Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via H∞ and μ Synthesis

Active vibration control is needed for future space telescopes, space laser communication and other precision sensitive payloads which require ultra-quiet environments. A Stewart platform based hybrid isolator with 6 hybrid struts is the effective system for active/passive vibration isolation over 5-250 Hz band. Using an identification transfer matrix of the Stewart platform, the coupling analysis of six channels is provided. A dynamics model is derived, and the rigid mode is removed to keep the signal of pointing control. Multi objective robust H∞ and μ synthesis strategies, based on singular values and structured singular values respectively, are presented, which simultaneously satisfy the low frequency pointing and high frequency disturbance rejection requirements and take account of the model uncertainty, parametric uncertainty and sensor noise. Then, by performing robust stability test, it is shown that the two controllers are robust to the uncertainties, the robust stability margin of H, controller is less than that of μ controller, but the order of μ controller is higher than that of H, controller, so the balanced controller reduction is provided. Additionally, the μ controller is compared with a PI controller. The time domain simulation of the μ controller indicates that the two robust control strategies are effective for keeping the pointing command and isolating the harmonic and stochastic disturbances.     

Space Interferometry Mission spacecraft pointing error budgets

Preliminary error budgets for the pointing knowledge, control, and stability of the Space Interferometry Mission (SIM) spacecraft are constructed using the specifications of commercial off-the-shelf attitude determination sensors, attitude control actuators, and other spacecraft capabilities that have been demonstrated in past missions. Results obtained indicate that we can meet all the presently known spacecraft pointing requirements. A large number of derived requirements are generated from this study. Examples are specifications on attitude determination sensors, attitude control actuators, minimum settling time after a rest-to-rest spacecraft slew. Preliminary error budgets constructed in this study must be updated to reflect the changing spacecraft design and requirements     

飞轮被动减振卫星动力学建模及稳定性研究

为提高卫星的指向精度和稳定度,通常在飞轮系统中设计了被动减振器。而对于有敏捷机动要求的卫星,被动减振器的低刚度设计可能会破坏姿态控制系统的动态性能和稳定性。因此,针对飞轮减振情况,建立了卫星刚柔姿态动力学方程,用来准确分析卫星敏捷机动时的动态性能、稳定性问题以及飞轮扰动对卫星稳定度的影响。仿真结果表明,不合适的隔振器刚度设计将会影响指向的动态性能和稳定性,甚至诱发姿控系统失稳。     

Recent advances in precision measurement & pointing control of spacecraft

There exists an increasing need for precision measurement & pointing control and extreme motion stability for current and future space systems, e.g., Ultra-Performance Spacecraft (UPS). Some notable technologies of realizing Ultra-Pointing (UP) ability have been developed particularly for Ultra-accuracy Ultra-stability Ultra-agility (3U) spacecraft over recent decades. Usually, Multilevel Compound Pointing Control Techniques (MCPCTs) are deployed in aerospace engineering, especially in astronomical observation satellites and Earth observation satellites. Modern controllers and/or algorithms, which are a key factor of MCPCTs for 3U spacecraft, especially the jitter phenomena that commonly exist in a UPS Pointing Control System (PCS), have also been effectively used in some UP spacecraft for a number of years. Micro-vibration suppression approaches, however, are often proposed to deal with low-level mechanical vibration or disturbance in the microgravity environment that is common for UPS. This latter approach potentially is one of the most practical UP techniques for 3U tasks. Some emerging advanced Disturbance-Free Payload (DFP) satellites that exploit the benefits of non-contact actuators have also been reported in the literature. This represents an interesting and highly promising approach for solving some challenging problems in the area. This paper serves as a state-of-the-art review of UP technologies and/or methods which have been developed, mainly over the last decade, specifically for or potentially could be used for 3U spacecraft pointing control. The problems discussed in this paper are of reference significance to UPS and millisecond optical sensors, which are involved in Gaofeng Project, deep space exploration, manned space flight, and gravitational wave detection.     

星间光通信终端粗瞄系统鲁棒非脆弱H∞控制

 光通信终端粗瞄控制系统设计对通信链路的建立有重要影响。本文对潜望式粗瞄伺服机构在外层空间受到的力矩扰动进行了分析,由于其变化规律复杂,将其作为低频有界扰动附加于无刷直流 (BLDC)电机上,推导了有界无结构摄动情况下的终端控制对象模型;引入非脆弱状态反馈设计,确保在控制器参数漂移时闭环系统仍具有二次稳定性;利用线性矩阵不等式(LMI)方法,获得了二次稳定条件下的干扰抑制和防止执行器饱和的非脆弱控制器条件;最后对光通信终端的无刷直流电机模型进行分析,利用MATLAB完成粗瞄控制器的解算。仿真表明闭环系统在摄动下具有二次稳定性,对干扰有抑制力,其反馈控制量能满足预防饱和的设计要求。     

空间站姿态/动量联合非线性控制

从Lyapunov稳定性理论出发,设计了一个非线性控制器,实现了空间站姿态和控制力矩陀螺角动量的联合控制。在此基础上,为抑制周期性环境干扰力矩对姿态控制性能的影响,引入了周期性扰动抑制滤波器,对非线性姿态/动量控制器进行了改进。改进的控制器不但可以抑制空间站姿态的周期性波动,而且可在满足特定飞行任务的前提下,建立空间站指向和控制力矩陀螺动量管理间的折中。控制器参数物理意义明确,易于调整。对空间站姿态控制/动量管理系统的仿真结果表明,该控制器是可行的。     

临近空间飞行器信息系统一体化载荷平台

介绍了临近空间日趋受到各国的关注和研究、临近空间的概念以及临近空间飞行器的概况。从高超声速临近空间飞行器设计层面分析了临近空间飞行器信息系统多任务需求和现有设计的矛盾,指出研究临近空间飞行器一体化综合电子系统信号交链和多任务一体化协同技术是解决此矛盾的有效途径。通过对临近空间飞行器信息系统一体化载荷平台的研究,构建了采用冗余备份技术的包括信号处理模块、控制模块的统一开放的柔性系统平台架构。     

Spectrum Width Estimtes for Weather Echoes

Doppler spectrum width relates to wind shear and turbulence and thus is an important parameter which characterizes severe weather phenomena. The need to scan large volumes of space quickly and to obtain real-time estimates introduces stringent requirements on the signal processing. The Fourier transform and the autocovariance methods are candidate techniques. In particular, the autocovariance estimator is attractive due to low storgage and ease of computation. Statistics of an improved and asymptotically ubiased (for Gaussian spectra) autocovariance estimator of width are presented. Spurious effects on the complex video signal such as dc offsets and imbalances are assessed. Performance of the improved estimator on weather data is shown.     

Shimmy analysis of a simple aircraft nose landing gear model using different mathematical methods

Shimmy oscillations are still a problem in design and operation of aircraft landing gears, and accurate and appropriate analysis is required to master the task. Based on a nonlinear model of the mechanics of the landing gear and tire elasticity according to elastic string theory, some well known linear and nonlinear mathematical methods are applied to the shimmy analysis of a simple model of a nose gear: Computing eigenvalues, solving analytically the stability boundaries with a parameter space method, getting limit cycles by analytical formulae from describing functions, and last but not least numerical simulation of time histories. It seems that linear or quasi linear methods and analytical solutions are well suited to obtain extensive insight, respecting limitations of these methods. Numerical simulation on the other hand is a valuable tool for pointing out specific effects of a nonlinear system in large amplitude regions.     

An optical angle of attack sensor

A major source of transonic and supersonic wind-tunnel test data uncertainty are angle-of-attack-measurement errors caused by unknown sting and balance deflections under load. Since dynamic loads in pressurized or cryogenic wind tunnels generally exceed those in conventional low-speed atmospheric wind tunnels, the need to account for these distortions during model testing is even more acute. A novel laser-based instrument for the in-situ measurement of wind-tunnel-model angle of attack that enables continuous, time-dependent measurements to be made without signal dropout is described. Proof-of-concept experiments, along with the results of recent measurements conducted at the NASA Ames 9-ft×7-ft supersonic wind tunnel, are presented. Experiments were also conducted to determine the reliable range, sensitivity, and long-term stability of the instrument. The results show that 0.01° sensitivity can be achieved and that optical and detector packaging requirements are less stringent than those for current tilt-sensor or accelerometer model installations     

空间光学遥感器的发展对先进复合材料的需求

从国内外空间光学遥感器技术发展的需要出发,提出了对该领域内基础材料的需求及其应用特点。在此基础上,又提出了空间光学遥感器中光机结构材料和典型的光学反射镜材料在机械稳定性和热稳定性方面的要求。还提出了应用材料在空间中的热真空适应性和表面防护问题。同时介绍了新型空间光学遥感器中应用的新型复合材料。     

Radar Altimeter Optimization for Geodesy Over the Sea

The optimum processor and its accuracy limit for radar altimetry for geodetic use over the sea are studied with a model accounting for random surface reflectivity, sea height variation, additive noise, and pointing errors, and allowing for arbitrary antenna patterns, signal modulations, and other system parameters. The ?threshold? case solution (which can have any specified accuracy) dictates a signal modulation bandwidth just shy of resolving the sea height variation and/or illuminated sea area (as scaled into time delay and ?smeared? by pointing errors). For such a modulation a relatively complete solution is obtained. These results are used to determine practical radar altimeter designs, additionally accounting for antenna size, stability, and peak power restraints. Conditions allowing neglecting of limiting or complicating effects due to temporally varying reflectivity, sea height, and vehicle position are given and shown to be satisfied for a typical satellite.     

A Diagnostic Tree Approach for Fault Cause Identification in the Attitude Control Subsystem of Satellites

Space and Earth observation programs demand stringent guarantees ensuring smooth and reliable operations of space vehicles and satellites. Due to unforeseen circumstances and naturally occurring faults, it is desired that a fault-diagnosis system be capable of detecting, isolating, identifying, or classifying faults in the system. Unfortunately, none of the existing fault-diagnosis methodologies alone can meet all the requirements of an ideal fault- diagnosis system due to the variety of fault types, their severity, and handling mechanisms. However, it is possible to overcome these shortcomings through the integration of different existing fault-diagnosis methodologies. In this paper, a novel learning-based, diagnostic-tree approach is proposed which complements and strengthens existing efficient fault detection mechanisms with an additional ability to classify different types of faults to effectively determine potential fault causes in a subsystem of a satellite. This extra capability serves as a semiautomatic diagnostic decision support aid to expert human operators at ground stations and enables them to determine fault causes and to take quick and efficient recovery/reconfiguration actions. The developed diagnosis/analysis procedure exploits a qualitative technique denoted as diagnostic tree (DX-tree) analysis as a diagnostic tool for fault cause analysis in the attitude control subsystem (ACS) of a satellite. DX-trees constructed by our proposed machine-learning-based automatic tree synthesis algorithm are demonstrated to be able to determine both known and unforeseen combinations of events leading to different fault scenarios generated through synthetic attitude control subsystem data of a satellite. Though the immediate application of our proposed approach would be at ground stations, the proposed technique has potential for being integrated with causal model-based diagnosis and recovery techniques for future autonomous space vehicle missions.     

Orbital Inclination Effects on Communications Satellite System Design

Starting from the analysis of recommendations and technical reports of the International Telecommunications Union on the stationkeeping and pointing accuracy requirements of quasi-geostationary communications satellites, the following effects of orbital inclination and yaw control error on the system design are discussed: (1) the excursion in longitude during a 24 h period; (2) the efficiency of the geostationary orbit utilization for systems with frequency reuse using linear orthogonal polarizations; (3) the angular tracking requirements of Earth station antennas; and (4) the performance of TDMA systems.     

Spacecraft pointing control criteria for high resolutionspectroscopy

A new pointing control criterion is derived to support high resolution space spectroscopy. The criterion maps desired specifications on allowable flux offset (imposed by scientists for accurate calculation of spectral line ratios) into standard pointing control definitions in terms of bias and jitter. In contrast to previous derivations, the new criterion is exposure dependent, and fully captures the beneficial smoothing effect of longer spectroscopy exposures on reducing flux offset. The criterion is easily visualized and allows a complete characterization of the allowable design space     

On Attitude Estimation Schemes for Fine-Pointing Control

This paper studies single-axis equations of motion that are applicable to a spacecraft or to a space experiment pointing assembly whose motion has been perfectly isolated from the carrier vehicle. It considers four state estimators for implementation in the control loop for a stellar observation experiment. The first three estimators are very general and do not make use of input torque in their prediction models, while the proposed fourth estimator utilizes this information, It is shown via closed-loop covariance analysis that the best achievable pointing performance with the best of the first three estimators is limited to about 0.125 are-sec (rms) with the given rate-gyro and star-tracker inaccuracies. It is also shown that the fourth estimator has the capability of achieving a pointing performance far superior to the performance achievable using the first three estimators. The fourth estimator relies on the ability to accurately generate the desired control torque (i.e., low input noise).     

轻型高精度卫星的变结构姿态控制器

针对某些小卫星高指向精度和高稳定精度的姿态控制要求,设计了能克服反作用轮转速过零扰动的变结构姿态控制器,并对反作用轮转速过零时低速摩擦对卫星姿态产生扰动的机理进行了分析,建立了仿真用反作用轮低速摩擦动力学模型。同 PID控制器相比,该变结构姿态控制器能有效抑制反作用轮的低速摩擦影响,并具有良好的鲁棒性。数学仿真进一步证明了该变结构姿态控制器的有效性,其指向精度和稳定精度分别可达 0.3°和 0.0 0 1°/     

Deployment dynamics for flexible deployable primary mirror of space telescope with paraboloidal and laminated structure by using absolute node coordinate method

A nonlinear dynamic modeling method for primary mirror of Flower-like Deployable Space Telescope (F-DST) undergoing large deployment motion is proposed in this paper. To ensure pointing accuracy and attitude stability of the paraboloidal primary mirror, the mirror is discretized into equal thickness shell elements by considering shell curvature. And the material nonlinear constitutive relation of flexible mirror is acquired using Absolute Nodal Coordinate Formulation (ANCF). Furthermore, the primary mirror of F-DST can be regarded as a clustered multi-body system, and its dynamic equations of elastic deformation and deployment motion are established by virtual work principle. Finally, the deployment motion of primary mirror by different driving conditions are simulated, the results show that the vibrations of mirrors that driven by elastic hinge device are more than that driven by servo motor. In addition, single sub-mirror deployment process will perturb the pointing accuracy of primary mirror, and the multiple sub-mirrors simultaneously deploying will seriously affect all the sub-mirrors surface accuracy because of the coupling effect. Thus, there are theoretical value and practical significance for the controlling surface accuracy and attitude accuracy of space telescope.     

Nontracking antenna performance for inertially controlled spacecraft using TDRSS

A series of tests to validate an antenna pointing concept for spin-stabilized satellites using a data relay satellite is described. These tests show that proper antenna pointing on an inertially stabilized spacecraft can lead to significant access time through the relay satellite even without active antenna pointing. We summarize the test results, the simulations to model the effects of antenna pattern and space loss, and the expected contact times. We also show how antenna beam width affects the results.     

Design of a modern pitch pointing control system

The development of a pitch pointing control system for an advanced high performance fighter aircraft using eigenstructure assignment and command generator tracking schemes is presented. A desired eigenstructure is first chosen to achieve a desired decoupling (i.e., pitch attitude and flight path angle), and to obtain a desired damping and rise time. The command generator tracker is next used to ensure zero steady-state error-to-step commands. The stability robustness to the parameter variations of the closed-loop system is evaluated in the sense of the conditioning of the achieved eigenstructure by using singular value analysis technique. The analysis and synthesis techniques for the pitch pointing control system are illustrated by applying the techniques to F-15 aircraft as a part of the NASA/USAF program named ACTIVE (Advanced Controls for integrated Vehicles)