Control and Simulation of Precise Tracking-pointing Hezapod

摘要：

The study is based on precise tracking-pointing Hexapod with macro/micro dual driving actuators, which aims to the tasks like inter-satellite laser communication. Firstly,considering on characteristics of macro and micro actuators, serial control strategy and concurrent control strategy with piezoelectric actuator release are given, respectively for static pointing and dynamic tracking procedures. Then, in respect of control methods, error interactive discrete control method based on Hexapod Jacobian matrix is chosen for macro stage, meanwhile, continuous PID control method is chosen for micro stage. Finally,for validating the proposed control strategies and methods,Adams/Simulink co-simulation is carried out. Simulation results show that the Hexapod static pointing and dynamic tracking accuracy can be better than 5 μrad and 20 μrad respectively.

关键词： Tracking-pointing Hezapod Hybrid Actuator Control Co-simulation

作者: Bian Bian Huang Hai

作者单位: School of Astronautics, Beihang University School of Astronautics,Beihang University,Beijing 100083,China

会议类型: 国际会议

会议名称: The 11th International Space Conference of Pacific-basin Societies(第11届环太平洋国际航天会议)

会议地点: 北京

会议语种:英文

页码: 153-159

在线出版日期: 2007-05-16（万方平台首次上网日期，不代表论文的发表时间）