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所在平台: Coursera |
课程主页: https://www.coursera.org/learn/attitude-control-momentum-exchange-devices
课程评论：没有评论
课程名称：动量交换设备的姿态控制 课程概述： 本课程是“先进航天器动力学与控制”专业的第一部分，直接承接了“航天器动力学与控制”专业的内容。课程重点关注使用各种角动量设备进行非线性姿态反馈控制，并提供先修材料的全面回顾。接着，课程将发展具有动量交换设备（如反应轮（RWs）、控制动量陀螺（CMGs）和可变速控制动量陀螺（VSCMGs））的航天器运动方程。 课程还讨论了如何开发一个复杂的航天器仿真，包括众多VSCMG，并探讨调试这种复杂软件的方法。利用功/能定理来帮助调试仿真，通过验证角动量、能量、动量变化和机械功率来进行。 此外，课程探讨了零运动的使用，以重新配置姿态控制设备，避免奇异性和万向节锁定。通过利用冗余，寻求避免经典CMG奇异性的控制解决方案。 课程大纲： 第1部分：航天器运动学基础回顾 - 该模块回顾航天器运动学的先修主题，旨在为学生提供本课程所需的数学工具和概念，并深入探讨每个主题。 第2部分：航天器动力学基础回顾 - 回顾封闭动力系统的基本特性，并发展运动方程。 第3部分：非线性航天器控制基础回顾 - 回顾基本的非线性稳定性定义，使用Lyapunov直接法，讨论系统为时间相关时的稳定性证明修改。 第4部分：VSCMG动态 - 发展可变速CMG设备的运动学和动力学。 第5部分：基于动量的三轴姿态控制 - 学习如何使用一系列动量交换设备（如反应轮、控制动量陀螺和可变速CMG）实现三轴姿态反馈控制。
Part: 1
Title:Revisiting Basics of Spacecraft Kinematics
Description:The prerequisite topics of spacecraft kinematics are reviewed in this module. This sequence is intended to ramp up the student on the mathematical tools and concepts required for this course. For each topic we also dig a little deeper into the subject matter.
Part: 2
Title:Revisiting Basics of Spacecraft Kinetics
Description:Review of fundamental properties of a closed dynamical system leading to the development of the equations of motion.
Part: 3
Title:Revisiting the Basics of Nonlinear Spacecraft Control
Description:Review of the fundamental nonlinear stability definitions, using Lyapunov's direct method, as well as discussing stability proof modifications if the system is time dependent.
Part: 4
Title:VSCMG Dynamics
Description:Develop the kinematics and kinetics of the variable speed CMG devices.
Part: 5
Title:Momentum Based 3-Axis Attitude Control
Description:Learn how to achieve 3-axis attitude feedback control using a series of momentum exchange devices such as reaction wheels, control moment gyroscopes (CMGs) and variable speed CMGs
This course is part 1 of the specialization Advanced Spacecraft Dynamics and Control. It is a direct continuation of the Coursera specialization Spacecraft Dynamics and Control. This first course focuses on nonlinear attitude feedback control using a range of angular momentum devices. The course provides a comprehensive review of prerequisite material. Next it develops equations of motion of a spacecraft with momentum exchange devices such as reaction wheels (RWs), control momentum gyroscopes (CMGs) and variable speed control moment gyroscopes (VSCMGs). The course discusses developing a complex spacecraft simulation with a number VSCMGs and how to approach debugging such complex software. The use of the work/energy theorem is discussed to assist with debugging the simulation by validating angular momentum, energy, changes in momentum and mechanical power. Further, the use of null motion is explored to reconfigure the attitude control devices to avoid singularities and gimbal lock. The redundancy is exploited to seek control solutions that avoid classical CMG singularities.
