Control system of a three DOF Spacecraft Simulator by vectorable thrusters and control moment GYROS

摘要

This thesis presents the continued design and system integration of a prototype three Degrees-Of-Freedom (DOF) Spacecraft Simulator used in the Proximity Operations Simulator Facility, as part of the Naval Postgraduate School's Spacecraft Robotics Laboratory, to simulate autonomous guidance, navigation and control (GNC) for spacecraft proximity operations and assembly as part of the Autonomous Multi-Agent Physically Interacting Spacecraft project. Several key enhancements of the spacecraft simulator were made including the integration of onboard sensors, improved electrical distribution system, improved command and data handling system, and the design and integration of vectorable thrusters. A pair of independently controlled 360 degree vectorable thrusters is now included in the spacecraft simulator. A control system and thruster mapping algorithm were developed to incorporate the translational and rotational control authority that the vectorable thrusters provide with the rotational control authority of the previously developed Miniature Single-Gimbaled Control-Moment-Gyroscope (MSGCMG). Simulation and experimental results are presented to demonstrate the functionality of the prototype AMPHIS vehicle. The work done in developing the prototype vehicle will enable rapid fabrication of additional vehicles to provide essential hardware-in-the-loop experimentation capabilities for evolving control algorithms, sensors and mating mechanisms to be used for autonomous spacecraft assembly.