Adaptive Balloon Azimuth Control using a Simple DC Motor Actuator

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概要

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• A control system for the azimuth control of the balloon gondola using a simple actuator (motor and coupling ring) is presented. Three mathematical models of the system are reviewed first. Classical continuous time compensators and robust optimal continuous time and discrete time controllers are designed and compared in frequency and time domain. The rejection of typical disturbances (a ramp type disturbance due to the turning of the entire balloon and a sinusoidal disturbance due to the pendulum motion of the suspended gondola) is investigated by simulations. A feedforward velocity controller applicable in scanning missions and a feedforward position controller for large changes of the azimuth are designed and tested by simulations. A selftuning procedure for the automatic adjustment of the parameters of the controller to the dominant dynamic characteristics of the gondola is given. Finally a comparison between the adaptive notch filter and adaptive Butterworth low pass filter with respect to the elimination of instabilities of pendulum motion around a horizontal axis is presented. The performances of the selftuning and adaptive algorithms are proven by simulations.

• 宇宙航空研究開発機構の論文

著者

• Yajima Nobuyuki

  Graduate School Of Biostudies And Institute For Virus Research Kyoto University

• Matko D

  Jaxa

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