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Control and Accuracy Assessment for the Space Station
Sun Directional Unit Test System
Xinlin Bai Qiushi Li Xiao Zhang
State Key State Key State Key
Laboratory of Laboratory of Laboratory of
Robotics Robotics Robotics
Shenyang Institute Shenyang Institute Shenyang Institute
of Automation, of Automation, of Automation,
Chinese Academy Chinese Academy Chinese Academy
of Sciences of Sciences of Sciences
Shenyang , China Shenyang , China Shenyang , China
baixinlin@sia.cn
Abstract—To check driving performance of the sun
directional device, a semi-physical test system is set up on
the ground based on electric load simulator. The problems,
such as the big torque, high precision and high frequency
noise which the control of the test system is confronted,
caused by the characteristics of the flexibility and the large
inertia of the solar arrays has been solved. In this paper, the
mechanism model of electric load simulator is established,
and the parameters of the loading unit are identified by the
least square method, then the significance of each parameter
to the response characteristic of loading unit is analyzed.
Then, the controller of the loading unit is designed based on
the compound control algorithm, including differential
negative feedback, lead compensation and fuzzy adaptive
PID, which effectively broadens the bandwidth of the
loading unit and improves the dynamic performance. At
last, step signal, sinusoidal signal and other signals are used
to check the response speed, loading bandwidth and loading
accuracy of the test system. The feasibility and effect of the
compound control algorithm method are also proved by
experiments.
Keywords—Torque Control; Accuracy Assessment; Space
Station; Ground Test System
I. INTRODUCTION
Ground test system is important for the development of
the sun directional device. The semi-physical simulation
method is used to simulate the torque of the large flexible
solar cell arrays acting on the sun directional device in real
time. The device’s bottom is connected to the main
structure of the loading system through a disturbance
torque sensor and its top is connected to the loading unit
by a flange. The loading unit is a motor driven load
simulator and the rotation angle of the output terminal
measured by the grating scale is designed as the input of
the flexible solar cell arrays dynamics model. With these,
the load of solar cell arrays acting on the sun directional
device can be calculated. Then the loading unit is used for
the sun directional device in real time to evaluate the
flexible load dynamic performance, which is driven by the
sun directional device.
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Zhen Zhao Mingyang Liu Yun He
State Key Lab of State Key State Key
Mechanics and Laboratory of Laboratory of
Control of Robotics Robotics
Mechanical Shenyang Institute Shenyang Institute
Structures, of Automation, of Automation,
Nanjing University Chinese Academy Chinese Academy
of Aeronautics and of Sciences of Sciences
Astronautics Shenyang , China Shenyang , China
Nanjing , China
Due to the loading accuracy of the system seriously
affected by the extraneous torque generated by the motor
driven load simulator, many scholars have carried out the
relevant researches on how to eliminate the extraneous
torque. [2] has introduced a method that the connecting
stiffness of the loading system is adjusted by a spring lever
to restrain the extraneous torque. However, to the response
speed of loading system, stiffness requirements are
relatively high. So it's difficult to implement. Based on the
principle of structural invariance, a feed-forward
compensation controller has been proposed to compensate
the extraneous torque. However, the experimental results
are less obvious than the simulation results because of the
existence of the interference signals and the nonlinear
factors [3]. Similarly, according to the principle of
structural invariance, the damping of the system can be
increased and the torque overshoot is effectively restrained
through introducing the differential negative feedback
from the output torque. Simultaneously, the zeros and
poles of the closed system can be reassigned, so that the
interference to the differential signals of the noise can be
effectively reduced [4-6]. Through a disturbance observer
introduced to restrain extraneous torque, a dual-loop
control structure is proposed by H. Coelingh, E. Schrijver,
which has increased the bandwidth of the loading system
[7, 8]. In view of the repeatability of the sinusoidal loads,
an iterative learning control strategy for amplitude and
phase corrections is proposed. As a result, the extraneous
torque is restrained effectively and the loading accuracy is
guaranteed [9]. System bandwidth is another important
standard in the design of load simulator control system. In
order to study the influence on the system bandwidth from
the motor response speed, the connection stiffness and the
system inertia, Ming-yan Wang has conducted the
necessary proof and simulation [10] to conclude that the
cut-off frequency and bandwidth can be improved by
increasing the connection stiffness; reducing the moment
of inertia can reduce the output torque of the motor and
improve the bandwidth and response speed of the system
[11]. A method of the adaptive fuzzy-tuning PID control
combined with feed-forward compensation is proposed in
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[12]. In view of the tracking ability of the permanent Fig. 2. Simplified Block diagram of the motor driven load
magnet linear synchronous motor, in comparison to the simulatorThe PID controller:
traditional PID, AhnKK, Truong DQ confirms that fuzzy
PID can achieve a better performance about the dynamic KD s2 + KP s + KI
G0 = (1)
stability, the tracking ability and the robustness against s
external interference [13].
The current loop:
In this paper, the low speed, high torque and high
precision loading characteristics of the sun directional KT ωn21
G1 = (2)
device are studied, and the mathematical model of the s + 2ζ 1ωn1 s + ωn21
2

loading unit of the test system is established with its

parameters identified. By adjusting the parameters of the The mechanical system:
model, the influence of each segment of the system KA
performance is analyzed. After that a controller is G2 = 2
(3)
J m s + Bm s + K A
designed. It achieves high performance such as low speed,
large torque and high precision loading. The experiment Then, we can get the open-loop transfer function of the
results meet the test requirements, and the assessment of system
the ground test of the driving performance of the sun
directional device is accomplished. G = KT K Aωn21 ( K D s 2 + K P s + K I ) /
§ J m s 4 + ( Bm + 2ζ 1ωn1 J m ) s3 + ( J mωn21 + 2ζ 1ωn1 Bm + K A ) s 2 ·
II. SYSTEM MODEL s¨ ¸
¨ + ( Bmωn21 + 2 K Aζ 1ωn1 ) s + K Aωn21 ¸
A. Mathematical model of the loading unit © ¹

The high precision test performance of the system (4)

requires the high accuracy, the high performance of the Where the parameters to be identified are the
actuators and the measuring devices. Additionally, the impedance, the moment of inertia J m , the coefficient of
choices of control strategy, which premise is to establish
the accurate mathematical models, are rigorous. In this friction Bm and the connection stiffness K A .
paper, the load simulator for direct drive of permanent Stiffness of connection
magnet synchronous motor (PMSM) is studied and the
accurate mathematical model of the loading unit is
established, as shown in Fig. 1.

Fig. 1. Block diagram of electrical servo load simulator

Where K PWM is the PWM drive unit amplification

factor; TPWM is the PWM drive unit delay period; Tm is
the loading command torque; KT is the motor torque
coefficient; K e is the back electromotive force
coefficient(BEMF); Lm is the winding inductance of the
motor; Rm is the winding resistance of the drive motor;
J m is the rotor moment of inertia; Bm is the coefficient of
frictional resistance; K A is the connection stiffness.
B. Parameter identification of the system
Combined with the fitted transfer function of the
motor, the system model can be simplified to a transfer
function consisting of three parts, the PID controller, the
current loop and the mechanical system, as shown in Fig.
2.
Fig. 3. Diagram of stiffness test system
As shown in Fig. 3, the circular grating 1 is defined as
point O, the circular grating 2 is defined as point A, and
the stiffness under the installation of the B is considered
as infinite; C is the torque sensor, by which the torque
standard values are measured.
While the loading motor outputs torque, the angle
variation at O and A are measured and the output torque
is measured at C. First, input the step command torque to
the loading motor. As the system is stable, the output
value θ1 of the circular grating 1, θ2 of the circular
grating 2 and the value T measured by the torque sensor
are recorded.
The range of the input torque is -240~240 Nm. By
using the least square method, we can obtain
T = kl (θ1 − θ 2 ) + bl (5)

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C. Inertia and damping

Kd >
(
AD − Lm K A + Bm Rm + Bm GPWM + K e2 KT2 B ) (8)
The inertia of the loading unit mainly consists of the
K A KT2 GPWM ( Lm Bm + J m Rm + GPWM J m )
rotor inertia of the motor, the inertia of the bearing and the
load inertia. The system damping mainly consists of a The system tends to cause oscillation if the differential
motor damping, a mechanical damping and a friction. The unit is added to the feedback. Also the differentiator is
inertia and damping of the system are determined by the difficult to implement. Therefore, the low pass filter
method of the micro-correction of the nominal values. In 1/(IJs+1) is embedded in the differentiator. Where, IJ is the
view of the open-loop transfer function, the mechanical time constant of the filter, whose bandwidth is generally
system can also be approximated to a typical two order chosen to be more than five times of the system
system. After the whole system is approximated to a two bandwidth. The plots of the amplitude and the phase after
order system, the conclusion (the mechanical system pole introducing the differential moment negative feedback are
is the dominant pole of the system) can be achieved easily. shown in Fig. 5.
9.589 ×109 ( s + 60 ) It can be concluded from the plot that the system is
G= (6)
s ( s + 1.415s + 4043)( s 2 + 1064s + 677700 )
2 stable, nevertheless, the static behavior barely meets the
loading requirements. When tracking with the command
torque in the working frequency band, the amplitude
characteristic presents the attenuation property, with nearly
90° phase delay maintained. Therefore, the lead
compensation is carried out to enhance the static and
dynamic behavior.
B. Lead correction
The loading unit mainly works at the frequency of
0~10 Hz. From the Bode diagram, the output of the system
in the working frequency band shows a large delay and
attenuation characteristics, and the larger phase lag
appears in the middle and high frequency section. In order
to improve the system tracking performance, a lead
Fig. 4. Comparison between measured curves and identified curves correction are cascaded in the forward channel, so as to
increase the phase of the forward path and decrease the
III. CONTROLLER DESIGN phase lag. By appropriate parameters selected, the
attenuation of the amplitude caused by the inertial element
A. The design of the differential negative feedback is compensated in the working frequency band as well as
From the fitted closed loop transfer function of the the curve of the logarithm amplitude frequency
system, we conclude that PID alone can hardly meet the characteristic is guaranteed to maintain at around 0 dB in
technical requirements. According to the simulation result, the working frequency band, so as to widen the system
it is necessary to introduce the compensation unit. And the bandwidth. The compensation block diagram of electrical
common method of the compensation is to adopt the series servo load simulator is shown in Fig. 5.
compensation and the feedback compensation. In this
paper, by introducing differential feedback of output Torque loop Differential negative
feedback k1 s + k2
torque, the rate of change of the torque is fed back to the Lead
correction Current loop Ke
loading motor. Then the time constant is reduced and the Tm aTs + 1 K PWM − 1 1 ωr 1 θm TL
+−
−
PID T s + 1 + KT +− +− K A
damping ratio of the system is increased, so as to reduce PID +
Ts + 1 PWM Rm + Lm s J m s + Bm s
θr
the overshoot and improve the speed and dynamic stability
of the system.
Fig. 5. Compensation block diagram of electrical servo load simulator
The characteristic equation of the system is
The transfer function of the lead correction controller is
As3 + Bs 2 + Cs + D = 0 (7)
Ts + 1
where Gc ( s ) = (9)
A = Lm J m aTs + 1
B = ( Lm Bm + J m Rm + J m GPWM ) where, a is the lag ahead ratio ( a > 1 ), T is the time
(
C = Lm K A + Bm Rm + Bm GPWM + K e2 K T2 + K A KT2 GPWM K d ) constant of the lead correction. By adjusting the
parameters of a and T, we can assign the zero and the
(
D = K A Rm + GPWM + K T2 GPWM ) poles along the negative real-axis to keep the working
According to the Routh criterion, the feedback frequency band within the range of 1 aT and 1 T , within
coefficients K d of differential unit of the torque should which the correction shows a differential property. The
satisfy the following inequality: Bode diagram of the system after series correction is
shown in Fig. 6.

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( KP KI KD ) = ( KP′ KI ′ KD′ ) + ( ΔKP ΔKI ΔKD )

(10)
where, the initial adjustment of the PID parameters are
KPƍ, KIƍ, KDƍ. The input and output membership function
curve of KP can be obtained by triangle membership
function, as shown in Fig. 7.
NB NM NS ZO PS PM PB NB NM NS ZO PS PM PB
1 1

Degree of membership
Degree of membership
0.8 0.8

0.6 0.6

0.4 0.4

0.2 0.2

0 0

-3 -2 -1 0 1 2 3 -0.3 -0.25 -0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.25 0.3
e • Kp

Fig. 6. Bode diagram before and after system correction

According to the comparison diagram, the lead
correction has provided an additional phase for the
system, and the delay has been well compensated. Among
the range of 0~5 Hz, the lag barely appears; among the
range of 5~10Hz, the lag gradually appears and slowly
increases. The worst lag that occurs in 10 Hz is 20 deg.
Furthermore, the inertial element is offset by this
correction unit in the working frequency band, which
increases the slope from -20 dB/dec to 0 dB/dec, keeps
the logarithm transfer function of the system around 0 dB
in the working bands. So the system can have a good
tracking performance of the amplitude of the input signal.
Fig. 7. Membership function for error e/ec and ¨KP
Similarly, the input and output functions about the
output ¨KI and ¨KD are obtained. According to the fuzzy
control rule and the membership function, by Mamdani
reasoning method, the error and derivative of the error are
used as input, the ij fuzzy control rules are expressed in the
forms of
Rule ij˖If e=ȝi and ec=ȝj THEN u=uij
Based on engineering experience, the fuzzy adaptive
tuning PID control rules are shown in Table ĉ.
TABLE I. FUZZY RULE TABLE

IV. FUZZY ADAPTIVE PID CONTROL ec

uij(¨KP/¨KI/¨KD)
The loading system is a nonlinear time-varying system NB NM NS ZO PS PM PB

with a high coupling. According to debugging experience, NB PB/NB/PS PB/NB/NS PM/NM/NB PM/NM/NB PS/NS/NB ZO/ZO/NM ZO/ZO/PS

the loading accuracy of the system under different NM PB/NB/PS PB/NB/NS PM/NM/NB PS/NS/NM PS/NS/NM ZO/ZO/NS NS/ZO/ZO

frequency loads can be enhanced by adjusting the NS PM/NB/ZO PM/NM/NS PMNS/NM PSNS/NM ZO/ZO/NS NS/PS/NS NS/PS/ZO

controller parameters. The parameters KP, KI and KD of e ZO PM/NM/ZO PM/NM/NS PS/NS/NS ZO/ZO/NS NS/PS/NS NM/PM/NS NM/PM/NO
the PID controller can be tuned in the real time by the PS PS/NM/ZO PS/NS/ZO ZO/ZO/ZO NS/PS/ZO NS/PS/ZO NM/PM/ZO NM/PB/ZO
fuzzy adaptive control. PM PS/ZO/PB ZO/ZO/NS NS/PS/PS NM/PS/PS NM/PM/PS NM/PB/PS NB/PB/PB

The fuzzy adaptive tuning PID control is a practical PB ZO/ZO/PB ZO/ZO/PM NM/PS/PM NM/PM/PM NM/PM/PS NB/PB/PS NB/PB/PB

control method, with a simple structure, better dynamic The fuzzy reasoning results of outputs can be obtained
response and the steady-state characteristics as well as by the above fuzzy rules and the input error e and the
synchronous precision. Moreover, this control method has derivative of the error ec.
a good robustness and good anti-interference performance, Firstly, the membership degrees of the output variable
which is applicable to the nonlinear and uncertain time- is obtained. The ij fuzzy rule of the ¨KP is
varying systems with strong disturbance. On the basis of
the conventional PID controller, the error e and derivative μij (ΔK P )= min {μi (e), μ j (ec )} (11)
of the error ec are used as the input of the fuzzy controller,
while the three parameters of the PID controller ¨KP, ¨KI where, ȝi (e) and ȝj (ec) are the membership degrees of
and ¨KD are used as outputs. According to the actual e and ec respectively. At a certain sampling time,
situation of the project, the fuzzy subsets of the input according to the measurement of the error and derivative
variables e and ec are {NB, NM, NS, ZO, PS, PM, PB}, of the error, we can get the value of the ¨KP by the
the error e and derivative of the error ec are quantized into defuzzification of the gravity center of area method.
the interval (-3, 3). Meanwhile, the respective fuzzy 7
subsets of the outputs variables ¨KP, ¨KI and ¨KD are ¦μ ij (ΔK P ) ⋅ uij ( ΔK P )
{NB, NM, NS, ZO, PS, PM, PB} respectively, quantified ΔK P =
i , j =1 (12)
7
into the intervals (-0.3, 0.3), (-0.06, 0.06) and (-3, 3). ¦ μij (ΔK P )
i, j=1
According to the membership tables of the fuzzy
subsets and the fuzzy control model of each parameter as 7

well as the reasoning of synthetic ambiguous rules, the where, ¦μ

i , j =1
ij (ΔK P ) (i,j =1, 2, …7) is calculated
fuzzy matrix table of the PID parameters corrected online
is designed, and the corresponding formula can be through the membership degree of e and ec, which
expressed as: corresponds to membership degree of various
combinations of ¨KP. Similarly, the output ¨KI and ¨KD

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are obtained. The fuzzy rules of ¨KP ǃ¨KI and ¨KD 50 0.002 0.003 5.8% 0.010
designed in this paper are modeled in three dimensions 100 0.004 0.005 4.2% 0.010
and displayed in MATLAB toolbox: 150 0.006 0.009 2.5% 0.011
200 0.009 0.013 1.2% 0.012
The dynamic behavior of the system is observed,
0.3
0.2
0.1
0.06
0.04
0.02
according to the change of the magnitude of the inputted
command torque. The results are that the loading system
ːK p

ːK i
0 0
-0.1 -0.02
-0.2 -0.04
-0.3
3
2
1 0
-1
-2
-3 -0.06
3
2
1 0
1
2
3
has a good dynamic performance meeting the
e 0
experimental requirements, and the curve of the step
ec 0 e

p
-1 1 -1
2 ec -1 -2
-2

i
-3 3 -2
-3 -3

response of the system is close to that of the loaded motor.

Fig. 8. 3D graph of the fuzzy rule of ¨KP and ¨KI
Moreover, with the increase of the amplitude of the
command torque, the transition time of the motor is longer
and the overshoot is reduced.
3
2
1
B. Sinusoidal loading assessment
ːKd

-1
0 Sinusoidal loading is one of the most difficult signals
-2 to analog for the loading system. The response speed,
-3
3
2
system bandwidth and stability of the loading system are
evaluated by the input of sinusoidal torque signal with the
1 3
2
0 1
ec -1 0
d

-1 e
-2
-3 -3
-2
amplitude of 100 Nm and the frequency of 1~10 Hz. The
tracking performance of the load system is evaluated by
Fig. 9. 3D graph of fuzzy rule of ¨KD the amplitude deviation and the phase deviation between
the command torque and the measured torque. The results
Take the step signal as the reference input to evaluate are shown in Table ċ.
the performance, and the control system adjusted by the
fuzzy PID controller and the PID controller are simulated TABLE III. AMPLITUDE DEVIATIONS AND PHASE DEVIATIONS
respectively. The tracking simulation results are shown in UNDER THE DIFFERENT FREQUENCY SINUSOIDAL LOADING
Fig. 10.
240
Step
220 PID
Fuzzy PID
200
180
Loading Torque/Nm

160
140
120
100
80
60
40
20
0
0 1 2 3 4 5 6 7
Time/s
8 9 10 11 12 13 14 15 From the experimental results, it can be seen that the
maximum amplitude deviation is 2.2% and the maximum
Fig. 10. Comparison of step response of current loop phase deviation appearing at 10 Hz is merely 3.6 degrees,
which meet the requirements of experiment accuracy.
Compared with the traditional PID, the fuzzy adaptive
C. Model of torsional vibration assessment
PID can improve the speed and reduce overshoot of the
system. Under the premise of the steady-state accuracy of The loading system is checked by the curves of
the traditional PID, the fuzzy adaptive PID has higher torsional vibration system, and the experiment results
control accuracy and stronger applicability. show the deviation of the magnitude and the phase of the
torque in Table Č, under the command torques with an
A. Step response assessment amplitude of 5 Nm and different frequencies.
The step function is used as the input signal to evaluate
the system performance, and the time-domain expression TABLE IV. TORSIONAL VIBRATION ASSESSMENT
of the step function is
Phase Magnitude
A f B
deviation deviation(Nm)
°­ R ⋅1( t ) (t ≥ 0)
r (t ) = ® (13) 5 0.5 1.5 0.36° 0.38
°̄ 0 (t < 0) 5 1 1.5 1.08° 0.51
5 1.5 1.5 1.62° 0.45
where, R is the command torque. The data obtained 5 2 1.5 2.16° 0.46
from the experimental results is shown in Table Ċ. The amplitude deviation curve measured at the
frequency of 1 Hz and the amplitude of 5 Nm are shown in
TABLE II. STEP RESPONSE PERFORMANCE Fig. 11.
Command Rise- Peak Maximum Transient
torque(Nm) time(s) time(s) overshoot time(s)

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Fig. 11. Torque amplitude deviation of torsional vibration system
It can be concluded that the assessment of the torsional
vibration model system is good. The deviations of the
amplitude and that of the phase are small, and the tracking
performance is good.
D. Windsurfing model assessment
The flexible dynamic model of solar arrays is
established by coupling coefficient method. The driving
acceleration of the sun directional device is used as the
input of the model and the output is the real-time
computed loading torque of the model. The real-time
torque is outputted by the windsurfing model to evaluate
the performance of loading unit. The experiment results
are shown in Fig. 12 and Fig. 13.
Fig. 12. Loading curve of windsurfing model
Fig. 13. Deviation curve of windsurfing model
It can be seen that tracking error and phase lag are
small. The results meet the requirements of the
experiment.
V. CONCLUSION
Aiming at the lack of accuracy from the test system
caused by the delay of the loading system, in this paper,
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the mechanism model of electric load simulator is
established, and the parameters of the loading unit are
identified by the least square method. Then the controller
of the loading system is designed based on the compound
control algorithm, including differential negative
feedback, lead compensation and fuzzy adaptive PID. The
controller’s the parameters are modified by the
combination of simulations and experiments. Finally, the
loading accuracy of the test system is evaluated by
experiments.
The experiment results of the semi-physical test system
of the sun directional device show that the loading
performance of the test system is effectively improved: the
amplitude deviation of the system loading frequency is
controlled within 3% and phase delay within 3.6°, by the
controller designed by the above composite control
algorithm. The results show that the bandwidth and
accuracy of the loading system have been greatly
improved. At the same time, the output of the load torque
can track the input command signals effectively. The
control algorithm has been verified by the project.
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