SPHERES tethered formation flight testbed: advancements in enabling NASA's SPECS mission
SPHERES tethered formation flight testbed: advancements in enabling NASA's SPECS mission
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SPHERES 系留编队飞行试验台：实现 NASA SPECS 任务的进展
DOI：
10.1117/12.670489
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发表时间：
2006
影响因子：
2
通讯作者：
S. Sell
中科院分区：
文献类型：
--
作者：
Soon;D. Adams;A. Saenz;E. Kong;David W. Miller;D. Leisawitz;E. Lorenzini;S. Sell
本文报道了美国宇航局的SPECS使命使用由麻省理工学院空间系统实验室开发的SPHERES试验台控制系留编队飞行航天器阵列的努力。具体而言，自2005年SPIE论文以来实现的方法和实验结果的进展被强调。这些措施包括一个新的试验台设置与反作用轮组件，一种新的相对姿态测量系统，使用力-扭矩传感器，和建模的非理想系绳考虑系绳振动模式。从拉格朗日方程出发，导出了带弹性柔性系绳的多飞行器系留航天器的非线性运动方程。可控性分析表明，阵列的旋转和自旋的反应轮和系绳电机是完全可控的，从而节省推进器的燃料消耗。基于这种分析，线性和非线性控制器已成功地实现了系留SPHERES试验台，并在美国宇航局MSFC的平面设施使用两个和三个SPHERES配置进行测试。
This paper reports on efforts to control a tethered formation flight spacecraft array for NASA's SPECS mission using the SPHERES test-bed developed by the MIT Space Systems Laboratory. Specifically, advances in methodology and experimental results realized since the 2005 SPIE paper are emphasized. These include a new test-bed setup with a reaction wheel assembly, a novel relative attitude measurement system using force torque sensors, and modeling of non-ideal tethers to account for tether vibration modes. The nonlinear equations of motion of multi-vehicle tethered spacecraft with elastic flexible tethers are derived from Lagrange's equations. The controllability analysis indicates that both array resizing and spin-up are fully controllable by the reaction wheels and the tether motor, thereby saving thruster fuel consumption. Based upon this analysis, linear and nonlinear controllers have been successfully implemented on the tethered SPHERES testbed, and tested at the NASA MSFC's flat floor facility using two and three SPHERES configurations.