Beruflich Dokumente
Kultur Dokumente
Due to the effect of non-rigidity spacecraft , there exist the effect of energy
dissipation which changes the spacecraft stability.
One also presents the analysis of some important examples of rigid body
dynamics considering different control systems ( passive & active).
Rigid Body Dynamics
Applying the Newton's laws to a particle m (point mass). One gets one second-
order vector differential equation given by
m(dx/dt)*2 = f
dp/dt = f
dr/dt = p/m
where r is the position vector of the particle with respect to an inertially fixed
point, p is the linear momentum of the particle and f is the total applied force
acting on the particle.
These equations describe the dynamics of a particle and its integration requires
selection of specific coordinates or position variables.
For example, with respect to an inertial frame {i} or spacecraft body {b}.
Rigid Body Dynamics
Attitude dynamics describes the rotational motion of a solid body
around its center of mass (center of gravity).
𝑎 𝑏 𝑐
𝑚= 0 0 0
𝜇𝑑𝑟1 𝑑𝑟2 𝑑𝑟3 = 𝜇𝑎𝑏𝑐
𝑐𝑜 = 𝑜𝑟 𝑑𝑚
𝐵
Rigid Body Dynamics
Choosing the body frame to represent c and r (see Fig. 5.1)
𝑐 = 𝑐𝑏 𝑇 {𝑏 𝑟 = 𝑟𝑏 𝑇 {𝑏
𝑐𝑐 = 𝑐𝑟 𝑑𝑚 = 𝑜
𝐵
𝑟 = 𝑐𝑟 + 𝑟
𝑜 𝑜 𝑐
Rigid Body Dynamics
As a result, the position vector of c with respect to o
𝑐𝑜 = 𝑐
𝑜𝑟 + 𝑐 𝑟 𝑑𝑚 = 𝑐
𝑜𝑟 𝑑𝑚 = 𝑜𝑐𝑟 𝑑𝑚
𝐵 𝐵 𝐵
𝑐
1 𝑜 𝜇
𝑜𝑟 = 𝑐 = [𝑎2 𝑏𝑐 𝑎𝑏 2 𝑐 𝑎𝑏𝑐 2 𝑇
𝑚 2𝑚
𝑚
𝜇=
𝑎𝑏𝑐
𝑐
1 𝑇
𝑜𝑟 = [𝑎 𝑏 𝑐
2
Rigid Body Dynamics
The linear momentum is given by
𝑝= 𝑣 𝑑𝑚
𝐵
𝑣 is the time derivative of 𝑟 of a differential mass 𝑑𝑚 = 𝜇𝑑𝑉
𝑝 = 𝑚 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑐 𝑜
Rigid Body Dynamics
𝑝 = 𝑚 𝑂𝑜𝑣
Rule for differentiation in a rotational frame
𝑑 𝑇 𝑇
𝑏 𝑎 = 𝑏 [𝑎 + 𝜔 × 𝑎
𝑑𝑡
𝑝 = 𝑚 𝑂𝑜𝑣 + 𝜔𝑏𝑖 × 𝑐 𝑜
𝑑𝑝
𝑓= +𝜔𝑏𝑖 × 𝑝
𝑑𝑡
𝑑
ℎ=𝜏
𝑑𝑡
ℎ+𝜔×ℎ =𝜏
𝜔 = −𝐼 −1 𝜔 × 𝐼 𝜔 + 𝐼 −1 𝜏
Rigid Body Dynamics
Considering the axes of body frame coincident to principal axes of inertia
𝐼2 − 𝐼3 𝜏1
𝜔1 = 𝜔2 𝜔3 +
𝐼1 𝐼1
𝐼3 − 𝐼1 𝜏2
𝜔2 = 𝜔3 𝜔1 +
𝐼2 𝐼2
𝐼1 − 𝐼2 𝜏3
𝜔3 = 𝜔1 𝜔2 +
𝐼3 𝐼3
𝐼𝑥 = 𝑦 2 + 𝑧 2 𝑑𝑚 , 𝐼𝑦 = 𝑥 2 + 𝑧 2 𝑑𝑚 , 𝐼𝑧 = 𝑥 2 + 𝑦 2 𝑑𝑚
𝐵 𝐵 𝐵
• Products of inertia
𝜔′ = 𝑅𝑇 𝜔 → 𝜔 = 𝑅𝜔′
1 ′𝑇 𝑇 ′
1 𝑇 ′
𝑇𝑟𝑜𝑡 = 𝜔 𝑅 𝐼 𝑅𝜔 = 𝜔′ 𝐼 𝜔′
2 2
→ 𝐼 ′ = 𝑅𝑇 𝐼𝑅
Rigid Body Dynamics
It is possible to choose a frame where
𝐼𝑥 0 0
𝐼′ = 0 𝐼𝑦 0
0 0 𝐼𝑧
where (Ix,Iy,Iz) are the principal moments of inertia associated with the principal
axes of inertia.
𝐼 ′ 𝑥 = λ𝑥
On the other hand g may also represent the control torques which
aim at basic orbital and attitude control. The main ones: thrusters ,
reaction well , magnetic coil and others. In that case is called
“active” , uses a power source. Ex. battery
Satellite Attitude Dynamics
Gravity Gradient Torque
Consider a spherical Rigid satellite in orbit around the Earth, subject to
Newton's Universal Gravitational Law
𝐺𝑀𝑑𝑚
𝑑𝑓𝑔 = − 2
𝑒𝑟
𝑟
𝐺𝑀 𝐺𝑀
𝑓𝑔 = − 2
𝑒𝑟 𝑑𝑚 = − 3
𝑟 𝑑𝑚
𝐵 𝑟 𝐵 𝑟
𝐺𝑀 𝑐
𝑓𝑔 = − 3 𝑂𝑟 + 𝑐 𝑟)𝑑𝑚
(
𝑐
𝐵 𝑂𝑟 + 𝑐𝑟
where G is the universal gravitational constant, M is the mass of the main body , dm is
the mass element of the body in orbit, r is the radial distance from the CM of the body
to the mass element, er is a unit vector from CM of the body to the mass element.
Satellite Attitude Dynamics
Considering the distance from center of the Earth to the satellite
CM is bigger than the distance from satellite CM to body point
| 𝑂𝑐𝑟| ≫ | 𝑐𝑟|
𝑐 𝑐
𝑂𝑟 + 𝑐𝑟 + 𝑐𝑟 𝑂𝑟
= 𝑐
| 𝑂𝑐𝑟 + 𝑐𝑟|3 |( 𝑂𝑟 + 𝑐𝑟). ( 𝑂𝑐𝑟 + 𝑐𝑟)|3/2
𝑐 𝑐
𝑂𝑟 + 𝑐𝑟 𝑂𝑟 + 𝑐𝑟
= ==
| 𝑂𝑐𝑟 . 𝑂𝑐𝑟 +2 𝑂𝑐𝑟 . 𝑐𝑟 + 𝑐𝑟. 𝑐𝑟 |3/2 | 𝑂𝑐𝑟 2 +2 𝑂𝑐𝑟 . 𝑐𝑟 + 𝑐𝑟 2 |3/2
• CN
𝑐 𝑐
𝑂𝑟 + 𝑐𝑟 𝑂𝑟 + 𝑐𝑟
= 𝑐 3 𝑐 𝑐 2 2 𝑐 2 3/2 = 𝑐 3
𝑂𝑟 |1+2 𝑂𝑟 . 𝑐𝑟 / 𝑂𝑟 + 𝑐𝑟 / 𝑂𝑟 | 𝑂𝑟
Satellite Attitude Dynamics
𝐺𝑀 𝑐 𝐺𝑀𝑚 𝑐
𝑓𝑔 = − 𝑐 3 𝑂𝑟 + 𝑐 𝑟 𝑑𝑚 = 𝑐 3 𝑂𝑟
𝐵 𝑂𝑟 𝑂𝑟
𝑑2 𝑟 𝐺𝑀
2
+ 3 𝑟=0
𝑑𝑡 𝑟
Satellite Attitude Dynamics
𝐺𝑀
𝜏𝑔𝑐 =− 𝑐
𝑐 𝑟 × 𝑑𝑓𝑔 = 3 3 𝑜3 × 𝐼 . 𝑜3
𝐵 𝑟
𝐺𝑀
𝜏𝑔 = 3 3 𝑜3 × 𝐼. 𝑜3
𝑟
Gravity Gradient Stabilization
Satellite equations of motion (translational & rotational)
𝑑2 𝑟 𝐺𝑀
2
+ 3 𝑟=0
𝑑𝑡 𝑟
𝑑ℎ 𝐺𝑀
= 3 3 𝑜3 × 𝐼 𝑐 . 𝑜3
𝑑 𝑟
𝐺𝑀
𝐼𝜔 = −𝜔 × 𝜔 + 3 3 𝑜3 × 𝐼𝑜3
𝑟
Gravity Gradient Stabilization
Taking into account the rotations sequence 1-2-3 from {ô} to {b}
𝑅𝑏𝑜 = 𝑅3 𝜃3 𝑅2 𝜃2 𝑅1 𝜃1
𝑐2 𝑐3 𝑠1 𝑠2 𝑐3 + 𝑐1 𝑠3 𝑠1 𝑠3 − 𝑐1 𝑠2 𝑐3
= −𝑠2 𝑠3 𝑐1 𝑐3 − 𝑠1 𝑠2 𝑠3 𝑠1 𝑐3 + 𝑐1 𝑠2 𝑠3
𝑠2 −𝑠1 𝑐2 𝑐1 𝑐2
and considering that angles are small. it’s possible to simplify the
attitude matrix
sin 𝜃𝑖 ≈ 𝜃𝑖 , cos 𝜃𝑖 ≈ 1 , 𝜃𝑖 𝜃𝑗 ≈ 0
𝑅𝑏𝑜 ≈ 𝟏 − [𝜃 ×
𝑜3 = [−𝜃2 𝜃1 1 𝑇
Gravity Gradient Stabilization
The graviational torque becomes
𝐼3 − 𝐼2 𝜃1
𝜏𝑔 = 3𝜔𝑐2 𝑜3 × 𝐼𝑜3 = 3𝜔𝑐2 𝐼3 − 𝐼1 𝜃2
0
And the angular velocity ω from {î} to {b} is givem by
𝜃1 1 𝜃3 −𝜃2 0 𝜃1 − 𝜔𝑐 𝜃3
𝜔𝑏𝑖 = 𝜃2 + −𝜃3 1 𝜃1 −𝜔𝑐 = 𝜃2 − 𝜔𝑐
𝜃3 𝜃2 −𝜃1 1 0 𝜃3 + 𝜔𝑐 𝜃1
𝜃1 − 𝜔𝑐 𝜃3
𝜔 = 𝜃2
𝜃3 + 𝜔𝑐 𝜃1
𝐼1 𝜃1 + 𝐼2 − 𝐼3 − 𝐼1 𝜔𝑐 𝜃3 − 4 𝐼3 − 𝐼2 𝜔𝑐2 𝜃1 = 0
𝐼2 𝜃2 + 3𝜔𝑐2 𝐼1 − 𝐼3 𝜃2 = 0
𝐼3 𝜃3 + 𝐼3 + 𝐼1 − 𝐼2 𝜔𝑐 𝜃1 + 𝐼2 − 𝐼1 𝜔𝑐2 𝜃3 = 0
Gravity Gradient Stabilization
The picth equation ( 𝜃2 ) is uncoupled with the two others roll
and yaw (𝜃1 , 𝜃3 ), so considering it in the state space form
𝑥 + 𝑘𝑥 = 0
𝐼1 > 𝐼3
The moment of inertia of the Earth point axis can not be the
bigger moment of inertia.
Gravity Gradient Stabilization
For the first and third equations, one has
𝑀𝑥 + 𝐺𝑥 + 𝐾𝑥 = 0
𝑇
𝑥 = 𝜃1 𝜃3
𝐼1 0 0 −1
𝑀= , 𝐺 = 𝐼1 + 𝐼3 − 𝐼2 𝜔𝑐
0 𝐼3 1 0
4 𝐼2 − 𝐼3 0
𝐾= 𝜔𝑐2
0 (𝐼2 − 𝐼1 )
𝑒 𝜆𝑡 𝜆2 𝑀 + 𝜆𝐺 + 𝐾 𝐶0 = 0
𝜆2 𝑀 + 𝜆𝐺 + 𝐾 𝐶0 = 0
The stability conditions for the two others angles can be
obtained
+ 4𝜔𝑐4 𝐼2 − 𝐼1 𝐼2 − 𝐼3 = 0
𝑘1 = (𝐼2 − 𝐼3 )/𝐼1
𝑘3 = (𝐼2 − 𝐼1 )/𝐼3
25
Gravity Gradient Stabilization
4 2
𝜆 𝜆
+ 1 + 3𝑘1 + 𝑘1 𝑘3 + 4𝑘1 𝑘3 = 0
𝜔𝑐 𝜔𝑐
2
𝜆
𝑠= , 𝑠 2 + 𝑏1 𝑠 + 𝑏0 = 0
𝜔𝑐
𝑏0 > 0 𝑏1 > 0 𝑏12 − 4𝑏2 > 0
𝐼1 > 𝐼3 → 𝑘1 > 𝑘3
Gravity Gradient Stabilization
Puting together all conditions
𝑘1 > 𝑘3
𝑘1 𝑘3 > 0
1 + 3𝑘1 + 𝑘1 𝑘3 > 0
1 + 3𝑘1 + 𝑘1 𝑘3 2 − 16𝑘1 𝑘3 > 0
Stables regions
D*2=DeBra-Delp
and
Lagrange
Spin Stabilization
It’s an easy way to obtain a quite systematic behavior of a
satellite motion.
Two types of spin stabilization: (i) simple, with one unique body
spinning; (ii) dual spin, when the satellite is composed by 2
bodies spinning with different angular velocities.
𝑑
ℎ+𝜔×ℎ =𝜏
𝑑𝑡
ℎ1 + 𝜔2 ℎ3 − 𝜔3 ℎ2 = 𝜏1
ℎ2 + 𝜔3 ℎ1 − 𝜔1 ℎ3 = 𝜏2
ℎ3 + 𝜔1 ℎ2 − 𝜔2 ℎ1 = 𝜏3
𝑑 𝑑
𝐼 𝜔 + 𝜔 𝐼 + 𝜔 × (𝐼𝜔) = 𝜏
𝑑𝑡 𝑑𝑡
One axis Spin Stabilization
𝑑
𝐼=0
𝑑𝑡
𝑑
𝜔 = −𝐼 −1 𝜔 × 𝐼𝜔 + 𝐼 −1 𝜏
𝑑𝑡
𝐴𝜔1 + 𝐶 − 𝐴 𝜔2 𝜔3 = 0
𝐴𝜔2 + 𝐴 − 𝐶 𝜔3 𝜔1 = 0
𝐶𝜔3 = 0
𝜔1 + 𝜆2 𝜔1 = 0
𝐶−𝐴
𝜆= 𝑛
𝐴
One axis Spin Stabilization
The solutions for the 𝜔1 and 𝜔2 have the form (a, b, c and d are
constants depending of initial conditions)
𝜔1 = 𝑎 cos 𝜆𝑡 + 𝑏 sin 𝜆𝑡
𝜔2 = 𝑐 cos(𝜆𝑡) + 𝑑 sin(𝜆𝑡)
𝑛 = 𝜔3
𝜔 = 𝜔𝑡2 + 𝑛2 1/2
𝜔𝑡 > = 𝑛
or
𝑛 > 𝜔𝑡
One axis Spin Stabilization
Identifying the nutation angle 𝜃 and the angle 𝛾 by
ℎ𝑡 𝐴𝜔𝑡
tan 𝜃 = =
ℎ3 𝐶𝜔3
𝜔𝑡
tan ϒ =
𝜔3
Retrograde precession
Direct precession
The satellite shapes suggest that the rotation is more stable when C > A than C < A.
That is: the rotation is more stable around the axis of greatest moment of inertia
One axis Spin Stabilization
Single Spin precession φ, nutation θ and Rotation (spin) ψ
SCD-1
Dual-Spin Stabilization
Dual-spin stabilization applies to spacecraft with two components that are spinning relative
to each other. Typically one body is spinning relatively fast and the other is spinning
relatively slow. The first result involves only rigid bodies, and concludes that a spinning
wheel can be used to stabilize spin about any axis.
However, the energy sink analysis and concludes that a minor axis spin is stable if the
energy dissipation on the rapidly spinning component is smaller than the energy dissipation
on the slowly spinning component.
H = hs + hw
Real spacecraft have, at least, some no rigid properties, which include: elastic structural
deflection and sloshing .
A lessons learned from the past: Explorer I (1958)
The shape of the rockets.
Second set of exercises : Spin Stabilization
1)A satellite with cylindrical shell is rotating in torque-free motion about its
longitudinal axis z. If the axis is wobbling slightly, determine the ratios l/r
(length /radius) for which the precession will be prograde or retrograde.
z
2)Determine the rotation matrix R (3, 1, 3) that relates the inertial system {i} and the
satellite body system {b} , considering that the time rates of change of the Euler angles
(φ , θ , ψ) are precession ωp, nutation ωn and spin ωs .
where δωx << ω0 and δωy << ω0 and for torque-free motion the Euler’s equations are
Aω˙x + (C − B)ωy ωz = 0
Bω˙y + (A − C)ωx ωz = 0
Cω˙z + (B − A)ωx ωy = 0
Hint :
a) Substituting the pertubations into the Euler equations and keeping in mind that ω˙0 = 0.
b) In the pertubed Euler equations neglect all products of the δωs (they are arbitrarily small).
c) From (b) it is possible to shown that that δωz is constant.
d) After that by differentiating Equation in x and substituting it in equation y , it is possible to find
both solutions and investigate the stability of the susyem in terms of A,B and C.
5) For the previous system, find the rotary kinetic energy equations of motion for the case (A=B)
and its derivative in relation to time to investigate the news conditions of stability in terms of A, B
and B.
Some references
• M. H. Kaplan, “Modern spacecraft dynamics & control”. Wiley, 1976.
• V. A. Chobotov. “Spacecraft Attitude Dynamics and Control”. Krieger, 1991.
• Bong Wie. “Space Vehicle Dynamics and Control”. AIAA, 1998.
• M. D. Shuster, “A Survey of Attitude Representations,” The Journal of the
Astronautical Sciences, Vol. 41, No. 4, 1993, pp. 439–517.
• A. C. Santana, L. S. Martins-Filho, R. O. Duarte, G. Arantes Jr, I. R. S. Casella,
"Attitude control of a satellite by using digital signal processing". Journal of
Aerospace Technology and Management, v. 4, p. 15-24, 2012.
• L. S. Martins-Filho, A. C. Santana, R. O. Duarte, G. Arantes Jr, "Processor-in-
the-Loop Simulations Applied to the Design and Evaluation of a Satellite
Attitude Control". In: J. Awrejcewicz (Org.), Computational and Numerical
Simulations. InTech, 2014.
• A. Isidori, "Nonlinear Control Systems". Springer, 1985.
• J.-J. Slotine, W. Li, "Applied Nonlinear Control", , Prentice-Hall, 1991.
• T. Çimen, "State-Dependent Riccati Equation (SDRE) Control: A Survey".
Proc. of 17th World Congress IFAC, Korea, 2008