A six-degree-of-freedom hardware-in-the-loop simulator for small spacecraft |
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| Institution: | 1. Department of Mechanical, Aerospace, and Nuclear Engineering, Rensselaer Polytechnic Institute (RPI), Troy, NY 12180, USA;2. Department of Mechanical and Aerospace Engineering, University of Florida (UF), 308 MAE-A Building, P.O. Box 116250, Gainesville, FL 32611-6250, USA;1. Aerospace Engineering Sciences Department, 431 UCB Colorado Center for Astrodynamics Research, University of Colorado, Boulder, CO 80309-0431, USA;2. Aerospace Engineering Sciences Department, ECNT 321, 431 UCB Colorado Center for Astrodynamics Research, University of Colorado, Boulder, CO 80309-0431, USA;1. Malekashtar University of Technology (MUT), Space Engineering Department, Tehran, Iran;2. Shahrood University of Technology, Electrical Engineering Department, Semnan, Iran;3. University of Tabriz, Electrical Engineering Department, Tabriz, Iran |
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| Abstract: | This paper presents a novel six degree of freedom, ground-based experimental testbed, designed for testing new guidance, navigation, and control algorithms for the relative motion of nano-satellites. The development of innovative guidance, navigation and control methodologies is a necessary step in the advance of autonomous spacecraft. The testbed allows for testing these algorithms in a one-g laboratory environment. The system stands out among the existing experimental platforms because all degrees of freedom of motion are controlled via real thrusters, as it would occur on orbit, with no use of simulated dynamics and servo actuators. The hardware and software components of the testbed are detailed in the paper, as is the motion tracking system used to perform its navigation. A Lyapunov-based strategy for closed loop control is used in hardware-in-the loop experiments to successfully demonstrate the full six-degree-of-freedom system?s capabilities. In particular, the test case shows a two-phase regulation experiment, commanding both position and attitude to reach specified final state vectors. |
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| Keywords: | Small spacecraft Hardware-in-the-loop verification Guidance navigation and control |
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