【摘要】：在如今科技飛速發(fā)展的時代,航天技術(shù)更是作為各個國家都在致力發(fā)展的頂尖科學技術(shù),航天技術(shù)是一個國家硬實力的綜合象征,因此各個國家也都投入了很大的精力在航天技術(shù)的發(fā)展上。在航天技術(shù)中,由于會不可避免的受到各種因素的干擾,需要進行物理仿真了解干擾因素的影響。本文設(shè)計并實現(xiàn)了基于晃動與微振動的全物理仿真試驗系統(tǒng)。首先,介紹了國內(nèi)外的航天器的研究現(xiàn)狀,并且分析了在當今時代主要應用的幾種仿真試驗的方法,接著分析了不同的仿真方法的優(yōu)點和缺點,最終得出了全物理仿真的優(yōu)點;然后介紹了在航天器中應用的幾種主要的力矩輸出的機構(gòu),分析了每種執(zhí)行機構(gòu)的優(yōu)缺點,為后面方案設(shè)計打下基礎(chǔ)。其次,針對晃動與微振動全物理仿真試驗系統(tǒng)的任務需求,將控制系統(tǒng)分成了四部分,然后針對每個部分的具體指標和要求提出了相應的設(shè)計方案。大力矩生成器使用單框架控制力矩陀螺來輸出力矩,微振動生成器采用音圈擺動電機,高速通信模塊采用TPLink公司的無線通信模塊,在這基礎(chǔ)之上對照系統(tǒng)的指標要求進行了相應的指標驗證。再次,分析了單框架控制力矩陀螺的力矩輸出原理,并對陀螺群的構(gòu)形問題進行了概述,分析了陀螺群力矩輸出的工作原理,然后重點分析了常見構(gòu)形的基本結(jié)構(gòu)、角動量的表達式以及安裝矩陣,接著對陀螺群奇異問題進行了綜述,重點對4個單框架控制力矩陀螺(SGCMG)和5個SGCMG奇異面進行了分析,然后對不同的空間布局實現(xiàn)了對比,分析各種構(gòu)形的優(yōu)點和缺點。接著分析了陀螺群常用的操縱律的控制算法,解算出了每個陀螺的角速度的表達式,然后針對每種控制算法進行了仿真實驗,對角動量、角速度、角度、奇異度量進行了分析,比較每種仿真算法的實際仿真效果,從而針對火星環(huán)繞器進行選擇。最后,針對整個控制系統(tǒng)進行了整體的硬件實現(xiàn),詳細的分析了每個部分之間的相互關(guān)系以及信號走向,接著進行了整體的軟件實現(xiàn),并且針對陀螺分系統(tǒng)的控制算法進行了詳細的介紹,然后對陀螺分系統(tǒng)的控制器硬件實現(xiàn)進行了概述,并且完成了陀螺群(CMGs)控制算法的綜合實現(xiàn),在simulink中對實際效果完成了高質(zhì)量的檢驗。
[Abstract]:In the era of rapid development of science and technology, space technology is the top science and technology that all countries are developing. Space technology is a comprehensive symbol of a country's hard strength. Therefore, every country has also invested a great deal of energy in the development of space technology. In the aviation technology, it will inevitably be caused by various factors. This paper designs and implements a full physical simulation test system based on sloshing and micro vibration. Firstly, it introduces the research status of the spacecraft at home and abroad, and analyzes several methods of simulation experiments which are mainly used in the present era, and then analyses the different imitation. The advantages and disadvantages of the true method finally get the advantages of the full physical simulation, and then introduce several main torque output mechanisms used in the spacecraft, analyze the advantages and disadvantages of each actuator, and lay the foundation for the design of the later scheme. Secondly, the requirements of the task of the sloshing and micro vibration full physical simulation test system will be controlled. The system is divided into four parts, and then the corresponding design scheme is put forward according to the specific indexes and requirements of each part. The torque generator is used to output torque by using single frame control moment gyroscope. The micro vibration generator adopts the voice coil motor, and the high-speed communication module uses the wireless communication module of TPLink company. The index verification of the system is required. Thirdly, the torque output principle of the single frame control moment gyroscope is analyzed. The configuration of the gyro group is summarized, the working principle of the gyro group torque output is analyzed. Then the basic structure of the common configuration, the expression of angular momentum and the installation matrix are analyzed. Then the problem of gyro group singularity is reviewed. 4 single frame control moment gyros (SGCMG) and 5 SGCMG singular surfaces are analyzed. Then the different spatial layout is compared, and the advantages and disadvantages of various configurations are analyzed. Then the control algorithms used in the gyroscope group are analyzed, and each gyroscope is calculated. The expression of angular velocity, and then a simulation experiment for each control algorithm, is carried out to analyze the angular momentum, angular velocity, angle and singular measure, and compare the actual simulation results of each simulation algorithm to select the Martian surround. Finally, the whole hardware implementation is carried out for the whole control system, and the detailed analysis is made. The relationship between each part and the signal direction, then the whole software implementation, and a detailed introduction to the control algorithm of the gyro subsystem. Then the hardware implementation of the gyro subsystem is summarized, and the integrated implementation of the CMGs control algorithm is completed, and the actual Simulink is realized. The effect completed the high quality test.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V416.8;TP391.9

【參考文獻】

相關(guān)期刊論文 前10條

1 魏孔明;吳忠;劉濤;;單框架控制力矩陀螺構(gòu)型分析與奇異可視化[J];中國空間科學技術(shù);2013年01期

2 劉曉東;陳明花;徐學偉;;單框架控制力矩陀螺的動力學分析[J];制造業(yè)自動化;2012年03期

3 張志方;董文強;張錦江;何英姿;;控制力矩陀螺在天宮一號目標飛行器姿態(tài)控制上的應用[J];空間控制技術(shù)與應用;2011年06期

4 高建軍;白云;;導引頭伺服系統(tǒng)仿真的可信度評估[J];導彈與航天運載技術(shù);2008年04期

5 王祖溫;李延斌;包鋼;;3自由度氣浮臺力學性能研究——關(guān)于自重作用下不平衡力矩的分析[J];機械工程學報;2006年04期

6 韓艷鏵,周鳳岐,周軍;基于反饋線性化和變結(jié)構(gòu)控制的飛行器姿態(tài)控制系統(tǒng)設(shè)計[J];宇航學報;2004年06期

7 Alan FT Winfield,Chris Melhuish;Adaptive Sliding Mode Control for MIMO Nonlinear Systems Based on Fuzzy Logic Scheme[J];International Journal of Automation and Computing;2004年01期

8 張錦江;單框架控制力矩陀螺系統(tǒng)的構(gòu)型分析和對比研究[J];中國空間科學技術(shù);2003年03期

9 王廣雄,張靜,朱井泉;撓性系統(tǒng)的魯棒控制設(shè)計[J];控制與決策;2003年03期

10 柳世考,劉興堂,張文;利用相似度對仿真系統(tǒng)可信度進行定量評估[J];系統(tǒng)仿真學報;2002年02期

相關(guān)碩士學位論文 前3條

1 楊朋;采用單框架控制力矩陀螺的衛(wèi)星姿態(tài)控制[D];哈爾濱工業(yè)大學;2013年

2 尹玉娟;空間機械臂的滑�？刂品椒╗D];哈爾濱理工大學;2011年

3 徐曉云;衛(wèi)星軌道姿態(tài)動力學仿真軟件平臺研究與開發(fā)[D];清華大學;2002年

，

本文編號：2152223