Testing novel spacecraft Attitude Determination and Control Systems (ADCS) control laws for performance is common place, but it is of paramount importance to also ensure the target hardware can actually perform the necessary calculations. This form of testing is formally known as Hardware in The Loop (HIL), and for ADCS control laws typically spacecraft attitude simulators are involved. Engineering Extremely Rare Events in Astrodynamics for Deep-Space Missions in Autonomy, or EXTREMA, an ERC funded project, works to develop autonomous GNC and requires a HIL attitude simulator platform. This thesis presents the work to design, develop, and manufacture the foundational platform and the accompanying automated mass balancing mechanism for an attitude simulator. Initial analysis focuses on a partially developed over actuated system developed by a previous Politecnico di Milano Masters student and examines all component, design, and material choices. Favourable aspects were directly integrated into the design solution and others flagged for modification. The final design solution consists of custom parts shaped for 3D printing, bespoke printed circuit boards, and a tailored graphical user interface for troubleshooting and health monitoring. Complete rationale and detailed explanation on all design choices covering the mechanical, electronic, and software domains are provided followed by the manufacturing processes and assembly. The resulting system is composed of embedded nodes connected to a server to actuate moveable trim masses and acquire inertial data. The server hosts the front end graphical interface providing a live status and data obtained from the system, and additionally accommodates Matlab connectivity to allow developed controls laws to position trim masses based on inertial measurements. For the desired Hardware in The Loop simulations, the top plate offers a large space for equipment such that an experimenter can easily affix target hardware.
Testare innovative leggi di controllo per l’Attitude Determination and Control Systems (ADCS) di satelliti per valutarne le prestazioni è usuale, ma è di fondamentale importanza garantire anche che l’hardware target possa effettivamente eseguire i calcoli necessari. Questa forma di test è formalmente conosciuta come Hardware in The Loop (HIL), e per le leggi di controllo relative all’ADCS sono in genere coinvolti simulatori di assetto di satelliti. In particolare, Engineering Extremely Rare Events in Astrodynamics for Deep-Space Missions in Autonomy, o EXTREMA, un progetto finanziato da ERC, lavora per sviluppare GNC autonomi e richiede una piattaforma di simulatore di atteggiamento HIL. Questa tesi presenta il lavoro svolto al fine di progettare, sviluppare e produrre la piattaforma principale e il relativo meccanismo automatizzato di bilanciamento di massa per un simulatore di assetto. L'analisi iniziale si concentra su un sistema over-actuated sviluppato da un precedente studente di magistrale del politecnico di Milano ed esamina tutte le decisioni prese relative a componenti, design e materiali. Gli aspetti e soluzioni favorevoli sono stati direttamente integrati nel progetto poi sviluppato, altri invece sono stati modificati o sostituiti. La soluzione finale del progetto consiste in parti personalizzate sagomate per poi essere stampate a 3D, circuiti stampati su misura e un'interfaccia utente grafica personalizzata per la risoluzione dei problemi e il loro monitoraggio. Saranno illustrati il ragionamento seguito e la spiegazione dettagliata su tutte le scelte di progettazione che coprono i domini meccanici, elettronici e software; successivamente saranno descritti i processi di produzione e assemblaggio. Il sistema risultante è composto da nodi incorporati collegati a un server per azionare le masse di trim mobili e acquisire dati inerziali. Il server ospita l'interfaccia grafica front-end che fornisce lo stato live e i dati ottenuti dal sistema, e permette inoltre la connettività a Matlab per consentire alle leggi di controllo sviluppate di posizionare le masse di trim sulla base di misurazioni inerziali. Per le simulazioni dell’Hardware in The Loop, la piastra superiore offre un ampio spazio per le apparecchiature in modo che uno sperimentatore possa facilmente fissarci l’hardware target.
Design and development of an automated moveable-mass system for a CubeSat attitude simulator platform
PARISI, ADRIAN BURTON
2020/2021
Abstract
Testing novel spacecraft Attitude Determination and Control Systems (ADCS) control laws for performance is common place, but it is of paramount importance to also ensure the target hardware can actually perform the necessary calculations. This form of testing is formally known as Hardware in The Loop (HIL), and for ADCS control laws typically spacecraft attitude simulators are involved. Engineering Extremely Rare Events in Astrodynamics for Deep-Space Missions in Autonomy, or EXTREMA, an ERC funded project, works to develop autonomous GNC and requires a HIL attitude simulator platform. This thesis presents the work to design, develop, and manufacture the foundational platform and the accompanying automated mass balancing mechanism for an attitude simulator. Initial analysis focuses on a partially developed over actuated system developed by a previous Politecnico di Milano Masters student and examines all component, design, and material choices. Favourable aspects were directly integrated into the design solution and others flagged for modification. The final design solution consists of custom parts shaped for 3D printing, bespoke printed circuit boards, and a tailored graphical user interface for troubleshooting and health monitoring. Complete rationale and detailed explanation on all design choices covering the mechanical, electronic, and software domains are provided followed by the manufacturing processes and assembly. The resulting system is composed of embedded nodes connected to a server to actuate moveable trim masses and acquire inertial data. The server hosts the front end graphical interface providing a live status and data obtained from the system, and additionally accommodates Matlab connectivity to allow developed controls laws to position trim masses based on inertial measurements. For the desired Hardware in The Loop simulations, the top plate offers a large space for equipment such that an experimenter can easily affix target hardware.| File | Dimensione | Formato | |
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https://hdl.handle.net/10589/186289