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

2. Work list for ACS Designing control law
- Going -
Blue letter done
Orange letter partly
Red letter not yet
Designing control law
Making numerical 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.

3. 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

4. Hardware check for motor and motor controller
2) motor and motor 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

5. 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

6. 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

7. 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)

8. 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

9. 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)

10. 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

11. Future works Designing control law
Making numerical 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