【摘要】：在如今科技飛速發(fā)展的時(shí)代,航天技術(shù)更是作為各個(gè)國(guó)家都在致力發(fā)展的頂尖科學(xué)技術(shù),航天技術(shù)是一個(gè)國(guó)家硬實(shí)力的綜合象征,因此各個(gè)國(guó)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(huì)不可避免的受到各種因素的干擾,需要進(jìn)行物理仿真了解干擾因素的影響。本文設(shè)計(jì)并實(shí)現(xiàn)了基于晃動(dòng)與微振動(dòng)的全物理仿真試驗(yàn)系統(tǒng)。首先,介紹了國(guó)內(nèi)外的航天器的研究現(xiàn)狀,并且分析了在當(dāng)今時(shí)代主要應(yīng)用的幾種仿真試驗(yàn)的方法,接著分析了不同的仿真方法的優(yōu)點(diǎn)和缺點(diǎn),最終得出了全物理仿真的優(yōu)點(diǎn);然后介紹了在航天器中應(yīng)用的幾種主要的力矩輸出的機(jī)構(gòu),分析了每種執(zhí)行機(jī)構(gòu)的優(yōu)缺點(diǎn),為后面方案設(shè)計(jì)打下基礎(chǔ)。其次,針對(duì)晃動(dòng)與微振動(dòng)全物理仿真試驗(yàn)系統(tǒng)的任務(wù)需求,將控制系統(tǒng)分成了四部分,然后針對(duì)每個(gè)部分的具體指標(biāo)和要求提出了相應(yīng)的設(shè)計(jì)方案。大力矩生成器使用單框架控制力矩陀螺來(lái)輸出力矩,微振動(dòng)生成器采用音圈擺動(dòng)電機(jī),高速通信模塊采用TPLink公司的無(wú)線通信模塊,在這基礎(chǔ)之上對(duì)照系統(tǒng)的指標(biāo)要求進(jìn)行了相應(yīng)的指標(biāo)驗(yàn)證。再次,分析了單框架控制力矩陀螺的力矩輸出原理,并對(duì)陀螺群的構(gòu)形問(wèn)題進(jìn)行了概述,分析了陀螺群力矩輸出的工作原理,然后重點(diǎn)分析了常見(jiàn)構(gòu)形的基本結(jié)構(gòu)、角動(dòng)量的表達(dá)式以及安裝矩陣,接著對(duì)陀螺群奇異問(wèn)題進(jìn)行了綜述,重點(diǎn)對(duì)4個(gè)單框架控制力矩陀螺(SGCMG)和5個(gè)SGCMG奇異面進(jìn)行了分析,然后對(duì)不同的空間布局實(shí)現(xiàn)了對(duì)比,分析各種構(gòu)形的優(yōu)點(diǎn)和缺點(diǎn)。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(gè)陀螺的角速度的表達(dá)式,然后針對(duì)每種控制算法進(jìn)行了仿真實(shí)驗(yàn),對(duì)角動(dòng)量、角速度、角度、奇異度量進(jìn)行了分析,比較每種仿真算法的實(shí)際仿真效果,從而針對(duì)火星環(huán)繞器進(jìn)行選擇。最后,針對(duì)整個(gè)控制系統(tǒng)進(jìn)行了整體的硬件實(shí)現(xiàn),詳細(xì)的分析了每個(gè)部分之間的相互關(guān)系以及信號(hào)走向,接著進(jìn)行了整體的軟件實(shí)現(xiàn),并且針對(duì)陀螺分系統(tǒng)的控制算法進(jìn)行了詳細(xì)的介紹,然后對(duì)陀螺分系統(tǒng)的控制器硬件實(shí)現(xiàn)進(jìn)行了概述,并且完成了陀螺群(CMGs)控制算法的綜合實(shí)現(xiàn),在simulink中對(duì)實(shí)際效果完成了高質(zhì)量的檢驗(yàn)。
[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(xué)位授予單位】：哈爾濱工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類(lèi)號(hào)】：V416.8;TP391.9

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本文編號(hào)：2152223