@PhDThesis{Agostinho:2019:CoMoDe,
author = "Agostinho, Adriana Cavalcante",
title = "Controle por modos deslizantes aplicado ao movimento de atitude de
sat{\'e}lites submetidos aos torques perturbadores gerados pelo
movimento de um l{\'{\i}}quido",
school = "Instituto Nacional de Pesquisas Espaciais (INPE)",
year = "2019",
address = "S{\~a}o Jos{\'e} dos Campos",
month = "2019-04-24",
keywords = "Movimento de atitude, sat{\'e}lite, controle por modos
deslizantes, sloshing, motion of attitude, satellite, sliding
modes control, sloshing.",
abstract = "Controlar a atitude do sat{\'e}lite significa apontar e manter o
apontamento do ve{\'{\i}}culo de acordo com os requisitos
definidos durante uma miss{\~a}o espacial a fun{\c{c}}{\~a}o de
controlar a atitude desse ve{\'{\i}}culo espacial {\'e}
desempenhada, de forma aut{\^o}noma e independente, pelo
Subsistema de Controle de Atitude (SCA). Nesta tese estuda-se a
aplica{\c{c}}{\~a}o de t{\'e}cnica de controle n{\~a}o-linear
ao movimento de atitude do sat{\'e}lite submetido a
perturba{\c{c}}{\~o}es provenientes do movimento do
l{\'{\i}}quido, denominado sloshing, em ambiente de
microgravidade. No espa{\c{c}}o, o sloshing apresenta um
comportamento ca{\'o}tico e o seu efeito na malha de controle
pode ter consequ{\^e}ncias diretas na atitude de um
ve{\'{\i}}culo, gerando incertezas na determina{\c{c}}{\~a}o
da atitude e erros de apontamento capazes de comprometer os
objetivos da miss{\~a}o para o qual foi projetado. A maior
dificuldade envolvendo o estudo sobre sloshing {\'e} definir um
modelo matem{\'a}tico que descreva o seu comportamento em
microgravidade, bem como definir com exatid{\~a}o
par{\^a}metros, que variam com o tempo, como massa do veiculo e
combust{\'{\i}}vel, amortecimento e rigidez. Neste trabalho
estudase a aplica{\c{c}}{\~a}o do Controle por Modos Deslizantes
(SMC) no projeto do SCA de um ve{\'{\i}}culo espacial submetido
{\`a} a{\c{c}}{\~a}o do sloshing. O SMC tem como vantagem sua
relativa simplicidade estrutural, robustez a varia{\c{c}}{\~o}es
nos par{\^a}metros do sistema e baixa sensibilidade a
perturba{\c{c}}{\~o}es externas e incertezas. Visando observar
essas caracter{\'{\i}}sticas dois estudos foram realizados na
primeira etapa. O primeiro estudo comparou o desempenho do SMC ao
cl{\'a}ssico PID, e concluiu-se que ambos apresentavam um
desempenho transit{\'o}rio e estacion{\'a}rio pr{\'o}ximos. No
segundo estudo, incertezas nos atuadores foram consideradas e,
novamente, os controles SMC e PID foram comparados. Concluiu-se
que o SMC apresenta desempenho transit{\'o}rio melhor que o PID.
A segunda etapa do estudo foi considerar perturba{\c{c}}{\~o}es
geradas pelo sloshing com o intuito de verificar a robustez do
SMC. Um sistema mec{\^a}nico an{\'a}logo massa-mola-amortecedor
foi considerado em cada eixo de coordenadas do tanque no
espa{\c{c}}o tridimensional. Tr{\^e}s abordagens foram aplicadas
para se obter o modelo matem{\'a}tico do movimento do
l{\'{\i}}quido: newtoniana, lagrangiana e teoria da colis{\~a}o
entre corpos. O controle SMC foi robusto perante a esse tipo de
perturba{\c{c}}{\~a}o. ABSTRACT: Controlling the attitude of the
satellite means pointing and maintaining the vehicle's pointing
according to the requirements defined during a space mission
design, the function of controlling the attitude is performed,
autonomously and independently, by the Attitude Control Subsystem
(ACS). This thesis studies the non-linear control technique
applied to the attitude movement of the satellite, subjected to
perturbations generated by the movement of the liquid, called
sloshing, inside the fuel tank, in a microgravity environment. In
space, sloshing has a chaotic movement and its effect on the
control system can have direct consequences on the attitude of a
vehicle, generating uncertainties in attitude determination and
pointing errors capable of compromising the mission objectives for
which it was designed. The major difficulty with the sloshing
study is to define a mathematical model that describes its
behavior in microgravity, as well as accurately define parameters,
which vary with time, such as mass of the vehicle and fuel,
damping and stiffness. In this thesis the application of the
Sliding Mode Control (SMC) in the ACS project of a space vehicle,
subjected to sloshing action, is studied. The advantage of SMC is
its relative structural simplicity, robustness to variations in
system parameters and low sensitivity to external disturbances and
uncertainties. In order to observe these characteristics two
studies were carried out in the first stage. The first study
compared the performance of the SMC with the classic PID, it was
concluded that both had a transient and stationary performance
nearby. In the second study, uncertainties in the actuators were
considered and again the SMC and PID controls were compared. It
was conclude that the SMC presents transient performance better
than the PID. In a second stage, a study was carried out with the
purpose of verifying the robustness of the SMC with sloshing
disturbances. A mechanical analog system mass-spring-damper was
considered coupled to each coordinate axis of the tank in
three-dimensional space. Three approaches were applied to obtain
the mathematical model of liquid movement: Newtonian, Lagrangian
and collision theory between bodies. SMC control was robust due to
the presence of this type of disturbance.",
committee = "Carvalho, Francisco das Chagas (presidente) and Rocco, Evandro
Marconi (orientador) and Santos, Willer Gomes dos and Souza, Alain
Giacobini de and Costa Filho, Aguinaldo Cardozo da",
englishtitle = "Sliding Mode Control (SMC) applied to attitude motion of a
satellite submitted to disturbing torques generated by the
movement of a liquid",
language = "pt",
pages = "199",
ibi = "8JMKD3MGP3W34R/3T633UL",
url = "http://urlib.net/ibi/8JMKD3MGP3W34R/3T633UL",
targetfile = "publicacao.pdf",
urlaccessdate = "25 abr. 2024"
}