Recent works of Attitude Control System for GAPS Nobutaka Bando, Hideyuki Fuke from ISAS

Work list for ACS Designing control law - Going - Blue letter done Orange letter partly Red letter not yet Designing control law Making numerical model @ simulink/matlab Comparing numerical model with real system Designing controller Numerical simulation Controlling gondola Checking hardware PC/104 (only D/A) Motor and motor controller GPS compass Gyro sensor Coding on-board program Testing with whole system Details were written in Hide’s report.

Hardware check for motor and motor controller 1) Only motor and motor controller Block diagram with gear written explicitly Block diagram with superficial inertia J2 Real motor and motor driver

Hardware check for motor and motor controller 2) motor and motor controller @ mockup gondola (electrically same configuration with previous slide) Block diagram with superficial inertia J2 Motor and motor controller are installed at motor case on the top of the mockup gondola

Thinking about gondola control system Angle velocity of rotor of gondola When gondola is floating With sling Angle of crane’s head Angle of rotor Angle of gondola

Hardware check for motor and motor controller 3)-1 Rotating mockup gondola with short sling (high torsion-torque coefficient, crane head is fixed) Angle of crane’s head Mockup gondola is suspended from crane with short sling Angle of rotor Angle of gondola

Hardware check for motor and motor controller 3)-2 Rotating mockup gondola with short sling (high torsion-torque coefficient, crane head is fixed) Experimental video with short sling(gaps3.wmv)

Hardware check for motor and motor controller 4)-1 Rotating mockup gondola with short sling but crane head is not fixed (short sling can rotate freely) < Not fixed Angle velocity of rotor Mockup gondola is suspended from crane with short sling But crane head is not fixed Angle velocity of gondola

Hardware check for motor and motor controller 4)-2 Rotating mockup gondola with short sling but crane head is not fixed (short sling can be rotated freely) Experimental video crane with that crane head is not fixed(gaps4.wmv)

Designing controller . In previous experiment, only constant reference of angle velocity q2 ref is given. Practically this reference is calculated through feedback controller CFB with angle error of gondola. Actual block diagram of gondola control system

Future works Designing control law Making numerical model @ simulink/matlab Comparing numerical model with real system Designing controller Numerical simulation Controlling gondola Checking hardware PC/104 (only D/A) Motor and motor controller GPS compass Gyro sensor Coding on-board program Testing with whole system