第2章气浮实验台动力学模型建立及分析................................................................112.1相关坐标系的说明................................................................................................112.1.1坐标系的定义.................................................................................................112.1.2坐标系的变换.................................................................................................122.2气浮实验台姿态描述............................................................................................132.2.1气浮台姿态运动学方程.................................................................................132.2.2气浮台姿态动力学方程.................................................................................142.3气浮实验台转动惯量的确定................................................................................152.3.1基于IMU的转动惯量测量方法...................................................................152.3.2误差估计......................................................................