Design And Implementation Of The Gyrowheel Control And Measurement System

In recent years,with the widespread application of micro spacecraft in space and aviation field,how to reduce the mass of spacecraft while maintaining accuracy has become a research forcus.As a new type of attitude control instrument,the gyrowheel is developed.It has the abitility to provide 3-DOF control torque as well as sensitive axis angular speed.With these characteristics,it can greatly simplify the structure of attitude control system when the gyrowheel is used as an actuator and a redundant attitude sensor.For the purpose of further analysis the of the gyrowheel,a set of gyrowheel control and measurement system,which can be used in a variety of test experiments is developed and accomplished in this paper.Firstly,based on the mechanical structure of the gyrowheel,the working principle of the gyrowheel is analyzed,so as to provide the theoretical foudation for subsequent work.According to the requirement of the gyrowheel tests,the function of the system is designed.At the same time,the overall structure of the system is developed,and it is divided into hardware module and software module.On the foundation of the experimental platform,the host computer software for the system is developed.The software consists of two subsystems: non real-time Win32 process and real-time RTSS process.The non real-time subsystem is used for interaction,real-time display and data storage.The real-time subsystem is used for control and measurement tasks as well as condition monitoring.Meanwhile,a communation module suitable for RTX environment is developed in this paper.Then,this paper implements the controller design for the two dimensional non-tilting model.First of all,a complete dynamic model based on Euler equation is established,and then the model is simplified to a coupled network.Therefore,the decouple control scheme is seleced.Since some parameters are related to the speed,but in small range,there are two options for the decoupling segement.One is fixed decoupling link,the other is adaptive decoupling link varying with the speed.It is verified that the adaptive decoupling link could achieve better control results.Finally,a series of experiments are carried out.Firstly,the function of the sofware is tested,and results show it implements high accuracy timer and data storage.Then,the process of identification experiment is introduced.Meanwhile,the decoupling effect and the control effect of the correction part are verified in the prototype.According to the results,the system could work properly as expected.All the results show that the methods are reasonable and have practical reference value.