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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. 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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  1. State-Feedback Control of the SpaceHawk Earth-Based Lunar Hopper Andrew Abraham, May 2013

  2. Background • Researching the dynamics and controls associated with a ‘hopping’ spacecraft trajectory OBSTACLE Location A Location B

  3. 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

  4. 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

  5. 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

  6. Testing

  7. Testing

  8. Axis and Forces

  9. Definitions

  10. Equations of Motion

  11. 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

  12. 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

  13. Approximate Feedback Linearization(Angles) Exact Linearization Control Law (highly nonlinear) Near δ = 0 & Approximate Linearization Control Law (linear)

  14. Critically-DampedPD Controller

  15. Control Strategy

  16. Control Implementation Over-Actuated System Without Following Two Additional Constraints PWM Time

  17. Simulation 3m 10m A B

  18. Definitions Red = Reference Signal, Blue = Exact, Green = Approximate

  19. Acknowledgements Authors: Anthony Dzaba, Andrew Abraham, Evan Mucasey, Terry Hart, and Eugenio Schuster Funding Agencies: NASA PA Space Grant

  20. Thank You!

  21. Definitions

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