State feedback control of the spacehawk earth based lunar hopper
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State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper. Andrew Abraham, May 2013. Background. Researching the dynamics and controls associated with a ‘hopping’ spacecraft trajectory. OBSTACLE. Location A. Location B. Background.

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State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper

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State feedback control of the spacehawk earth based lunar hopper

State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper

Andrew Abraham, May 2013


Background

Background

  • Researching the dynamics and controls associated with a ‘hopping’ spacecraft trajectory

OBSTACLE

Location A

Location B


Background1

Background

  • 1967- Surveyor 6 has been the only spacecraft to ‘hop’

    • - Travelled 8 ft.

  • Conventional landers are designed to be rovers constrained to the ground

    • - Disadvantageous for exploring

Mars Exploration Rover

Surveyor 6


Specifications

Specifications

  • 4 ducted fans; each with 10lbs of thrust @ full throttle

  • Fans Produce ZERO torque @ 75%

  • Gimbaled in 1 direction

  • Frame made from aluminum

    • Easy to construct

  • Total weight: 32lbs

  • 26” From end to end


  • Specifications1

    Specifications

    • Arduino Mega for control computer

    • MEMS IMU

    • 4 LiPoly Batteries: 2.25lbs each

    • ICE 80amp Electronic Speed Controller

    • Project funded by NASA

    Arduino Mega

    6 DOF Analog IMU

    1 of 4 LiPo Batteries


    Testing

    Testing


    Testing1

    Testing


    Axis and forces

    Axis and Forces


    Definitions

    Definitions


    Equations of motion

    Equations of Motion


    Feedback linearization position

    Feedback Linearization(Position)

    Exact Linearization Control Law

    Plug Into Equations of Motion

    Now, linear control laws can be used with r as the virtual input


    State feedback control of the spacehawk earth based lunar hopper

    Exact Feedback Linearization(Angles)

    Exact Linearization Control Law

    Plug Into Equations of Motion

    Now, linear control laws can be used with r as the virtual input


    State feedback control of the spacehawk earth based lunar hopper

    Approximate Feedback Linearization(Angles)

    Exact Linearization Control Law

    (highly nonlinear)

    Near δ = 0

    &

    Approximate Linearization Control Law (linear)


    Critically damped pd controller

    Critically-DampedPD Controller


    Control strategy

    Control Strategy


    Control implementation

    Control Implementation

    Over-Actuated System Without Following Two Additional Constraints

    PWM

    Time


    Simulation

    Simulation

    3m

    10m

    A

    B


    Definitions1

    Definitions

    Red = Reference Signal, Blue = Exact, Green = Approximate


    Acknowledgements

    Acknowledgements

    Authors:

    Anthony Dzaba, Andrew Abraham, Evan Mucasey, Terry Hart, and Eugenio Schuster

    Funding Agencies:

    NASA PA Space Grant


    Thank you

    Thank You!


    Definitions2

    Definitions


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