Spacecraft Attitude Dynamics and Control.pdf

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1、UNIVERSITADEGLISTUDIDIFIRENZEµDipartimentodiSistemieInformaticaDottoratodiRicercainIngegneriaInformaticaedell'AutomazioneING-INF/04XVIIICicloSpacecraftAttitudeDynamicsandControlFabioBacconiPh.D.CoordinatorAdvisorsProf.EdoardoMoscaProf.EdoardoMoscaProf.AlessandroCasavolaAnnoAccademico2005{200

2、6ContentsIntroduction1PriorLiteratureonSpacecraftAttitudeControl..............2DissertationOutline.............................4IGeo-StationarySpacecraftAttitudeControl71Dynamicsofthe3DPendulum91.1RigidBodiesMathematicalModels..................101.2The3DPendulum...........................141

3、.3Equilibriaofthe3DPendulum....................171.4TriaxialAttitudeControlTestbed...................191.5Conclusions..............................212SpecialCasesofthe3DRigidPendulum222.1Axisymmetric3DRigidPendulum..................232.2SpinningAxisymmetric3DRigidPendulum.............262.3Ha

4、ngingEquilibriumoftheSymmetricSpinningTop........282.4Conclusions..............................333StabilizationofanAsymmetric3DRigidPendulum343.13DRigidBodyControlTorques....................353.2AsymptoticStabilizationoftheHangingEquilibrium........383.3ExperimentsonStabilizationoftheHanging

5、Equilibrium......43CONTENTSi3.4Conclusions..............................474AttitudeControlofanAsymmetric3DRigidPendulum484.1LocalAsymptoticStabilizationofanArbitraryEquilibrium.....494.2AttitudeControlofaGeo-StationarySpacecraft...........524.3SimulationonStabilizationofanArbitraryEquilibriu

6、m.......564.4Conclusions..............................595AttitudeControlofa3DAxiallySymmetricRigidPendulum625.1GlobalCoordinatesModelofthe3DAxiallySymmetricPendulum.645.2StabilizationoftheHangingEquilibriumoftheSymmetricSpinningTop...................................665.3StabilizationoftheInv

7、ertedEquilibriumofthe3DAxiallySymmetricPendulum...............................715.4AttitudeControlofanUnderactuatedGeo-StationarySpacecraft..755.5Simulationresults...........................795.6Conclusions..............................82IIMEOandLE