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Proceedings Paper

Multiple degree-of-freedom tracking for attitude control of an experimental system on tether-stabilized platform
Author(s): Francesco Angrilli; Pietro Baglioni; Gianandrea Bianchini; Roberto Da Forno; Giulio Fanti; Massimo Mozzi
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Paper Abstract

A study has been conducted about attitude control and pointing of an optical instrument (a Schmidt-type telescope) connected to the space station via a tether 2 to 10 km long, mounted on a platform. The tether plays a multifunctional role, including elastic suspension and data and power transmission. It will insulate the platform from dynamic noise, light, and other pollution from the space station. Furthermore, stabilization and active attitude control will be achieved by moving the attachment point of the tether with respect to the platform itself. A bi- dimensional model of this system has been realized and tested in the laboratory. The measurement and control concept that works on the basis of a computer vision system is discussed. The system is used to stabilize a platform floating on an air table attached to a fixed point through a tether, via a closed loop position control circuit. This is achieved through a CCD camera (768 X 512 pixels), an image processing software, and a dc motor with encoder which controls the attitude of the platform moving its attachment point. The tracking function is realized via a multiple windows technique using an algorithm based on the linearized equations of motion of the platform. The performance of the overall system is presented. An analysis of system characteristics with respect to a real application is carried out. In particular, the possibility of achieving stabilization and active attitude control of such a system by moving the attach point of the tether has been investigated.

Paper Details

Date Published: 1 August 1991
PDF: 14 pages
Proc. SPIE 1482, Acquisition, Tracking, and Pointing V, (1 August 1991); doi: 10.1117/12.45682
Show Author Affiliations
Francesco Angrilli, Univ. of Padova (Italy)
Pietro Baglioni, Univ. of Padova (Italy)
Gianandrea Bianchini, Univ. of Padova (Italy)
Roberto Da Forno, Univ. of Padova (Italy)
Giulio Fanti, Univ. of Padova (Italy)
Massimo Mozzi, Univ. of Padova (Italy)


Published in SPIE Proceedings Vol. 1482:
Acquisition, Tracking, and Pointing V
Michael K. Masten; Larry A. Stockum, Editor(s)

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