The Design And Implementation On The Control System Of Flexible Appendage Simulator

With the development of aerospace technology in the world, the outer space is being considered a place of strategic importance by every powerful nation. The scramble for outer space is a war without smoke. Thus, the number and frequencies of launches keep increasing. By the complexity of spacecraft rising, the requirements for control of spacecraft are going higher. Under this circumstance, to validate the control algorithm, conducting ground experiments is of great importance. This research discussed how to develop an equipment to simulate the flexible appendages of spacecraft, which is a key part for the ground experiment of flexible spacecraft.This research first discussed the source and meaning of this project. Then the situation of technology and theories on flexible satellite ground experiment around the world was discussed. After the introduction of the whole structure and function of flexible appendage simulator, a dynamics model for satellite with appendage simulator on air-table was built. Then aerospace dynamics model of flexible satellite was built. With comparison of these two models, the equivalency of these two models could be verified theoretically. Thus the feasibility of flexible appendage simulator could be tested theoretically.Then one of the three beam was chosen to be studied. A torque control model was built after the modal analysis of the beam. After studying the principle and characteristics of rotary voice coil actuator, its model was built. Combining the models of the beam and rotary voice coil actuator, the whole control system model could be obtained.Next step was studying how to design the controller for this system. In this research, Sliding Mode Control(SMC), which has very good robust characteristic, was applied to the system. Through MATLAB SMC controller with different reaching laws were simulated to test the robustness of the system to interference signal.The final step was designing the hardware part and the software part. Hardware part consisted of rotary coil actuator, industrial control computer, optical grating, signal acquisition card and motion control card. Software part was developed on embedded real time operation system built on the basis of Windows operation system, which improved real-time capability of the whole system.