Optimizing attitude and translation control of a Microsat mock-up on a low-friction table

The aerospace systems laboratories utilize low-friction modules to simulate microgravity conditions, allowing for the testing the performances, materials, and instrumentation of the satellite on ground. In a satellite system design, precise control of the its position and orientation is crucial for various reasons, including maintaining effective communication with ground stations and facilitating connections with other satellites. This thesis discusses the development, optimization, and testing of the translational and attitude control for a floating module. This module dimensions are comparable to a Cubesat consisting of 12 units. This microsat mock-up was developed and assembled in some previous works [1] [2] [6], and was designed to achieve planar low-friction motion on a leveled table for docking experiments. This mock-up floats on a glass surface using three air bearings, enabling the low-friction motion conditions required for the tests. This work mainly addresses two aspects. The first is to calibrate the electrovalves that control the thrust necessary for the module's planar motion, which is achieved through sixteen nozzles. Once the propulsion system is calibrated, the next goal is to enhance the control of the module position and orientation by combining translation and rotation adjustments. Tests are conducted to adjust and verify the proper calibration of the electrovalves, ensuring that each electrovalve delivers the same thrust as the others. Additionally, the optimization of the control of the module and the calibration of the Pulse Width Modulation (PWM) signals to command the opening of the electrovalves are eva-uated. Moreover, each change that is implemented in the following chapters is validated by a Simulink model, which is described and improved to reflect the vehicle optimizations and to provide a more accurate representation of the physical module, this can be seen as the main goal of the thesis, obtaining a simulaton model closer to its physical counterpart helps in the final success of the mission. The thesis concludes with the documentation of the actual modifications made to the module and simulations for final analyses. The last tests, regarding the translations and attitude control of the module, are conducted and evaluated exclusively within the Simulink model.