The Design And Realization For The Air Bearing Simulation Test System Of Three Degrees-of-freedom

Nowadays astronautical technology is rapidly developed in China. It isnecessary to simulate and test the spacecraft on the eaeth before launching it. Andthe air bearing simulation test system can excellently simulate the spaceenvironment with microgravity and micro and interference. So ari bearingsimulation test system plays an important role on the development of astronauticaltechnology. Therefore, the air bearing simulation test system of threedegrees-of-freedom is studied in this paper.According to the requirements of the system indicators, the overall structure ofthe system and structure of each subsystem are designed and the way of wirelesscommunication is adopted on each parts of relative movement. Moreover, signalprocessing and control circuit boards are designde specially and the feasibility ofthem are verified by the actual debugging.According to the principle of overall after part, each subsystem is firstlydesigned, confirmed and debugged before the integration of the whole system. Thesystem has two sets of actuators, namely the gas ejecting system and the reactionwheel system. The translational motion is solely controled by gas ejecting systemand the rotational motion is compoundly controlled by both the gas ejecting systemand the reaction wheel system.In this paper, the controllers are separately designed and simulated with the twosets of actuators. In order to improve the control precision of the gas ejecting system,PWPF modulation is studyed and the controller of gas ejecting system with PWPFadjuster is designed and simulated. Besides, control allocation methods of therotational motion of compound control is discussed and several typical allocationmethods are simulated to compare with each other.Finally, the real-time of the system is discussed, the overall software structureof the upper computer and the control computer is designed, and the debuggingresult is given. The control parts of the system mainly include the upper computer,the control computer and the signal processing and control circuit boards. Amongthem, the upper computer is used for sending instructions and displaying theinformation of position, the control computer adopts the solution of Windows+RTXto realize real-time control, the signal processing and control circuit boards adoptverilog HDL to realize FPGA program and fulfill the signal processing and controltask.