Best Practices for Hardware-in-the-Loop Testing of Minisatellite Optimal Attitude Control
Keywords:
Hardware-in-the-loop, satellite attitude control, optimal control, model-based designAbstract
This study investigates the application of an optimal control algorithm to solve a satellite attitude control problem. The study entails obtaining the satellite equations of motion through the establishment of both the kinematics and dynamics equations. The nonlinear state-space equations are formulated, and a dimension reduction technique is employed prior to linearization to ensure the controllability of the system. The aforementioned control system theory is elucidated, and simulations are performed to assess the efficacy of the controller. The employed control structure in this research is an LQR controller. To significantly enhance the dependability of the control algorithm, a hardware-in-the-loop (HIL) structure is built utilizing the cRIO-9045 embedded controller device. The establishment of the human-machine interface was achieved by utilizing a Host PC and the real-time controller. The HIL setup and communication diagram are thoroughly elucidated. The control algorithm is evaluated on a real-time device by implementing a real-time tracking scenario. The results demonstrate that the satellite successfully tracks the provided reference signals as required.
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