M. A. Mendoza-Bárcenas1*, E. Vicente-Vivas1 and H. Rodríguez-Cortés2
1 Instituto de Ingeniería Universidad Nacional Autónoma de México, México, D. F., México. *mebma190980@unam.mx
2 Centro de Investigación y de Estudios Avanzados, Instituto Politécnico Nacional México, D. F., México.
ABSTRACT
This paper describes the integration and implementation of a satellite flight simulator based on an air bearing system, which was designed and instrumented in our laboratory to evaluate and to perform research in the field of Attitude Determination and Control Systems for satellites, using the hardware-in-the-loop technique. The satellite flight simulator considers two main blocks: an instrumented mobile platform and an external computer executing costume-made Matlab® software. The first block is an air bearing system containing an FPGA based on-board computer with capabilities to integrate digital architectures for data acquisition from inertial navigation sensors, control of actuators and communications data handling. The second block is an external personal computer, which runs in parallel Matlab® based algorithms for attitude determination and control. Both blocks are linked by means of radio modems. The paper also presents the analysis of the satellite flight simulator dynamics in order to obtain its movement equation which allows a better understanding of the satellite flight simulator behavior. In addition, the paper shows experimental results about the automated tracking of the satellite flight simulator based a virtual reality model developed in Matlab®. It also depicts two different versions of FPGA based on-board computers developed in-house to integrate embedded and polymorphic digital architectures for spacecrafts applications. Finally, the paper shows successful experimental results for an attitude control test using the satellite flight simulator based on a linear control law.
]]> Keywords: ADCS, test bed, dynamic model, FPGA, hardware-in-the-loop, air bearing system, satellite simulator.
RESUMEN
En este artículo se describe la integración e implementación de un simulador de vuelo satelital basado en un sistema de cojinete de aire, el cual fue diseñado e instrumentado en nuestro laboratorio para realizar investigación en el campo de sistemas de control de actitud de satélites, utilizando la técnica hardware-in-the-loop. El simulador de vuelo satelital cuenta con dos bloques principales: una plataforma móvil y una computadora externa donde se ejecuta software desarrollado en Matlab®. El primer bloque, integrado en una plataforma móvil suspendida en aire, contiene una computadora abordo basada en un dispositivo FPGA con capacidad de integrar arquitecturas digitales para adquisición de datos de sensores de navegación inercial, control de actuadores y manejo de datos. El segundo bloque es una computadora personal, donde en paralelo se ejecutan algoritmos basados en funciones desarrolladas en Matlab® para la determinación y el control de actitud. Ambos bloques están unidos inalámbricamente. En este artículo se presenta también el análisis de la dinámica de simulador de vuelo satelital para obtener su ecuación de movimiento, que permite una mejor comprensión del comportamiento del simulador. Además, se muestran los resultados experimentales de seguimiento automatizado del simulador de vuelo satelital basado en un modelo de realidad virtual. Se describe también el desarrollo de dos versiones de computadoras abordo basadas en FPGA para integrar arquitecturas digitales embebidas para aplicaciones en vehículos espaciales. Por último, el artículo muestra resultados experimentales de pruebas de control de actitud utilizando el simulador de vuelo satelital basada en una ley de control lineal.
DESCARGAR ARTÍCULO EN FORMATO PDF
References
[1] Fortescue, P, "Spacecraft Systems Engineering, third edition", Wiley, 2004, pp. 287-319. [ Links ]
]]>[2] Larson W, Wertz, J, "Space Analysis and Design", 3d Ed, Kluwer Academic Publishers, 1999, pp. 356 [ Links ]
[3] Meissner, D, "A three degrees of freedom test bed for Nanosatellite and cubesat attitude dynamics, determination and control", Naval Postgraduate School, Monterey, California, 2009, pp. 14-15. [ Links ]
[4] Corey Crowell Whitcomb, "Development and Analysis of a Small satellites attitude Determination and Control System Testbed", Master Thesis, MIT E.E.U.U, 2011. [ Links ]
[5] Kim, Sun-Hee, "Design and development of Hardware-in-the-loop (HIL) Simulator for Spacecraft Attitude Control System using Air-Bearing", Master Thesis, Yonsei University, South Korea, 2007. [ Links ]
[6] Vicente-Vivas, E. et.al, "Instrumentation of an air bearing simulation mechatronic platform and successful validation of satellite attitude control algorithms", Journal of Engineering Investigation and technology, Faculty of Engineering, UNAM. 2013. [ Links ]
[7] Mendoza-Bárcenas, M., Alva R. Gallegos "Inertial wheel design for a satellite platform", Congress of the Mexican Society of Space Science and Technology SOMECYTA. Puebla, Mexico, 2011, pp. 55-59. [ Links ]
[8] Mendoza-Bárcenas, M. et.al, "Development and preliminary results of one-axis Attitude Control System based FPGA", International Conference on Reconfigurable Computing and FPGAs, Conference Proceedings by IEEE Computer Society's Conference Publishing Services (CPS), Cancún, México, 2010. [ Links ]
[9] Vicente-Vivas, E., Mendoza-Barcenas, M. et.al, "Ground validation of 3-axis Stabilization and Attitude Control Algorithms for Small Satellites", European Symposium, Ecole Royale Militaire, Brussels, Belgium, 2012. [ Links ]
[10] Vizcaíno Torres, E, "Actualización del hardware del subsistema de control de orientación del satélite educativo SATEDU", Tesis, Ingeniero eléctrico electrónico, Facultad de Ingeniería, UNAM, 2012. [ Links ]
[11] Mendoza-Bárcenas, M. et. al, "Embedded Attitude Control System for the Educative Satellite SATEDU", 22nd International Conference on Electronics, Communications and Computing CONIELECOMP, 2012. [ Links ]
[12] Curtis, Howard, "Orbital Mechanics for Engineering Students", Elsevier, 2005, pp. 399-463. [ Links ]
[13] Sidi, M., "Spacecraft Dynamics and Control", Cambridge University Press, 1997, pp. 178-203. [ Links ]
[14] Stoneking, E., "Newton-Euler Dynamic Equations of Motion for a Multi-body Spacecraft", American Institute of Aeronautics and Astronautics. [ Links ]
[15] Kim ByungMoon, "Designing a low-cost spacecraft simulator", IEEE Control Systems Magazine, August, 2003, pp. 26-37. [ Links ]
[16] Tsiotras, P., "New Control Laws for the Attitude Stabilization of Rigid Bodies". [ Links ]
[17] Rodriguez-Cortes, H., "Flight Dynamics. Intersemestal Workshop for teachers on Mechatronics", CINVESTAV, August, 2007, pp .88-92. [ Links ]
[18] Castilla Gallardo, A. "Seguimiento virtual en tiempo real de maniobras de estabilización de un simulador de vuelo satelital", Tesis, Ingeniero en mecatrónica, Facultad de Ingeniería, UNAM, 2012. [ Links ]
[19] I. Bar-Itzhack, R. Harman, "TRIAD optimized algorithm", Journal of Guidance, Control and Dynamics, 20, 1997, pp. 208-211. [ Links ]
[20] Tewari, A., "Atmospheric and Space Flight Dynamics Modeling and Simulation with Matlab And Simulink", Publisher Birkháuser, 2007, pp. 42-46. [ Links ]
[21] Córdova, J.R. et. al, "Nonlinear attitude control for a picosatellite", Proceedings of Mexican Association of Automatic Control (AMCA), 2008. [ Links ]
[22] Córdova, J.R., "Estimación y control de orientación para el nanosatélite Humsat-México", Tesis, Maestría en ingeniería eléctrica, Instrumentación, Facultad de Ingeniería, UNAM, 2011. [ Links ]
[23] Marins, J.L. et. al., "An extended Kalman filter for quaternion-based orientation estimation using sensors marg", In Proceedings of the 2001 IEEE / RSJ, International Conference on Intelligent Robots and Systems, 2001, pp. 2003-2011. [ Links ]
[24] Álvarez Ruiz de Ojeda, L.J., Poza González, F, "Diseño de aplicaciones empotradas de 32 bits en FPGAs con Xilinx EDK 10.1 para MicroBlaze y Power-PC", Visión Libros, 2009. [ Links ]
[25] Prado, J. et. al., "Three-axis air bearing based platform for small satellite attitude determination and control simulation", Journal of Applied Research and Technology (JART), Vol. 3, No. 3, December, 2005. [ Links ]
]]>