Study on 3D Attitude Control in Space

本课题是对航天器（包括空间机器人、人造卫星等）姿态控制的研究。1992年，设计并制作了模拟微重力、6自由度自由支撑物体的实验装置。1993年主要研究了微重力模拟器垂直方向的控制技术。由于在垂直方向上模拟微重力非常困难，因此在二维空间中进行了物体在微重力下的运动实验。这意味着，一个物体在水平面上是自由支撑的，例如使用空气轴承。本研究的目的是研制一种在垂直方向上也能自由支撑物体的实验装置。1992年，天平被用来抵消物体的重量。1993年，如上所述，建立了一个控制系统来消除身体的重量。加速度由称重传感器测量，并将该信息反馈给系统，以保持重心加速度为零。对于水平方向，采用通常的气浮系统。姿态采用万向节支撑机构。在本研究中，提出了控制物体在空间中的姿态的新思路。宇宙飞船被划分为多体系统。每个主体通过万向节连接到下一个主体，万向节包括可以产生内力的致动器。通过物体的相对运动，可以控制整个系统的姿态。在三体系统上的实验结果表明了该方法的有效性。

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.