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Control
Outline
Introduction
Definitions
Control Loops
Moment of Inertia Tensor
General Design
Control Strategies
Spin (Single, Dual) or 3-Axis
Disturbance Torques
Sensors
Magnetic
Gravity Gradient
Aerodynamic
Solar Pressure
Sun
Earth
Star
Magnetometers
Inertial Measurement Units
Actuators
Dampers
Gravity Gradient Booms
Magnetic Torque Rods
Wheels
Thrusters
INTRODUCTION
Introduction
Attitude Determination and Control
Subsystem (ADCS)
Stabilizes the vehicle
Orients vehicle in desired directions
Senses the orientation of the vehicle relative
to reference (e.g. inertial) points
Determination: Sensors
Control: Actuators
Controls attitude despite external
disturbance torques acting on spacecraft
Introduction
ADCS Design Requirements and Constraints
Pointing Accuracy (Knowledge vs. Control)
Drives Sensor Accuracy Required
Drives Actuator Accuracy Required
Introduction
Z
Nadir
X
Velocity Vector
Control Loops
Disturbance Torques
Desired
Attitude
Attitude
Control
Task
Estimated
Attitude
e.g. 3.5 deg
Ram pointing
Attitude
Determination
Task
Commands
e.g. increase
Wheel speed
100rpm
Attitude
Actuators
Actual
Attitude
e.g. 4 deg
Ram pointing
Attitude
Sensors
Spacecraft Dynamics
- Rigid Body
- Flexible Body (non-rigid)
H I
where H is the angular momentum, I is the mass moment of inertia
tensor, and is the angular velocity
H x I xx
H H y I yx
H z I zx
I xy
I yy
I zy
I xz
I yz
I zz
x
y
IO r m
2
I r 2 dm r 2 dm
m
dm
I r 2 dV
V
Mass MOI
x
x
dm
dm
I xx y z dm
I yy
I zz
I xy xy dm
I xz xz dm
I yz yz dm
Rotational Energy:
1
E I ij i j
2
Mass MOI
Like any symmetric
tensor, the MOI
tensor can be
reduced to diagonal
form through the
appropriate choice of
axes (XYZ)
Diagonal components
are called the
Principle Moments of
Inertia
Ix
I 0
0
0
Iy
0
H I
0
I z
Mass MOI
Parallel-axis theorem: The moment of
inertia around any axis can be calculated
from the moment of inertia around parallel
axis which passes through the center of
mass.
O
CM
d
r
I I md
ADCS Design
ADCS Design
ADCS Design
ADCS Design
ADCS Design
Control Strategies
Spin Stabilization
Entire spacecraft
rotates about
vertical axis
Spinning sensors
and payloads
Cylindrical
geometry and solar
arrays
Spin Stability
UNSTABLE
STABLE
S
S
IS
1
IT
IS
1
IT
Satellite Precession
Spinning Satellite
Satellite thruster is fired to
change its spin axis
During the thruster firing, the
satellite rotated by a small
angle
Determine the angle
2 FR(t )
;
I
t
2 FR( )
2
I
R
F
3-Axis Stabilization
Active stabilization of all three
axes
Thrusters
Momentum (Reaction) Wheels
Momentum dumping
Advantages
No de-spin required for
payloads
Accurate pointing
Disadvantages
Complex
Added mass
Disturbance Torques
Torque (au)
Drag
Gravity
Solar
Press.
Magnetic
LEO
GEO
Orbital Altitude (au)
Disturbing Torques
T H I
T r F
where:
Tg maximum gravity gradient
Magnetic Torque
Tm m xB
where:
M
for points above the equator
3
R
2M
3 for points above the poles
R
M Earth' s magnetic moment 7.96 1015 tesla m 3
R orbit radius meters
*Note value of m depends on S/C size and whether on-board compensation is used
- values can range from 0.1 to 20 Amp-m2
- m = 1 for typical small, uncompensated S/C
Aerodynamic Torque
Ta F c pa c g
where:
1
F C D Av 2
2
atmospheric density
C D coefficient of drag typical S/C values are 2 - 2.5
A cross - sectional area
v velocity
C pa center of atmospheric pressure
C g center of gravity
Fs
F
As 1 cos i
c
FireSat Example
Disturbing Torques
All of these disturbing torques
can also be used to control the
satellite
Sensors
Attitude Determination
Earth Sensor (horizon sensor)
Use IR to detect boundary between deep space &
upper atmosphere
Typically scanning (can also be an actuator)
Sun Sensor
Star Sensor
Scanner: for spinning S/C or on a rotating mount
Tracker/Mapper: for 3-axis stabilized S/C
Tracker (one star) / Mapper (multiple stars)
Magnetometer
Requires magnetic field model stored in computer
Differential GPS
Attitude Determination
Actuators
Attitude Control
Actuators come in two types
Passive
Active
Thrusters
Wheels
Gyros
Torque Rods
Actuators
Actuator
Accuracy
Comment
Gravity Gradient
2 Axis, Simple
Spin Stabilized
0.1 to 1
2 Axis, Rotation
Torque Rods
High Current
Reaction Wheels
0.001 to 0.1
0.001 to 0.1
Thrusters
0. 1 to 1
Propellant limited,
Large impulse
Attitude Control