Study on 3D Attitude Control in Space

点击翻译按钮获取中文摘要

This research is the study on attitude control of the space craft(including space robot, artificial satelite, etc.). In 1992, the experimental apparatus for simulating microgravity and suporting a body freely in 6 degress of freedom was designed and constructed. In 1993, the cotrol technology of microgravity simulator in the vertical direction was mainly studied.As it is very difficult to simulate the micro gravity in the vertical direction, the experiment of the motion of a body in the microgravity is done in 2D space. That mean, a body is supported freely in the horizontal plane, using air bearing, for instance.The purpose of this research is to develop the experimental apparatus which can support a body freely in the vertical direction, too. In 1992, the counter weight was used to cancel the weight of a body. In 1993, as mentioned above, a controlled system was constructed to cancel the weight of a body. The acceleration is measured by a loadcell and that information is fed back to the system to keep the acceleration of the ceter of gravity zero.For the horizontal direction, the usual air floated system is used. For the attitude, gimbals supporting mechanism is used.In this research, the new idea for controlling the attitude of a body in the space is introduced.The space craft is devided into the multi bodies system. Each body is connected to the next body by universal joint including an actuator which can yield the internal force. By the relative motion of bodies, the attitude of the total system can be controlled. The experimental results on three bodies system shows availability of this idea.