• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Space flight mechanics meeting;AIAA SciTech forum >Optimized Thruster Distribution Matrix for Precision 6DOF Control Utilizing Dual Quaternions Dynamics
【24h】

Optimized Thruster Distribution Matrix for Precision 6DOF Control Utilizing Dual Quaternions Dynamics

机译：利用双四元数动力学优化用于6DOF精确控制的推力分配矩阵

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

As spacecraft require higher positional accuracy from the attitude control systems, new developments will be necessary. To account for this increase, most spacecraft utilize an over actuated system with more than the minimum number of actuators for 6-DOF control. In most cases, thrusters are used to design an over actuated system. This paper presents an example simulation of the OSIRIS-REx mission during a section of its descent phase to the asteroid Bennu described by dual quaternion dynamics. The dual quaternion description provides a compact and coupled description of the position and attitude of the spacecraft. This works in perfect conjunction with the newly proposed optimized thruster distribution matrix. The developed optimization process computes a constant thruster distribution matrix that transforms the desired forces and torques, calculated by the controller, into the individual thruster frames. The resulting matrix is capable of accommodating both position and attitude commands simultaneously, while optimizing the individual thruster commands to produce a minimum thrust solution. Therefore, its integration into the dual quaternion dynamics is intuitive and simplistic, due to both systems being able to handle coupled translational and rotational motion. The final result is a computationally fast control solution for real-time applications.
机译：由于航天器要求姿态控制系统具有更高的位置精度，因此有必要进行新的开发。为了解决这种增加的问题，大多数航天器都采用了过度驱动系统，该系统具有超过用于6自由度控制的最小数量的执行器。在大多数情况下，推力器用于设计超促动系统。本文通过双四元数动力学描述了OSIRIS-REx任务在小行星Bennu下降阶段的模拟示例。双四元数描述提供了航天器位置和姿态的紧凑且耦合的描述。这与新提出的优化推力器分配矩阵完美结合。所开发的优化过程将计算一个恒定的推力器分配矩阵，该矩阵将控制器计算出的所需力和扭矩转换为各个推力器框架。生成的矩阵能够同时容纳位置和姿态命令，同时优化单个推进器命令以产生最小的推力解。因此，由于两个系统都能够处理耦合的平移和旋转运动，因此将其集成到双四元数动力学中是直观且简单的。最终结果是针对实时应用的计算快速控制解决方案。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号