Planar air-bearing microgravity simulators: Review of applications, existing solutions and design parameters

Rybus, Tomasz; Seweryn, K.

doi:10.1016/j.actaastro.2015.12.018

Cited by 108 publications

(32 citation statements)

References 56 publications

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“…1, 2 The scarcity of suitable test facilities 3,4 has made the equivalent experimental-based work less abundant. This lack of experimental evaluations, may raise feasibility concerns over some of the proposed guidance, navigation and control strategies as well as delay their on-orbit deployment.…”

Section: Introductionmentioning

confidence: 99%

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Virgili-Llop

Drew

Zappulla

et al. 2016

AIAA/AAS Astrodynamics Specialist Conference

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This paper describes a set of laboratory-based experiments, which demonstrate the autonomous capture of a non-moving resident space object by a spacecraft equipped with a single robotic manipulator. An air bearing test bed is used to simulate weightlessness and frictionless maneuvering on a plane. The chaser is composed by a floating spacecraft simulator carrying a kinematically redundant four-link serial manipulator. The manipulator mass is similar to the mass of its base-spacecraft, resulting in an unusually large dynamic coupling. Emphasis is given to the guidance and control, demonstrating floating, flying and rotation-flying coordinated control strategies. A resolved-motion-rate controller regulates the manipulator joint velocities. The relative navigation problem, solved by the test bed metrology system, has been left outside the scope of this effort. The presented experiments increase the number of space robotics experimental evaluations conducted in dynamically representative environments. Nomenclature

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Section: Introductionmentioning

confidence: 99%

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Virgili-Llop

Drew

Zappulla

et al. 2016

AIAA/AAS Astrodynamics Specialist Conference

View full text Add to dashboard Cite

show abstract

“…Каждая из них имеет особенность в том числе и с точки зрения используемой элемент-ной базы системы управления движением. Поэтому ниже приведены наиболее распространенные задачи, решаемые на столе [27].…”

Section: использование аэродинамического столаunclassified

“…Общая схема такой экспериментальной установки приведена на рис. 32 [27]. В подобных экспериментах тестируется оборудование для посадки на космиче-ские тела с малым уровнем гравитации.…”

Section: другие экспериментыunclassified

Test-Bench COSMOS for Microsatellite Control System Mock-Ups Modeling and Survey

2016

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“…These types of test beds have been extensively used in the past to conduct hardware-in-theloop testing and research in spacecraft RPO [33,34]. …”

Section: Methodsmentioning

confidence: 99%

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

et al. 2017

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Ground-based experimental evaluations of emerging guidance, navigation, and control (GNC) approaches may be used to raise their technological readiness level and determine their performance and limitations on flight-equivalent hardware (i.e., sensors, actuators, and computational systems) [2].An experimental campaign to evaluate the performance of the model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD) guidance methods has been performed at the Naval Postgraduate School POSEI-DYN 1 air-bearing test bed [4]. The focus of this research is limited in scope to the guidance and control of the simulated spacecraft. The navigation problem is solved by the POSEIDYN test bed motion capture system, which, augmented by onboard sensors, is used to provide accurate navigation data. The test vehicles operating in the POSEI-DYN test bed float on top of a 4-by-4 m granite table and exhibit a drag-free and weightless motion on a plane [4]. These test vehicles are referred to as floating spacecraft simulators, or simply as FSS.A spacecraft docking problem is selected for the experimental evaluation of these two different control approaches. A keep-out zone, an entry cone, and a maximum force constraint are added to the docking scenario to evaluate the constraint handling abilities of the two different controllers. A linear-quadratic MPC (LQ-MPC) algorithm with a quadratic programming (QP) solver and an IDVD algorithm with a nonlinear programming (NLP) solver have been chosen for this comparative study. These two controllers have been implemented and, when executed in real-time on board the FSS, they are successful in 1 POSEIDYN stands for Proximity Operation of Spacecraft: Experimental hardware-In-the-loop DYNamic simulator Abstract An experimental campaign has been conducted to evaluate the performance of two different guidance and control algorithms on a multi-constrained docking maneuver. The evaluated algorithms are model predictive control (MPC) and inverse dynamics in the virtual domain (IDVD). A linear-quadratic approach with a quadratic programming solver is used for the MPC approach. A nonconvex optimization problem results from the IDVD approach, and a nonlinear programming solver is used. The docking scenario is constrained by the presence of a keep-out zone, an entry cone, and by the chaser's maximum actuation level. The performance metrics for the experiments and numerical simulations include the required control effort and time to dock. The experiments have been conducted in a groundbased air-bearing test bed, using spacecraft simulators that float over a granite table.Keywords Rendezvous and proximity operations · Model predictive control · Inverse dynamics · Hardware-in-theloop

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Planar air-bearing microgravity simulators: Review of applications, existing solutions and design parameters

Cited by 108 publications

References 56 publications

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Autonomous Capture of a Resident Space Object by a Spacecraft with a Robotic Manipulator: Analysis, Simulation and Experiments

Test-Bench COSMOS for Microsatellite Control System Mock-Ups Modeling and Survey

Experimental evaluation of model predictive control and inverse dynamics control for spacecraft proximity and docking maneuvers

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