| Air bearing platform is an equipment aiming to simulate the frictionless situation in the space, which can provide a movement environment approaching to the real for satellites and other spacecrafts on the ground. It is an indispensable part in the full physical simulation experiment. In this subject the two air bearing spacecraft simulators are built as the riser and the orbiter. A lot of subsystems like spherical air bearing, the vertical movement mechanism and two-level cold jet thruster are manufactured to make these two air bearing platforms equip with six degrees of freedom.Firstly, Euler Angles are used to describe the motion state of these two rotating platforms. In addition, combining with the ground frame of axes, the orbital frame of axes and the body frame of axes, the mathematical models of each subsystem are established( centroid mobile mathematical equation, kinematics and dynamics model of rotating platform, electromechanical transmission model). What are introduced in the above work as the basis for the organization and debugging of follow-up physical system.Detailed analyses of the unbalanced torque compensation system and cold air jet system are made and the corresponding controllers with different alternative control scheme are constructed, aiming to obtain the optimal control scheme by contrasting and analyzing of different motion curves.Besides, the appropriate devices are chosen to build the whole air bearing spacecraft simulator system. IPC is chosen to be the controller; inclination sensor are used to collect movement status information of rotating platform; servo motors with linear modules are chosen to work as actuator in the unbalanced torque compensation system; wireless module can exchange the data about position and attitude information of air bearing platform between the IPC placed on the platform and the IPC placed on the ground. The control program is written for the ground full physics simulation experiment. |
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