Sample records for attitude control system

  1. Satellite Attitude Control System Simulator

    G.T. Conti


    Full Text Available Future space missions will involve satellites with great autonomy and stringent pointing precision, requiring of the Attitude Control Systems (ACS with better performance than before, which is function of the control algorithms implemented on board computers. The difficulties for developing experimental ACS test is to obtain zero gravity and torque free conditions similar to the SCA operate in space. However, prototypes for control algorithms experimental verification are fundamental for space mission success. This paper presents the parameters estimation such as inertia matrix and position of mass centre of a Satellite Attitude Control System Simulator (SACSS, using algorithms based on least square regression and least square recursive methods. Simulations have shown that both methods have estimated the system parameters with small error. However, the least square recursive methods have performance more adequate for the SACSS objectives. The SACSS platform model will be used to do experimental verification of fundamental aspects of the satellite attitude dynamics and design of different attitude control algorithm.

  2. Noise screen for attitude control system

    Rodden, John J. (Inventor); Stevens, Homer D. (Inventor); Hong, David P. (Inventor); Hirschberg, Philip C. (Inventor)


    An attitude control system comprising a controller and a noise screen device coupled to the controller. The controller is adapted to control an attitude of a vehicle carrying an actuator system that is adapted to pulse in metered bursts in order to generate a control torque to control the attitude of the vehicle in response to a control pulse. The noise screen device is adapted to generate a noise screen signal in response to the control pulse that is generated when an input attitude error signal exceeds a predetermined deadband attitude level. The noise screen signal comprises a decaying offset signal that when combined with the attitude error input signal results in a net attitude error input signal away from the predetermined deadband level to reduce further control pulse generation.

  3. Three axis attitude control system

    Studer, Philip A. (Inventor)


    A three-axis attitude control system for an orbiting body comprised of a motor driven flywheel supported by a torque producing active magnetic bearing is described. Free rotation of the flywheel is provided about its central axis and together with limited angular torsional deflections of the flywheel about two orthogonal axes which are perpendicular to the central axis. The motor comprises an electronically commutated DC motor, while the magnetic bearing comprises a radially servoed permanent magnet biased magnetic bearing capable of producing cross-axis torques on the flywheel. Three body attitude sensors for pitch, yaw and roll generate respective command signals along three mutually orthogonal axes (x, y, z) which are coupled to circuit means for energizing a set of control coils for producing torques about two of the axes (x and y) and speed control of the flywheel about the third (z) axis. An energy recovery system, which is operative during motor deceleration, is also included which permits the use of a high-speed motor to perform effectively as a reactive wheel suspended in the magnetic bearing.

  4. A magnetic control system for attitude acquisition

    Stickler, A. C.


    A spacecraft magnetic attitude acquisition system is reported that is capable of automatically despinning a satellite from arbitrarily high rates around any axis and provides terminal orientation that makes capture by conventional fine control attitude control systems routine. The system consists of a 3-axis magnetometer, a set of 3 orthogonal magnets, and appropriate control logic. A well-configured system results in despin times of the order of 5 orbits per rpm for spacecraft in low earth orbits. Following despin, terminal orientation is achieved after another one to three orbits, depending on the capture range of the associated fine control system.

  5. Attitude Determination and Control Systems

    Starin, Scott R.; Eterno, John


    designing and operating spacecraft pointing (i.e. attitude) systems.

  6. Modular Attitude Control System for Microsatellites with Stringent Pointing Requirements

    Grocott, Simon


    Advancing technology has allowed for the development of low cost attitude control hardware for microsatellites. However, the attitude control design and software development remain a significant cost driver. The Dynacon High Performance Attitude Control system is a modular control system that makes use of reusable algorithm modules enabling the attitude control system to be applied to several different spacecraft missions with very different performance requirements. The High Performance Atti...

  7. Low cost attitude control system scanwheel development

    Bialke, William; Selby, Vaughn


    In order to satisfy a growing demand for low cost attitude control systems for small spacecraft, development of low cost scanning horizon sensor coupled to a low cost/low power consumption Reaction Wheel Assembly was initiated. This report addresses the details of the versatile design resulting from this effort. Tradeoff analyses for each of the major components are included, as well as test data from an engineering prototype of the hardware.

  8. Modular Attitude Determination and Control System for Small Satellites

    Selby, Vaughn


    In order to meet the cost goals of small satellites, attitude determination and control problems must be solved using standardized components. Small satellite attitude control systems must feature performance, versatility, and above all, low cost Large, custom designed, high cost attitude control systems have no place in the small satellite community. A modular concept of attitude control is presented which will allow ambitious performance and cost goals to be attained. Basic building blocks ...

  9. Architecture for Combined Energy and Attitude Control System

    Ibrahim M. Mehedi


    Full Text Available Combining the energy and attitude control system is a feasible technology for small satellites to improve the space missions. In this Combined Energy and Attitude Control System (CEACS a double rotating flywheel is used to replace the conventional battery for energy storage as well as to control the attitude of an earth oriented satellite. Each flywheel is to be controlled in the torque mode. The energy and attitude inputs for the flywheels' control architecture are also in the torque mode. All related mathematical representation along with the relevant transfer functions and the required numerical calculation are developed. The goals are to analyze the attitude performance with respect to the ideal and non-ideal test cases for a chosen reference mission.

  10. The Design of the OPAL Attitude Control System

    Jung, Jaewoo; Kuzuya, Naoki; Alvarez, Jaime


    OPAL's attitude is controlled by using two pairs of magnetic coils and a three axis magnetometer. One pair of coils is mounted on the side panel where the picosatellite launch window is located. The other pair is mounted on the bottom panel. The primary requirements of the attitude control system are to decease spin of the satellite with respect to its body axis to minimize disturbances during picosatellite launch, and to spin up the satellite once the picosatellite is launched to meet therma...

  11. The SAS-3 attitude control system

    Mobley, F. F.; Konigsberg, R.; Fountain, G. H.


    SAS-3 uses a reaction wheel to provide torque to control the spin rate. If the wheel speed becomes too great or too small, it must be restored to its nominal rate by momentum dumping which is done by magnetic torquing against the earth's magnetic field by the satellite's magnetic coils. A small rate-integrating gyro is used to sense the spin rate so that closed loop control of the spin rate can be achieved. These various systems are described in detail including the reaction wheel system, the gyro system, along with control modes (spin rate control and the star lock mode).

  12. Applications software supporting the Spartan Attitude Control System

    Stone, R. W.


    The native software supporting a single mission for the Spartan Attitude Control System can require up to 40,000 lines of code. Most of this must be rewritten for each mission. Control system engineers use an array of Applications Software Packages residing in ground computers to write each mission's flight software. These Applications Packages are written in the 'C' programming language and run under the UNIX Operating System. This paper discusses each of the Attitude Control Applications Software Packages, and describes the purpose and design of each.

  13. Adaptive Jacobian Fuzzy Attitude Control for Flexible Spacecraft Combined Attitude and Sun Tracking System

    Chak, Yew-Chung; Varatharajoo, Renuganth


    Many spacecraft attitude control systems today use reaction wheels to deliver precise torques to achieve three-axis attitude stabilization. However, irrecoverable mechanical failure of reaction wheels could potentially lead to mission interruption or total loss. The electrically-powered Solar Array Drive Assemblies (SADA) are usually installed in the pitch axis which rotate the solar arrays to track the Sun, can produce torques to compensate for the pitch-axis wheel failure. In addition, the attitude control of a flexible spacecraft poses a difficult problem. These difficulties include the strong nonlinear coupled dynamics between the rigid hub and flexible solar arrays, and the imprecisely known system parameters, such as inertia matrix, damping ratios, and flexible mode frequencies. In order to overcome these drawbacks, the adaptive Jacobian tracking fuzzy control is proposed for the combined attitude and sun-tracking control problem of a flexible spacecraft during attitude maneuvers in this work. For the adaptation of kinematic and dynamic uncertainties, the proposed scheme uses an adaptive sliding vector based on estimated attitude velocity via approximate Jacobian matrix. The unknown nonlinearities are approximated by deriving the fuzzy models with a set of linguistic If-Then rules using the idea of sector nonlinearity and local approximation in fuzzy partition spaces. The uncertain parameters of the estimated nonlinearities and the Jacobian matrix are being adjusted online by an adaptive law to realize feedback control. The attitude of the spacecraft can be directly controlled with the Jacobian feedback control when the attitude pointing trajectory is designed with respect to the spacecraft coordinate frame itself. A significant feature of this work is that the proposed adaptive Jacobian tracking scheme will result in not only the convergence of angular position and angular velocity tracking errors, but also the convergence of estimated angular velocity to

  14. Research on Attitude System of Active Magnetic Control Small Satellite

    Zhaowei, Sun; Di, Yang


    When enter orbit, small satellite often tumble as a result of disturbance. How to capture it promptly with finite magnetic torque is an important problem. Because of the coupling of dynamics and control, the small satellite control system is a nonlinear attitude control system with bounds. For high direction and steady precision, an effective method must be found. In this paper, combining with the bound conditions of magnetic torque, two methods are researched. The first is energy method. It ...

  15. Low cost attitude control system reaction wheel development

    Bialke, William


    In order to satisfy a growing demand for low cost attitude control systems for small spacecraft, development of a low power and low cost Reaction Wheel Assembly was initiated. The details of the versatile design resulting from this effort are addressed. Tradeoff analyses for each of the major components are included, as well as test data from an engineering prototype of the hardware.

  16. Framework of Combined Adaptive and Non-adaptive Attitude Control System for a Helicopter Experimental System

    Akira Inoue; Ming-Cong Deng


    This paper presents a framework of a combined adaptive and non-adaptive attitude control system for a helicopter experimental system. The design method is based on a combination of adaptive nonlinear control and non-adaptive nonlinear control. With regard to detailed attitude control system design, two schemes are shown for different application cases.

  17. Design and Stability of an On-Orbit Attitude Control System Using Reaction Control Thrusters

    Hall, Robert A.; Hough, Steven; Orphee, Carolina; Clements, Keith


    NASA is providing preliminary design and requirements for the Space Launch System Exploration Upper Stage (EUS). The EUS will provide upper stage capability for vehicle ascent as well as on-orbit control capability. Requirements include performance of on-orbit burn to provide Orion vehicle with escape velocity. On-orbit attitude control is accommodated by a on-off Reaction Control System (RCS). Paper provides overview of approaches for design and stability of an attitude control system using a RCS.

  18. Attitude Control System for the Extreme Ultraviolet Explorer Satellite

    Wong, E. C.


    The requirements, design, and expected performance of the Attitude Control Subsystem for the spin-stabilized Extreme Ultraviolet Explorer Satellite are presented. In the sky-mapping phase, closed-loop magnetic control keeps the spin axis pointed toward the sun. In the spectroscopy phase, the attitude control loop is closed via the ground. The satellite's attitude and spin rate are determined using periodically downlinked star data. An attitude control algorithm generates commands to be uplinked to the satellite for spin axis precession and spin rate control. Computer simulations of the satellite dynamic response, pointing error, and stability during spin axis precession are presented, and parameters that affect the pointing performance are evaluated.

  19. Stepping through versatile attitude control system design for stratospheric platforms

    Boscaleri, A.; Baldi, M; F. CALONACI; Rissone, P.; Rotini, F.


    In addition to stepping through the typical hardware parts of an Attitude Control System borne for stratospheric platform, the paper describes some fast position sensors. The use of two axis magnetometers at high latitude, even though with a lower accuracy, is analyzed. A high-accuracy motorized sun tracker based on a Position Sensitive Detector photodiode capable of driving the gondola in pointing or scanning mode in any given arbitrary anti-sun direction is also presented. Lastly, as an imp...

  20. Cosmic Background Explorer (COBE) transfer orbit attitude control system

    Placanica, Samuel J.; Flatley, Thomas W.


    The Cosmic Background Explorer (COBE) spacecraft will be launched by the Shuttle from Vandenberg AFB into a 300 km altitude, 99 deg inclination, 6 a.m. or 6 p.m. ascending node orbit. After release from the Remote Manipulator System (RMS) arm, an on-board monopropellant hydrazine propulsion system will raise the orbit altitude to 900 km. The spacecraft continuously spins during transfer orbit operations with the spin axis nominally horizontal and in or near the orbit plane. The blowdown propulsion system consists of twelve 5 lb thrusters (3 'spin', 3 'despin', and 6 'axial') with the latter providing initially 30 lb of force parallel to the spin axis for orbit raising. The spin/despin jets provide a constant roll rate during the transfer orbit phase of the mission and the axials control pitch and yaw. The axial thrusters are pulsed on for attitude control during coast periods and are normally on- and off-modulated for control during orbit raising. Attitude sensors employed in the control loops include an array of two-axis digital sun sensors and three planar earth scanners for position measurements, as well as six gyroscopes for rate information. System redundancy is achieved by means of unique three-axes-in-a-plane geometry. This triaxial concept results in a fail-safe operational system with no performance degradation for many different component failure modes.

  1. Fault Reconstruction Approach for Distributed Coordinated Spacecraft Attitude Control System

    Mingyi Huo


    Full Text Available This work presents a novel fault reconstruction approach for a large-scale system, that is, a distributed coordinated spacecraft attitude control system. The attitude of all the spacecrafts in this distributed system is controlled by using thrusters. All possible faults of thruster including thrust magnitude error and alignment error are investigated. As a stepping stone, the mathematical model of thruster is firstly established based on the thruster configuration. On the basis of this, a sliding mode observer is then proposed to reconstruct faults in each agent of the coordinated control system. A Lyapunov-based analysis shows that the observer asymptotically converges to the actual faults. The key feature of this fault reconstruction approach is that it can achieve a faster reconstruction of the fault in comparison with the conventional fault reconstruction schemes. It can globally reconstruct thruster faults with zero reconstruction error, and this is accomplished within finite time. The effectiveness of the proposed approach is analytically authenticated via simulation study.

  2. Satellite Attitude Control System Design considering the Fuel Slosh Dynamics

    Luiz Carlos Gadelha de Souza


    Full Text Available The design of the satellite attitude control system (ACS becomes more complex when the satellite structure has different type of components like, flexible solar panels, antennas, mechanical manipulators, and tanks with fuel. A crucial interaction can occur between the fuel slosh motion and the satellite rigid motion during translational and/or rotational manoeuvre since these interactions can change the satellite centre of mass position damaging the ACS pointing accuracy. Although, a well-designed controller can suppress such disturbances quickly, the controller error pointing may be limited by the minimum time necessary to suppress such disturbances thus affecting the satellite attitude acquisition. As a result, the design of the satellite controller needs to explore the limits between the conflicting requirements of performance and robustness. This paper investigates the effects of the interaction between the liquid motion (slosh and the satellite dynamics in order to predict what the damage to the controller performance and robustness is. The fuel slosh dynamics is modelled by a pendulum which parameters are identified using the Kalman filter technique. This information is used to design the satellite controller by the linear quadratic regulator (LQR and linear quadratic Gaussian (LQG methods to perform a planar manoeuvre assuming thrusters are actuators.

  3. Colloid Thruster for Attitude Control Systems (ACS) and Tip-off Control Applications Project

    National Aeronautics and Space Administration — We propose to develop and test key technologies needed for an integrated, high thrust colloid thruster system with no moving parts, for spacecraft attitude control...

  4. Magnetic Attitude Control System for Spinning Small Spacecraft

    Pal, Parimal; Selby, Vaughn


    A magnetic Attitude Control Subsystem (ACS) designed for minimum power weight, and cost is presented. The ACS subsystem was designed and built by ITHACO for the Small Communications Satellite Cluster (SCSC), integrated by Defense Systems Incorporated for the Defense Advanced Research Projects Agency. The basic spacecraft configuration is a flat cylinder, having a mass of 22.7 Kg with a diameter of 47.2 cm and 17.0 cm height. Hardware for the ACS design includes a two-axis magnetometer, two TO...

  5. Attitude Control System Design for Fast Rest-to-Rest Attitude Maneuver

    Sakai, S.-I.; Bando, N.; Hashimoto, T.; Murata, Y.; Mochizuki, N.; Nakamura, T.; Kamiya, T.; Ogura, N.; Maeda, K.


    The VSOP-2 project is a new space VLBI (very long baseline interferometer) radio astronomy mission, proposed to inherit the fruitful success of the VSOP mission with the HALCA satellite. One of the most important advances of VSOP-2 is the use of higher observation frequency, which requires fast alternating observation of a target and calibrator in order to remove the phase changes caused by the atmosphere. Typically, both sources must be observed within 60 sec, and this switching must be carried out over many hours. ``ASTRO-G" is a satellite planned for this VSOP-2 project, and one of technical challenges is to achieve such fast rest-to-rest maneuvers, and the proper hardware must be selected to account for this fast attitude maneuver. The controlled momentum gyro (CMG) is an actuator that provides high torque with small power consumption, and the fiber optical gyro is a sensor able to measure the high angular velocity with excellent accuracy. This paper first describes these components for attitude control. Another challenge of the ASTRO-G's attitude control system is to design the switching for the flexible mode of the satellite structure, containing a large deployable reflector and a large solar panel. These produce resonances with fast switching and these must be attenuated. To achieve high agility in a flexible satellite, the controller design is crucial. One design feature is a novel robust input shaper named ``nil mode exciting profiler". Another feature is the feedback controller design. The paper describes these features and other potential problems with fast switching..

  6. Design of Attitude Control System for UAV Based on Feedback Linearization and Adaptive Control

    Wenya Zhou


    Full Text Available Attitude dynamic model of unmanned aerial vehicles (UAVs is multi-input multioutput (MIMO, strong coupling, and nonlinear. Model uncertainties and external gust disturbances should be considered during designing the attitude control system for UAVs. In this paper, feedback linearization and model reference adaptive control (MRAC are integrated to design the attitude control system for a fixed wing UAV. First of all, the complicated attitude dynamic model is decoupled into three single-input single-output (SISO channels by input-output feedback linearization. Secondly, the reference models are determined, respectively, according to the performance indexes of each channel. Subsequently, the adaptive control law is obtained using MRAC theory. In order to demonstrate the performance of attitude control system, the adaptive control law and the proportional-integral-derivative (PID control law are, respectively, used in the coupling nonlinear simulation model. Simulation results indicate that the system performance indexes including maximum overshoot, settling time (2% error range, and rise time obtained by MRAC are better than those by PID. Moreover, MRAC system has stronger robustness with respect to the model uncertainties and gust disturbance.

  7. A comparing design of satellite attitude control system based on reaction wheel

    CHENG Hao; GE Sheng-min; SHEN Yi


    The disturbance caused by the reaction wheel with a current controller greatly influences the accuracy and stability of the satellite attitude control system.To solve this problem,the idea of speed feedback compensation control reaction wheel is put forward.This paper introduces the comparison on design and performance of two satellite attitude control systems,which are separately based on the current control reaction wheel and the speed feedback compensation control reaction wheel.Analysis shows that the speed feedback compensation control flywheel system may effectively suppress the torque fluctuation.Simulation results indicate that the satellite attitude control system with the speed feedback compensation control flywheel has improved performance.

  8. Magnetic Attitude Control System for Low-Earth Orbit Satellites

    A small spacecraft (SC) under consideration is intended for performing a scientific mission on the low-Earth orbit for a long time (a year or more). A control system of the SC provides the construction of regime of three-axis orientation of the SC in the orbital coordinate system and the stabilization of that regime, and must be autonomous, low-weight and low-cost. The magnetic control system that consists of the information subsystem based solely on three-axis magnetometer measuring and the magnetic actuators satisfies in the best way requirements mentioned above. Such system can estimate both orbital motion parameters and attitude ones of the SC. But the absence of the additional instruments and damping devices complicates the estimation since the range of initial conditions uncertainly is wide and the problem of estimating becomes essentially nonlinear. To get over these difficulties a recursive state estimation algorithm with enhanced convergence is proposed. The magnetic control moment is synthesized byte vector function Lyapunov method

  9. Design of the Active Attitude Determination and Control System for the e-st@r cubesat

    Stesina, Fabrizio; Corpino, Sabrina; Mozzillo, Raffaele; Obiols Rabasa, Gerard


    One of the most limiting factors which affects pico/nano satellites capabilities is the poor accuracy in attitude control. To improve mission performances of this class of satellites, the capability of controlling satellite's attitude shall be enhanced. The paper presents the design, development and verification of the Active Attitude Determination and Control System (A-ADCS) of the E-ST@R Cubesat developed at Politecnico di Torino. The heart of the system is an ARM9 microcontroller that mana...

  10. Control synthesis for polynomial nonlinear systems and application in attitude control

    Chang-fei TONG; Hui ZHANG; You-xian SUN


    A method for positive polynomial validation based on polynomial decomposition is proposed to deal with control synthesis problems. Detailed algorithms for decomposition are given which mainly consider how to convert coefficients of a polynomial to a matrix with free variables. Then, the positivity of a polynomial is checked by the decomposed matrix with semidefinite programming solvers. A nonlinear control law is presented for single input polynomial systems based on the Lyapunov stability theorem. The control synthesis method is advanced to multi-input systems further. An application in attitude control is finally presented. The proposed control law achieves effective performance as illustrated by the numerical example.

  11. The TUBSAT-1 Attitude Control and Stabilization System

    Ginati, Amnon


    TUBSAT-1 (Technical University Berlin Satellite) is an experimental low-cost satellite being financed by the German BMFT. The dimensions and weight are determined by the NASA Gas-Program and it will be ejected from the Space Shuttle within the German spacelab mission D2 by December 19, 1991, into a 298 km circular orbit and at a 28.5° inclination. To enable a large variety of useful experiments to fly with TUSSAT, it was necessary to develop a rather precise attitude control and stabilization...

  12. Plug-and-Play Compatibility for CubeSat Attitude Determination and Control Systems Project

    National Aeronautics and Space Administration — The development of Plug-and-play Compatibility for CubeSat Attitude Determination and Control Systems (ADACS) is proposed. Existing Maryland Aerospace (MAI) ADACS...

  13. Analysis of a magnetic three-axis stabilized attitude control system for the NPSAT1 spacecraft

    Zirkle, Todd A.


    The NPSAT1 satellite uses an active magnetic torque rod system, with a magnetometer for attitude determination, to maintain 3-axis stabilization, with a slightly gravity gradient friendly structure. This thesis will examine the performance of three combinations of programs and simulation models for the NPSAT1 satellite attitude control system. The models include a magnetic control law with a reduced order estimator to generate torque commands to achieve spacecraft nadir pointing and a magneti...

  14. The results of flight tests of an attitude control system for the Chibis-M microsatellite

    Ivanov, D. S.; Ivlev, N. A.; Karpenko, S. O.; Ovchinnikov, M. Yu.; Roldugin, D. S.; Tkachev, S. S.


    The attitude control system of the Chibis-M microsatellite is described. Results of flight experiments on damping the initial angular velocity (made using magnetorquers) are considered, as well as stabilization in the orbital referece frame, and orientation of solar arrays toward the Sun using reaction wheels. The operation of algorithms of satellite attitude determination on sunlit and shadow segments of the orbit is also under study. The general logic of operation of the attitude control system in automatic mode is presented and discussed.

  15. Design and simulation of satellite attitude control system based on Simulink and VR

    Zhang, Yang; Gan, Qingbo; Kang, Jingshu


    In order to research satellite attitude control system design and visual simulation, the simulation framework of satellite dynamics and attitude control using Simulink were established. The design of satellite earth-oriented control system based on quaternion feedback was completed. The 3D scene based on VR was created and models in the scene were driven by simulation data of Simulink. By coordinate transformation. successful observing the scene in inertial coordinate system, orbit coordinate system and body coordinate system. The result shows that application of simulation method of Simulink combined with VR in the design of satellite attitude control system field, has the advantages of high confidence level, hard real-time property, multi-perspective and multi-coordinate system observing the scene, and improves the comprehensibility and accuracy of the design.

  16. The Development of a Low Cost, Modular Attitude Determination and Control System

    Surka, Derek; Paluszek, Michael


    In an attempt to reduce the cost of future satellites, new technologies are being pursued to develop a modular attitude determination and control system that will provide three-axis control and cost less than ten percent of present systems. The low cost and modularity of this system make it especially attractive to a wide variety of small satellites. This paper will present the design and developmental status of this "plug and play" attitude control system. The general idea is to provide a co...


    WANG Xiao-liang; SHAN Xue-xiong


    The attitude tracking control problem for an airship with parameter uncertainties and external disturbances was considered in this paper. The mathematical model of the airship attitude is a multi-input/multi-output uncertain nonlinear system. Based on the characteristics of this system, a design method of robust output tracking controllers was adopted based on the upper-bounds of the uncertainties. Using the input/output feedback linearization approach and Liapunov method, a control law was designed, which guarantees that the system output exponentially tracks the given desired output. The controller is easy to compute and complement. Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system.

  18. Precision Integrated Power and Attitude Control System (IPACS) in the Presence of Dynamic Uncertainty

    Kim, D.; MacKunis, W.; Fitz-Coy, N.; Dixon, W. E.


    An adaptive robust integrated power and attitude control system (IPACS) is presented for a variable speed control moment gyroscope (VSCMG)-actuated satellite. The developed IPACS method is capable of achieving precision attitude control while simultaneously achieving asymptotic power tracking for a rigid-body satellite in the presence of uncertain friction in the VSCMG gimbals and wheels. In addition, the developed controller compensates for the effects of uncertain, time-varying satellite inertia properties. Some challenges encountered in the control design are that the control input is premultiplied by a nonsquare, time-varying, nonlinear, uncertain matrix and is embedded in a discontinuous nonlinear. Globally uniformly ultimately bounded attitude tracking and asymptotic power tracking results are proven via Lyapunov stability analyses, and simulation results are provided to demonstrate the performance of the controller.

  19. Magnetic attitude control system for dual-spin satellites

    Alfriend, K. T.


    A closed-loop control law is developed for a dual-spin satellite control system which utilizes the interaction of the geomagnetic field with the satellite dipole parallel to the spin axis. The control law consists of the linear combination of the pitch axis component of the rate of change of the geomagnetic field and the product of the roll angle and roll axis component of the geomagnetic field. Application of the method of multiple time scales yields approximate solutions for the feedback gains in terms of the system parameters. Approximate solutions are also obtained for the response of the system to disturbance torques. A comparison of the approximate solutions and numerical solutions obtained by numerical integration of the exact equations of motion is then given.

  20. Decentralized diagnosis in a spacecraft attitude determination and control system

    Pérez, Carlos Gustavo; Travé-Massuyès, Louise; Chanthery, Elodie; Sotomayor, Javier


    In model-based diagnosis (MBD), structural models can provide useful information for fault diagnosis and fault-tolerant control design. In particular, they are known for supporting the design of analytical redundancy relations (ARRs) which are widely used to generate residuals for diagnosis. On the other hand, systems are increasingly complex whereby it is necessary to develop decentralized architectures to perform the diagnosis task. Decentralized diagnosis is of interest for on-board system...

  1. A distributed system adaptive control strategy. [for attitude control of large spacecraft

    Johnson, C. R., Jr.; Montgomery, R. C.


    One attitude control device being studied for large spacecraft consists of two counter-rotating rings, each designated as an annular momentum control device (AMCD), that are attached to a spacecraft using several magnetic bearings distributed along the circumference of the rings. For large spacecraft large rings are desirable. Unfortunately, for large rings flexibility is appreciable and it becomes necessary to account for the distributed nature of the rings in the design of the magnetic bearing controllers. Also ring behavior is unpredictably sensitive to ring temperature, spin rate, manufacturing imperfections, and other variables. For that reason a distributed adaptive microcomputer-based control system is being sought for ring stabilization and maneuvering. An original adaptive-control methodology for distributed-parameter systems is detailed and application to spinning ring, i.e., AMCD, stabilization is used as an illustration. The proposed methodology, presented as a step-by-step procedure, combines a lumped-parameter expansion description of distributed parameter systems with a fundamental simultaneous identification and control strategy. Simulations are presented providing preliminary evidence of the capabilities of the proposed procedure.

  2. Attitude Control of Quad-rotor by Improving the Reliability of Multi-Sensor System

    Yu, Dong Hyeon; Chong, Kil To [Chon-bok National University, Jeonju (Korea, Republic of); Park, Jong Ho [Seonam University, Namwon (Korea, Republic of); Ryu, Ji Hyoung [ETRI, Daejeon (Korea, Republic of)


    This paper presents the results of study for improving the reliability of quadrotor attitude control by applying a multi-sensor along with a data fusion algorithm. First, a mathematical model of the quadrotor dynamics was developed. Then, using the quadrotor mathematical model, simulations were performed using the improved reliability multi-sensor data as the inputs. From the simulation results, we designed a Gimbal-equipped quadrotor system. With the quadrotor in a hover state, we performed experiments according to the angle change of the user's specifications . We then calculated the attitude control data from the actual experimental data. Furthermore, with additional simulations, we verified the performance of the designed quadrotor attitude control system with multiple sensors.

  3. Attitude Control of Quad-rotor by Improving the Reliability of Multi-Sensor System

    This paper presents the results of study for improving the reliability of quadrotor attitude control by applying a multi-sensor along with a data fusion algorithm. First, a mathematical model of the quadrotor dynamics was developed. Then, using the quadrotor mathematical model, simulations were performed using the improved reliability multi-sensor data as the inputs. From the simulation results, we designed a Gimbal-equipped quadrotor system. With the quadrotor in a hover state, we performed experiments according to the angle change of the user's specifications . We then calculated the attitude control data from the actual experimental data. Furthermore, with additional simulations, we verified the performance of the designed quadrotor attitude control system with multiple sensors

  4. An Attitude Control System for SumbandilaSAT an Earth Observation Satellite

    Steyn, W. H.


    This paper describes the attitude determination and control system to support the multi-spectral earth observation main payload of the SumbandilaSAT microsatellite. The satellite has only a single main Y- body mounted solar panel and the attitude control system must ensure a nominal sun-pointed attitude under all non-imaging conditions during the sunlit part of the orbit. The control actuators employed are 3- axis magnetic torquer rods and reaction wheels. During initial detumbling and safe mode operations a simple new magnetic control law is used to bring the satellite to a sun-pointed Y-spinning attitude for maximum solar power collection. From this sun-pointed, spinning attitude an intermediate control mode is entered when the Y-reaction wheel is utilised as a momentum wheel, to absorb the body spin rate and to inertially stabilise the angular momentum vector towards the sun direction. During the intermediate mode the magnetic rods are used to maintain the momentum vector size and direction and to do nutation damping. The pitch angle is also controlled using the Y-wheel, to keep the main imager payload as close as possible to an earth-pointed attitude and to thermally stabilise the imager telescope. The final and nominal attitude control mode is entered when a zero biased 3-axis reaction wheel controller is enabled, for: 1) sun tracking for optimal solar power collection, 2) target tracking during viewfinder use or during imaging download communication with a ground station and 3) pushbroom imager scanning with a forward motion compensation capability. During the nominal mode the magnetic rods are used to dump the angular momentum from the reaction wheels during sun tracking periods. A short introduction to the Sumbandila satellite will be given. All the control modes, the attitude sensors and estimators utilised, will be introduced in the paper. Specifically, a unique agile viewfinder control mode to manually select targets for subsequent high resolution image

  5. Design and Integration of an All-Magnetic Attitude Control System for FASTSAT-HSV01's Multiple Pointing Objectives

    DeKock, Brandon; Sanders, Devon; Vanzwieten, Tannen; Capo-Lugo, Pedro


    The FASTSAT-HSV01 spacecraft is a microsatellite with magnetic torque rods as it sole attitude control actuator. FASTSAT s multiple payloads and mission functions require the Attitude Control System (ACS) to maintain Local Vertical Local Horizontal (LVLH)-referenced attitudes without spin-stabilization, while the pointing errors for some attitudes be significantly smaller than the previous best-demonstrated for this type of control system. The mission requires the ACS to hold multiple stable, unstable, and non-equilibrium attitudes, as well as eject a 3U CubeSat from an onboard P-POD and recover from the ensuing tumble. This paper describes the Attitude Control System, the reasons for design choices, how the ACS integrates with the rest of the spacecraft, and gives recommendations for potential future applications of the work.

  6. The combined energy and attitude control system for small satellites—Earth observation missions

    Varatharajoo, Renuganth; Fasoulas, Stefanos


    Small satellites are becoming the preferred option for low-cost Earth observation missions. However, the projected requirements have increased for the missions, which require more sophisticated and additional payloads nowadays. As a result, this would most probably be cumbersome and critical for the overall satellite mass/volume budgets. In this article, the idea of combining the energy storage and attitude control systems is presented in order to reduce the number of subsystems onboard. Such a system consists of a double counterrotating flywheel unit serving simultaneously for the satellite energy and attitude management. First, numerical treatments were conducted for the rotors to determine a failure-free condition corresponding to their stresses and natural frequencies. Further, the mathematical models describing the energy and attitude control are established, and the system onboard architecture is implemented. Numerical simulations for the developed architecture were conducted taking into account the ideal and non-ideal cases. The simulation results are discussed especially from the energy and attitude standpoints. The system performance complies with the mission requirements. Thus, this end-to-end system demonstration indicates that the combined system is judiciously feasible, and is a potential combined subsystem for small satellites.

  7. Attitude control system design using a flywheel suspended by two gimbals

    Peres, R. W.; Ricci, M. C.


    This work presents the attitude control system design procedures for a three axis stabilized satellite in geostationary orbit, which contains a flywheel suspended by two gimbals. The use of a flywheel with two DOFs is an interesting option because with only one device it's possible to control the torques about vehicle's three axes; through the wheel speed control and gyrotorquing phenomenon with two DOFs. If the wheel size and speed are determined properly it's possible to cancel cyclic torques using gas jets only periodically to cancel secular disturbance torques. The system, based on a flywheel, takes only one pitch/roll (earth) sensor to maintain precise attitude, unlike mass expulsion based control systems, which uses propellants continuously, beyond roll, pitch and yaw sensors. It is considered the satellite is in nominal orbit and, therefore, that the attitude's acquisition phase has already elapsed. Control laws and system parameters are determined in order to cancel the solar pressure radiation disturbance torque and the torque due to misalignment of the thrusters. Stability is analyzed and step and cyclic responses are obtained.

  8. Attitudes Toward Financial Control Systems in the United States and Japan†

    Lane Daley; James Jiambalvo; Gary Sundem; Yasumasa Kondo


    Recently researchers have begun to investigate issues of differences in the use of managerial accounting tools across differing national environments. Much of this research is of the case study approach documenting actual practices for a small group of firms, or a distillation from numerous observations but using anecdotal evidence to support various conjectures.The study uses a survey of attitudes toward various aspects of budgeting and control systems to gain insight into the existence of d...

  9. Innovation Approach Based Sensor FDI in LEO Satellite Attitude Determination and Control System

    Hajiyev, Chingiz


    Fault detection and isolation algorithms for LEO satellite attitude determination and control system using an approach for checking the statistical characteristics of EKF innovation sequence are proposed. The fault detection algorithm is based on statistic for the mathematical expectation of the spectral norm of the normalized innovation matrix of the EKF. This approach permits simultaneous real-time checking of the mathematical expectation and the variance of the innovation sequence and does...

  10. On the Elastic Vibration Model for High Length-Diameter Ratio Rocket with Attitude Control System

    朱伯立; 杨树兴


    An elastic vibration model for high length-diameter ratio spinning rocket with attitude control system which can be used for trajectory simulation is established. The basic theory of elastic dynamics and vibration dynamics were both used to set up the elastic vibration model of rocket body. In order to study the problem more conveniently, the rocket's body was simplified to be an even beam with two free ends. The model was validated by simulation results and the test data.

  11. Attitude control system of the Delfi-n3Xt satellite

    Reijneveld, J.; Choukroun, D.


    This work is concerned with the development of the attitude control algorithms that will be implemented on board of the Delfi-n3xt nanosatellite, which is to be launched in 2013. One of the mission objectives is to demonstrate Sun pointing and three axis stabilization. The attitude control modes and the associated algorithms are described. The control authority is shared between three body-mounted magnetorquers (MTQ) and three orthogonal reaction wheels. The attitude information is retrieved ...

  12. Optimality of incompletely measurable active and passive attitude control systems. [for satellites

    Schiehlen, W.; Popp, K.


    Passive attitude control systems and active systems with incomplete state measurements are only suboptimal systems in the sense of optimal control theory, since optimal systems require complete state measurements or state estimations. An optimal system, then, requires additional hardware (especially in the case of flexible spacecraft) which results in higher costs. Therefore, it is a real engineering problem to determine how much an optimal system exceeds the suboptimal system, or in other words, what is the suboptimal system's degree of optimality. The problem will be treated in three steps: (1) definition of the degree of optimality for linear, time-invariant systems; (2) a computation method using the quadratic cost functional; (3) application to a gravity-gradient stabilized three-body satellite and a spinning flexible satellite.

  13. Star Tracker Algorithms and a Low-Cost Attitude Determination and Control System for Space Missions

    Delabie, Tjorven


    The attitude determination and control system determines and controls the orientation of the spacecraft. This system is crucial in the majority of space missions to e.g. point a camera to a star or direct an antenna to a ground station. Increasingly complex missions drive the need for higher accuracy, while the growing number of small spacecraft requires high robustness and low computational cost. This work focusses on the star tracker, a sensor that takes an image of the stars and compares i...

  14. Platform attitude data acquisition system

    Afzulpurkar, S.

    A system for automatic acquisition of underwater platform attitude data has been designed, developed and tested in the laboratory. This is a micro controller based system interfacing dual axis inclinometer, high-resolution digital compass...

  15. The Implementation of Satellite Attitude Control System Software Using Object Oriented Design

    Reid, W. Mark; Hansell, William; Phillips, Tom; Anderson, Mark O.; Drury, Derek


    NASA established the Small Explorer (SNMX) program in 1988 to provide frequent opportunities for highly focused and relatively inexpensive space science missions. The SMEX program has produced five satellites, three of which have been successfully launched. The remaining two spacecraft are scheduled for launch within the coming year. NASA has recently developed a prototype for the next generation Small Explorer spacecraft (SMEX-Lite). This paper describes the object-oriented design (OOD) of the SMEX-Lite Attitude Control System (ACS) software. The SMEX-Lite ACS is three-axis controlled and is capable of performing sub-arc-minute pointing. This paper first describes high level requirements governing the SMEX-Lite ACS software architecture. Next, the context in which the software resides is explained. The paper describes the principles of encapsulation, inheritance, and polymorphism with respect to the implementation of an ACS software system. This paper will also discuss the design of several ACS software components. Specifically, object-oriented designs are presented for sensor data processing, attitude determination, attitude control, and failure detection. Finally, this paper will address the establishment of the ACS Foundation Class (AFC) Library. The AFC is a large software repository, requiring a minimal amount of code modifications to produce ACS software for future projects.

  16. Analytic investigation of the AEM-A/HCMM attitude control system performance. [Application Explorer Missions/Heat Capacity Mapping Mission

    Lerner, G. M.; Huang, W.; Shuster, M. D.


    The Heat Capacity Mapping Mission (HCMM), scheduled for launch in 1978, will be three-axis stabilized relative to the earth in a 600-kilometer altitude, polar orbit. The autonomous attitude control system consists of three torquing coils and a momentum wheel driven in response to error signals computed from data received from an infrared horizon sensor and a magnetometer. This paper presents a simple model of the attitude dynamics and derives the equations that determine the stability of the system during both attitude acquisition (acquisition-mode) and mission operations (mission-mode). Modifications to the proposed mission-mode control laws which speed the system's response to transient attitude errors and reduce the steady-state attitude errors are suggested. Numerical simulations are performed to validate the results obtained with the simple model.

  17. Mission management, planning, and cost: PULSE Attitude And Control Systems (AACS)


    The Pluto unmanned long-range scientific explorer (PULSE) is a probe that will do a flyby of Pluto. It is a low weight, relatively low costing vehicle which utilizes mostly off-the-shelf hardware, but not materials or techniques that will be available after 1999. A design, fabrication, and cost analysis is presented. PULSE will be launched within the first decade of the twenty-first century. The topics include: (1) scientific instrumentation; (2) mission management, planning, and costing; (3) power and propulsion systems; (4) structural subsystem; (5) command, control, and communication; and (6) attitude and articulation control.

  18. Attitude control system of the Delfi-n3Xt satellite

    Reijneveld, J.; Choukroun, D.


    This work is concerned with the development of the attitude control algorithms that will be implemented on board of the Delfi-n3xt nanosatellite, which is to be launched in 2013. One of the mission objectives is to demonstrate Sun pointing and three axis stabilization. The attitude control modes and

  19. Optimal magnetic attitude control

    Wisniewski, Rafal; Markley, F.L.


    Magnetic torquing is attractive as means of control for small satellites. The actuation principle is to use the interaction between the earth's magnetic field and a magnetic field generated by a coil set in the satellite. This control principle is inherently time-varying, and difficult to use...... because control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis stabilization of a low earth orbit satellite. The problem of controlling the spacecraft attitude using only magnetic...

  20. Enceladus Plume Density Modeling and Reconstruction for Cassini Attitude Control System

    Sarani, Siamak


    In 2005, Cassini detected jets composed mostly of water, spouting from a set of nearly parallel rifts in the crust of Enceladus, an icy moon of Saturn. During an Enceladus flyby, either reaction wheels or attitude control thrusters on the Cassini spacecraft are used to overcome the external torque imparted on Cassini due to Enceladus plume or jets, as well as to slew the spacecraft in order to meet the pointing needs of the on-board science instruments. If the estimated imparted torque is larger than it can be controlled by the reaction wheel control system, thrusters are used to control the spacecraft. Having an engineering model that can predict and simulate the external torque imparted on Cassini spacecraft due to the plume density during all projected low-altitude Enceladus flybys is important. Equally important is being able to reconstruct the plume density after each flyby in order to calibrate the model. This paper describes an engineering model of the Enceladus plume density, as a function of the flyby altitude, developed for the Cassini Attitude and Articulation Control Subsystem, and novel methodologies that use guidance, navigation, and control data to estimate the external torque imparted on the spacecraft due to the Enceladus plume and jets. The plume density is determined accordingly. The methodologies described have already been used to reconstruct the plume density for three low-altitude Enceladus flybys of Cassini in 2008 and will continue to be used on all remaining low-altitude Enceladus flybys in Cassini's extended missions.

  1. The Software Design for the Wide-Field Infrared Explorer Attitude Control System

    Anderson, Mark O.; Barnes, Kenneth C.; Melhorn, Charles M.; Phillips, Tom


    The Wide-Field Infrared Explorer (WIRE), currently scheduled for launch in September 1998, is the fifth of five spacecraft in the NASA/Goddard Small Explorer (SMEX) series. This paper presents the design of WIRE's Attitude Control System flight software (ACS FSW). WIRE is a momentum-biased, three-axis stabilized stellar pointer which provides high-accuracy pointing and autonomous acquisition for eight to ten stellar targets per orbit. WIRE's short mission life and limited cryogen supply motivate requirements for Sun and Earth avoidance constraints which are designed to prevent catastrophic instrument damage and to minimize the heat load on the cryostat. The FSW implements autonomous fault detection and handling (FDH) to enforce these instrument constraints and to perform several other checks which insure the safety of the spacecraft. The ACS FSW implements modules for sensor data processing, attitude determination, attitude control, guide star acquisition, actuator command generation, command/telemetry processing, and FDH. These software components are integrated with a hierarchical control mode managing module that dictates which software components are currently active. The lowest mode in the hierarchy is the 'safest' one, in the sense that it utilizes a minimal complement of sensors and actuators to keep the spacecraft in a stable configuration (power and pointing constraints are maintained). As higher modes in the hierarchy are achieved, the various software functions are activated by the mode manager, and an increasing level of attitude control accuracy is provided. If FDH detects a constraint violation or other anomaly, it triggers a safing transition to a lower control mode. The WIRE ACS FSW satisfies all target acquisition and pointing accuracy requirements, enforces all pointing constraints, provides the ground with a simple means for reconfiguring the system via table load, and meets all the demands of its real-time embedded environment (16 MHz Intel

  2. Carrier-phase GNSS Attitude Determination and Control System for Unmanned Aerial Vehicle Applications

    Roberto Sabatini, Leopoldo Rodríguez, Anish Kaharkar, Celia Bartel, Tesheen Shaid


    Full Text Available This paper presents the results of a research activity performed by Cranfield University to assess the potential of carrierphase Global Navigation Satellite Systems (GNSS for attitude determination and control of small to medium size Unmanned Aerial Vehicles (UAV. Both deterministic and recursive (optimal estimation algorithms are developed for combining multiple attitude measurements obtained from different observation points (i.e., antenna locations, and their efficiencies are tested in various dynamic conditions. The proposed algorithms converge rapidly and produce the required output even during high dynamics manoeuvres. Results of theoretical performance analysis and simulation activities are presented in this paper, with emphasis on the advantages of the GNSS interferometric approach in UAV applications (i.e., low cost, high data-rate, low volume/weight, low signal processing requirements, etc.. Modelling and simulation activities focussed on the AEROSONDE UAV platform and considered the possible augmentation provided by interferometric GNSS techniques to a low-cost and low-weight/volume integrated navigation system recently developed at Cranfield University, which employs a Vision-based Navigation (VBN system, a Micro-Electro-mechanical Sensor (MEMS based Inertial Measurement Unit (IMU and code-range GNSS (i.e., GPS and GALILEO for position and velocity computations. The integrated VBN-IMU-GNSS (VIG system is augmented by using the inteferometric GNSS Attitude Determination(GAD and a comparison of the performance achievable with the VIG and VIG/GAD integrated Navigation and Guidance Systems (NGS is presented. Finally, the data provided by these NGS are used to optimise the design of an hybrid controller employing Fuzzy Logic and Proportional-Integral-Derivative (PID techniques for the AEROSONDE UAV.

  3. Structural control interaction for an LSS attitude control system using thrusters and reaction wheels

    da Fonseca, Ijar M.; Bainum, Peter M.; da Silva, Adenilson R.


    This work provides some important information about control structure interaction (CSI) for a large space structure (LSS) attitude control subsystem (ACS) comprised of thrusters and reaction wheels. The LSS physical model is assumed as a rigid long tubular beam as the main bus with two attached long flexible solar panels. Two thrusters (one at each tip of the LSS) are used for large amplitude maneuvers and the reaction wheels for fine control. Lagrange's formulations for generalized and quasi-coordinates were used to derive the equations of motion. The gravity gradient, the solar pressure and the drag were included in the mathematical model as external perturbations. The assumed modes discretization method has been used to model the solar array elastic displacements so as to obtain a set of ordinary differential equations to describe the LSS motion. Different control strategies were implemented to analyze the CSI for two configurations, fine and coarse control. The MatLab/Simulink platform has been used for the computational simulations. The results are in agreement with the CSI theory in that thruster firings excite the solar panel vibrations and that the elastic vibration is an important issue to be taken into account for LSS ACS performance evaluation for both fine and coarse control. In spite of the CSI the maneuver objectives have been accomplished with results that meet the mission criteria.

  4. Transient Plume Model Testing Using LADEE Spacecraft Attitude Control System Operations

    Woronowicz, Michael


    We have learned it is conceivable that the Neutral Mass Spectrometer on board the Lunarr Atmosphere Dust Environment Explorer (LADEE) could measure gases from surface-reflected Attitude Control System (ACS) thruster plume. At minimum altitude, the measurement would be maximized, and gravitational influence minimized ("short" time-of-flight (TOF) situation) Could use to verify aspects of thruster plume modeling Model the transient disturbance to NMS measurements due to ACS gases reflected from lunar surface Observe evolution of various model characteristics as measured by NMS Species magnitudes, TOF measurements, angular distribution, species separation effects

  5. Fault tolerant attitude control for small unmanned aircraft systems equipped with an airflow sensor array

    Inspired by sensing strategies observed in birds and bats, a new attitude control concept of directly using real-time pressure and shear stresses has recently been studied. It was shown that with an array of onboard airflow sensors, small unmanned aircraft systems can promptly respond to airflow changes and improve flight performances. In this paper, a mapping function is proposed to compute aerodynamic moments from the real-time pressure and shear data in a practical and computationally tractable formulation. Since many microscale airflow sensors are embedded on the small unmanned aircraft system surface, it is highly possible that certain sensors may fail. Here, an adaptive control system is developed that is robust to sensor failure as well as other numerical mismatches in calculating real-time aerodynamic moments. The advantages of the proposed method are shown in the following simulation cases: (i) feedback pressure and wall shear data from a distributed array of 45 airflow sensors; (ii) 50% failure of the symmetrically distributed airflow sensor array; and (iii) failure of all the airflow sensors on one wing. It is shown that even if 50% of the airflow sensors have failures, the aircraft is still stable and able to track the attitude commands. (paper)

  6. Improved ITOS attitude control system with Hall generator brushless motor and earth-splitting technique

    Peacock, W. M.


    The ITOS with an improved attitude control system is described. A Hall generator brushless dc torque motor will replace the brush dc torque motor on ITOS-I and ITOS-A (NOAA-1). The four attitude horizon sensors will be replaced with two CO2 sensors for better horizon definition. An earth horizon splitting technique will be used to keep the earth facing side of the satellite toward earth even if the desired circular orbit is not achieved. The external appearance of the pitch control subsystem differs from TIROS-M (ITOS-1) and ITOS-A (NOAA-1) in that two instead of one pitch control electronics (PCE) boxes are used. Two instead of four horizon sensors will be used and one instead of two mirrors will be used for sensor scanning. The brushless motor will eliminate the requirement for brushes, strain gages and the telemetry for the brush wear. A single rotating flywheel, supported by a single bearing provides the gyroscopic stability and the required momentum interchange to keep one side of the satellite facing the earth. Magnetic torquing against the earth's magnetic field eliminates the requirement for expendable propellants which would limit satellite life in orbit.

  7. Attitude control of a space platform/manipulator system using internal motion

    Fernandes, Chris; Gurvits, Leonid; Li, Zexiang


    Attitude control of a space platform/manipulator system, using internal motion, is an example of a nonholonomic motion planning (NMP) problem arising from symmetry and conservation laws. Common to NMP problems are that an admissible configuration space path is constrained to a given nonholonomic distribution. We formulate the dynamic equations of a system consisting of a 3-DOF PUMA-like manipulator attached to a space platform (e.g., a space station or a satellite) as an NMP problem and discuss the cotrollability of the system. Then we describe the application of a simple algorithm for obtaining approximate optimal solutions. We conclude with a description of simulation software implementing the algorithm and simulation results for two experiments.

  8. Investigations of an integrated angular velocity measurement and attitude control system for spacecraft using magnetically suspended double-gimbal CMGs

    Zheng, Shiqiang; Han, Bangcheng


    This paper presents an integrated angular velocity measurement and attitude control system of spacecraft using magnetically suspended double-gimbal control moment gyros (MSDGCMGs). The high speed rotor of MSDGCMG is alleviated by a five-degree-of-freedom permanent magnet biased AMB control system. With this special rotor supported manner, the MSDGCMG has the function of attitude rate sensing as well as attitude control. This characteristic provides a new approach to a compact light-weight spacecraft design, which can combine these two functions into a single device. This paper discusses the principles and implementations of AMB-based angular velocity measurement. Spacecraft dynamics with DGMSCMG actuators, including the dynamics of magnetically suspended high-speed rotor, the dynamics of inner gimbal and outer gimbal, as well as the determination method of spacecraft angular velocity are modeled, respectively. The effectiveness of the proposed integrated system is also validated numerically and experimentally.

  9. Torque equilibrium attitude control for Skylab reentry

    Glaese, J. R.; Kennel, H. F.


    The method of torque equilibrium attitude control used to control the reentry of Skylab to an altitude below 150 km without the use of thruster fuel once the attitude was established is discussed. The Skylab attitude and pointing control system, which included rate gyros, sun sensors, star tracker, the Apollo telescope mount digital computer, control moment gyros and cold-gas attitude thrusters, is presented. The 12 torque equilibrium attitudes found at which aerodynamic, gravity gradient and gyroscopic torques would balance are indicated, and the three of those at which the solar power supply would be adequate for attitude control are illustrated. The equilibrium seeking method employed is then examined, and the operation and performance of the torque equilibrium attitude control system during the three weeks prior to Skylab reentry are discussed. It is concluded that the torque equilibrium attitude control method developed for Skylab was successful in performing its assigned mission, and will be valuable for the design of future, low-altitude spacecraft or tethered vehicles.

  10. Attitude control system of the Delfi-n3Xt satellite

    Reijneveld, J.; Choukroun, D.


    This work is concerned with the development of the attitude control algorithms that will be implemented on board of the Delfi-n3xt nanosatellite, which is to be launched in 2013. One of the mission objectives is to demonstrate Sun pointing and three axis stabilization. The attitude control modes and the associated algorithms are described. The control authority is shared between three body-mounted magnetorquers (MTQ) and three orthogonal reaction wheels. The attitude information is retrieved from Sun vector measurements, Earth magnetic field measurements, and gyro measurements. The design of the control is achieved as a trade between simplicity and performance. Stabilization and Sun pointing are achieved via the successive application of the classical Bdot control law and a quaternion feedback control. For the purpose of Sun pointing, a simple quaternion estimation scheme is implemented based on geometric arguments, where the need for a costly optimal filtering algorithm is alleviated, and a single line of sight (LoS) measurement is required - here the Sun vector. Beyond the three-axis Sun pointing mode, spinning Sun pointing modes are also described and used as demonstration modes. The three-axis Sun pointing mode requires reaction wheels and magnetic control while the spinning control modes are implemented with magnetic control only. In addition, a simple scheme for angular rates estimation using Sun vector and Earth magnetic measurements is tested in the case of gyro failures. The various control modes performances are illustrated via extensive simulations over several orbits time spans. The simulated models of the dynamical space environment, of the attitude hardware, and the onboard controller logic are using realistic assumptions. All control modes satisfy the minimal Sun pointing requirements allowed for power generation.

  11. Attitude control with active actuator saturation prevention

    Forbes, James Richard


    Spacecraft attitude control in the presence of actuator saturation is considered. The attitude controller developed has two components: a proportional component and an angular velocity component. The proportional control has a special form that depends on the attitude parameterization. The angular velocity control is realized by a strictly positive real system with its own input nonlinearity. The strictly positive real system can filter noise in the angular velocity measurement. With this control architecture the torques applied to the body are guaranteed to be below a predetermined value, thus preventing saturation of the actuators. The closed-loop equilibrium point corresponding to the desired attitude is shown to be asymptotically stable. Additionally, the control law does not require specific knowledge of the body's inertia properties, and is therefore robust to such modelling errors.

  12. Satellite Attitude Control System Design Taking into Account the Fuel Slosh and Flexible Dynamics

    Alain G. de Souza


    Full Text Available The design of the spacecraft Attitude Control System (ACS becomes more complex when the spacecraft has different type of components like, flexible solar panels, antennas, mechanical manipulators and tanks with fuel. The interaction between the fuel slosh motion, the panel’s flexible motion and the satellite rigid motion during translational and/or rotational manoeuvre can change the spacecraft center of mass position damaging the ACS pointing accuracy. This type of problem can be considered as a Fluid-Structure Interaction (FSI where some movable or deformable structure interacts with an internal fluid. This paper develops a mathematical model for a rigid-flexible satellite with tank with fuel. The slosh dynamics is modelled using a common pendulum model and it is considered to be unactuated. The control inputs are defined by a transverse body fixed force and a moment about the centre of mass. A comparative investigation designing the satellite ACS by the Linear Quadratic Regulator (LQR and Linear Quadratic Gaussian (LQG methods is done. One has obtained a significant improvement in the satellite ACS performance and robustness of what has been done previously, since it controls the rigid-flexible satellite and the fuel slosh motion, simultaneously.

  13. Integrated Orbit, Attitude, and Structural Control System Design for Space Solar Power Satellites

    Woods-Vedeler, Jessica (Technical Monitor); Moore, Chris (Technical Monitor); Wie, Bong; Roithmayr, Carlos


    The major objective of this study is to develop an integrated orbit, attitude, and structural control system architecture for very large Space Solar Power Satellites (SSPS) in geosynchronous orbit. This study focuses on the 1.2-GW Abacus SSPS concept characterized by a 3.2 x 3.2 km solar-array platform, a 500-m diameter microwave beam transmitting antenna, and a 500 700 m earth-tracking reflector. For this baseline Abacus SSPS configuration, we derive and analyze a complete set of mathematical models, including external disturbances such as solar radiation pressure, microwave radiation, gravity-gradient torque, and other orbit perturbation effects. The proposed control system architecture utilizes a minimum of 500 1-N electric thrusters to counter, simultaneously, the cyclic pitch gravity-gradient torque, the secular roll torque caused by an o.set of the center-of-mass and center-of-pressure, the cyclic roll/yaw microwave radiation torque, and the solar radiation pressure force whose average value is about 60 N.

  14. Integrated Orbit, Attitude, and Structural Control Systems Design for Space Solar Power Satellites

    Wie, Bong; Roithmayr, Carlos M.


    The major objective of this study is to develop an integrated orbit, attitude, and structural control systems architecture for very large Space Solar Power Satellites (SSPS) in geosynchronous orbit. This study focuses on the 1.2-GW Abacus SSPS concept characterized by a 3.2 x 3.2 km solar-array platform, a 500-m diameter microwave beam transmitting antenna, and a 500 x 700 m earth-tracking reflector. For this baseline Abacus SSPS configuration, we derive and analyze a complete set of mathematical models, including external disturbances such as solar radiation pressure, microwave radiation, gravity-gradient torque, and other orbit perturbation effects. The proposed control systems architecture utilizes a minimum of 500 1-N electric thrusters to counter, simultaneously, the cyclic pitch gravity-gradient torque, the secular roll torque caused by an offset of the center-of-mass and center-of-pressure, the cyclic roll/yaw microwave radiation torque, and the solar radiation pressure force whose average value is about 60 N.

  15. The Attitude Control System Design for the Submillimeter Wave Astronomy Satellite

    Clagett, Charles; Correll, Thomas; Fennell, Michael; Niles, Frederick; Untalan III, Victoriano; Chen, Roger; Daniel, Walter


    The Submillimeter Wave Astronomy Satellite (SWAS), the third Small Explorer spacecraft, has a sophisticated three-axis stellar pointing attitude, control subsystem. This mission requires slewing the satellite up to 3 degrees and settling on target within 15 seconds to a 57 arc-second accuracy once per minute. Hardware and software configuration will be briefly described. The spacecraft has many modes and submodes of increasing complexity and accuracy. These modes use a variety of routines inc...

  16. Attitude Control of a Six-Legged Robot in Consideration of Actuator Dynamics by Optimal Servo Control System

    Uchida, H.; Nonami, K.


    In the present study, we examined the attitude control method considering the delay of the hydraulic actuator whereby the mine detection six-legged robot can realize stable walking on irregular terrain without to make an orbit of the foot for irregular terrain. The following results were obtained. (1) As an attitude control method considering the delay of the actuator of the thigh links, we derive a mathematical model in which the inputs are the driving torque of the thigh links in the suppor...

  17. Design, dynamics and control of an Adaptive Singularity-Free Control Moment Gyroscope actuator for microspacecraft Attitude Determination and Control System

    Viswanathan, Sasi Prabhakaran

    how they lead to CMG singularities, are described. General ideas on control of the angular momentum of the spacecraft using changes in the momentum variables of a finite number of ASCMGs, are provided. Control schemes for agile and precise attitude maneuvers using ASCMG cluster in the absence of external torques and when the total angular momentum of the spacecraft is zero, is presented for both constant speed and variable speed modes. A Geometric Variational Integrator (GVI) that preserves the geometry of the state space and the conserved norm of the total angular momentum is constructed for numerical simulation and microcontroller implementation of the control scheme. The GVI is obtained by discretizing the Lagrangian of the rnultibody systems, in which the rigid body attitude is globally represented on the Lie group of rigid body rotations. Hardware and software architecture of a novel spacecraft Attitude Determination and Control System (ADCS) based on commercial smartphones and a bare minimum hardware prototype of an ASCMG using low cost COTS components is also described. A lightweight, dynamics model-free Variational Attitude Estimator (VAE) suitable for smartphone implementation is employed for attitude determination and the attitude control is performed by ASCMG actuators. The VAE scheme presented here is implemented and validated onboard an Unmanned Aerial Vehicle (UAV) platform and the real time performance is analyzed. On-board sensing, data acquisition, data uplink/downlink, state estimation and real-time feedback control objectives can be performed using this novel spacecraft ADCS. The mechatronics realization of the attitude determination through variational attitude estimation scheme and control implementation using ASCMG actuators are presented here. Experimental results of the attitude estimation (filtering) scheme using smartphone sensors as an Inertial Measurement Unit (IMU) on the Hardware In the Loop (HIL) simulator testbed are given. These

  18. Integration and Testing of the Lunar Reconnaissance Orbiter Attitude Control System

    Simpson, Jim; Badgley, Jason; McCaughey, Ken; Brown, Kristen; Calhoun, Philip; Davis, Edward; Garrick, Joseph; Gill, Nathaniel; Hsu, Oscar; Jones, Noble; Oritz-Cruz, Gerardo; Raymond, Juan; Roder, Russell; Shah, Neerav; Wilson, John


    Throughout the Lunar Reconnaissance Orbiter (LRO) Integration and Testing (I&T) phase of the project, the Attitude Control System (ACS) team completed numerous tests on each hardware component in ever more flight like environments. The ACS utilizes a select group of attitude sensors and actuators. This paper chronicles the evolutionary steps taken to verify each component was constantly ready for flight as well as providing invaluable trending experience with the actual hardware. The paper includes a discussion of each ACS hardware component, lessons learned of the various stages of I&T, a discussion of the challenges that are unique to the LRO project, as well as a discussion of work for future missions to consider as part of their I&T plan. LRO ACS sensors were carefully installed, tested, and maintained over the 18 month I&T and prelaunch timeline. Care was taken with the optics of the Adcole Coarse Sun Sensors (CSS) to ensure their critical role in the Safe Hold mode was fulfilled. The use of new CSS stimulators provided the means of testing each CSS sensor independently, in ambient and vacuum conditions as well as over a wide range of thermal temperatures. Extreme bright light sources were also used to test the CSS in ambient conditions. The integration of the two SELEX Galileo Star Trackers was carefully planned and executed. Optical ground support equipment was designed and used often to check the performance of the star trackers throughout I&T in ambient and thermal/vacuum conditions. A late discovery of potential contamination of the star tracker light shades is discussed in this paper. This paper reviews how each time the spacecraft was at a new location and orientation, the Honeywell Miniature Inertial Measurement Unit (MIMU) was checked for data output validity. This gyro compassing test was performed at several key testing points in the timeline as well as several times while LRO was on the launch pad. Sensor alignment tests were completed several

  19. Flexible Satellite Attitude Control via Adaptive Fuzzy Linearization

    GUAN Ping; LIU Xiang-dong; CHEN Jia-bin; LIU Xiao-he


    The adaptive fuzzy control is combined with input-output linearization control to constitute the hybrid controller. The control method is then applied to the attitude maneuver control of the flexible satellite.The basic control structure is given. The rules of the controller parameter selection, which guarantee the attitude stabilization of the satellite with parameter uncertainties, have been analyzed. Simulation results show that the precise attitude control is accomplished in spite of the uncertainty in the system.

  20. Scout fourth stage attitude and velocity control (AVC) system feasibility study

    Byars, L. B.


    The feasibility of incorporating a guidance system in the Scout fourth stage to achieve a significant improvement in expected payload delivery accuracy is studied. The technical investigations included the determination of the AVC equipment performance requirements, establishment of qualification and acceptance test levels, generation of layouts illustrating design approaches for the upper D and payload transition sections to incorporate the hardware, and the preparation of a vendor bid package. Correction concepts, utilizing inertial velocity and attitude, were identified and evaluated. Fourth stage attitude adjustments as determined from inertial velocity variation through the first three stages and a final velocity correction based upon the measured in-plane component errors at injection were employed. Results show radical reductions in apogee-perigee deviations.

  1. Colloid Thruster for Attitude Control Systems (ACS) and Tip-off Control Applications Project

    National Aeronautics and Space Administration — Busek proposes to develop and deliver a complete engineering model colloid thruster system, capable of thrust levels and lifetimes required for spacecraft...

  2. Acoustic-Modal Testing of the Ares I Launch Abort System Attitude Control Motor Valve

    Davis, R. Benjamin; Fischbach, Sean R.


    The Attitude Control Motor (ACM) is being developed for use in the Launch Abort System (LAS) of NASA's Ares I launch vehicle. The ACM consists of a small solid rocket motor and eight actuated pintle valves that directionally allocate.thrust_- 1t.has-been- predicted-that significant unsteady. pressure.fluctuations.will.exist. inside the-valves during operation. The dominant frequencies of these oscillations correspond to the lowest several acoustic natural frequencies of the individual valves. An acoustic finite element model of the fluid volume inside the valve has been critical to the prediction of these frequencies and their associated mode shapes. This work describes an effort to experimentally validate the acoustic finite model of the valve with an acoustic modal test. The modal test involved instrumenting a flight-like valve with six microphones and then exciting the enclosed air with a loudspeaker. The loudspeaker was configured to deliver broadband noise at relatively high sound pressure levels. The aquired microphone signals were post-processed and compared to results generated from the acoustic finite element model. Initial comparisons between the test data and the model results revealed that additional model refinement was necessary. Specifically, the model was updated to implement a complex impedance boundary condition at the entrance to the valve supply tube. This boundary condition models the frequency-dependent impedance that an acoustic wave will encounter as it reaches the end of the supply tube. Upon invoking this boundary condition, significantly improved agreement between the test data and the model was realized.

  3. Auto Code Generation for Simulink-Based Attitude Determination Control System

    MolinaFraticelli, Jose Carlos


    This paper details the work done to auto generate C code from a Simulink-Based Attitude Determination Control System (ADCS) to be used in target platforms. NASA Marshall Engineers have developed an ADCS Simulink simulation to be used as a component for the flight software of a satellite. This generated code can be used for carrying out Hardware in the loop testing of components for a satellite in a convenient manner with easily tunable parameters. Due to the nature of the embedded hardware components such as microcontrollers, this simulation code cannot be used directly, as it is, on the target platform and must first be converted into C code; this process is known as auto code generation. In order to generate C code from this simulation; it must be modified to follow specific standards set in place by the auto code generation process. Some of these modifications include changing certain simulation models into their atomic representations which can bring new complications into the simulation. The execution order of these models can change based on these modifications. Great care must be taken in order to maintain a working simulation that can also be used for auto code generation. After modifying the ADCS simulation for the auto code generation process, it is shown that the difference between the output data of the former and that of the latter is between acceptable bounds. Thus, it can be said that the process is a success since all the output requirements are met. Based on these results, it can be argued that this generated C code can be effectively used by any desired platform as long as it follows the specific memory requirements established in the Simulink Model.

  4. Attitude control and stabilization technology discipline

    Sunkel, John W.


    Viewgraphs on attitude control and stabilization technology discipline for the Space Station Freedom are presented. Topics covered include: attitude control technologies for multi-user accommodation; flexible dynamics and control; computational control techniques; and automatic proximity operations.

  5. Fundamentals of spacecraft attitude determination and control

    Markley, F Landis


    This book explores topics that are central to the field of spacecraft attitude determination and control. The authors provide rigorous theoretical derivations of significant algorithms accompanied by a generous amount of qualitative discussions of the subject matter. The book documents the development of the important concepts and methods in a manner accessible to practicing engineers, graduate-level engineering students and applied mathematicians. It includes detailed examples from actual mission designs to help ease the transition from theory to practice, and also provides prototype algorithms that are readily available on the author’s website. Subject matter includes both theoretical derivations and practical implementation of spacecraft attitude determination and control systems. It provides detailed derivations for attitude kinematics and dynamics, and provides detailed description of the most widely used attitude parameterization, the quaternion. This title also provides a thorough treatise of attitu...

  6. A summary of the mechanical design, testing and performance of the IMP-H and J attitude control systems

    Metzger, J. R.


    The main aspects of the attitude control system used on both the IMP-H and J spacecraft are presented. The mechanical configuration is described. Information on all the specific components comprising the flight system is provided. The acceptance and qualification testing of both individual components and the installed system are summarized. Functional information regarding the operation and performance in relation to the orbiting spacecraft and its mission is included. Related topics which are discussed are: (1) safety requirements, (2) servicing procedures, (3) anomalous behavior, and (4) pyrotechnic devices.

  7. Magnetic Attitude Control System for a Small Satellite. Impact on the Thermal Performance

    Farrahi, Assal


    El principal objetivo de la tesis es estudiar el acoplamiento entre los subsistemas de control de actitud y de control térmico de un pequeño satélite, con el fin de buscar la solución a los problemas relacionados con la determinación de los parámetros de diseño. Se considera la evolución de la actitud y de las temperaturas del satélite bajo la influencia de dos estrategias de orientación diferentes: 1) estabilización magnética pasiva de la orientación (PMAS, passive magnetic attitude stabiliz...

  8. Onboard Supervisor for the Ørsted Satellite Attitude Control System

    Bøgh, S.A.; Izadi-Zamanabadi, Roozbeh; Blanke, M.


    The increasing operational requirements for onboard autonomy in satellite control systems necessitates structural methods that support the design of a complete and reliable supervisory system.......The increasing operational requirements for onboard autonomy in satellite control systems necessitates structural methods that support the design of a complete and reliable supervisory system....

  9. Observer-based Satellite Attitude Control and Simulation Researches

    王子才; 马克茂


    Observer design method is applied to the realization of satellite attitude control law baaed on simplified control model. Exact mathematical model of the satellite attitude control system is also constructed, together with the observer-based control law, to conduct simulation research. The simulation results justify the effectiveness andfeasibility of the observer-based control method.

  10. Experiment D010: Ion sensing attitude control

    Sagalyn, R. C.; Smiddy, M.


    The feasibility of an attitude control system that uses environmental positive ions and an electrostatic detection system to measure spacecraft pitch and yaw is studied. The secondary objective was to measure the spatial and temporal variations of ambient positively charged particles along the orbital path of the Gemini 10 and 12 spacecrafts. The results proved that the use of a horizon detector in conjunction with pitch and yaw sensors would facilitate complete description of the spacecraft position and attitude. Furthermore, with the addition of a servosystem, the unit could be used as a complete automatic attitude-control system that would be applicable from the lowest satellite altitudes up to at least 10 earth radii. Also, results established that the charge density along the trajectory of the satellite could be determined by transmission of output voltages from the individual electrometers.

  11. Local Vertical/Local Horizontal Attitude Control for Spartan Spacecraft

    Morrissey, James; Olney, David


    A Spartan spacecraft attitude control system was reconfigured to provide attitude pointing with respect to a Local Vertical/Local Horizontal reference frame even though the baseline system uses only an initial start attitude, sun sensors, and star tracker/gyros for defining the spacecraft attitude. No earth sensors of any kind are used. Deployed from the orbiter for two days, usually for solar and stellar inertial pointing, Spartan missions use pointing programs that must be written months pr...

  12. Optimal magnetic attitude control

    Wisniewski, Rafal; Markley, F.L.


    Magnetic torquing is attractive as means of control for small satellites. The actuation principle is to use the interaction between the earth's magnetic field and a magnetic field generated by a coil set in the satellite. This control principle is inherently time-varying, and difficult to use because control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis stabilization of a ...

  13. Spacecraft attitude control systems with dynamic methods and structures for processing star tracker signals

    Liu, Yong (Inventor); Wu, Yeong-Wei Andy (Inventor); Li, Rongsheng (Inventor)


    Methods are provided for dynamically processing successively-generated star tracker data frames and associated valid flags to generate processed star tracker signals that have reduced noise and a probability greater than a selected probability P.sub.slctd of being valid. These methods maintain accurate spacecraft attitude control in the presence of spurious inputs (e.g., impinging protons) that corrupt collected charges in spacecraft star trackers. The methods of the invention enhance the probability of generating valid star tracker signals because they respond to a current frame probability P.sub.frm by dynamically selecting the largest valid frame combination whose combination probability P.sub.cmb satisfies a selected probability P.sub.slctd. Noise is thus reduced while the probability of finding a valid frame combination is enhanced. Spacecraft structures are also provided for practicing the methods of the invention.

  14. Nonlinear Robust Control for Spacecraft Attitude

    Wang Lina


    Full Text Available Nonlinear robust control of the spacecraft attitude with the existence of external disturbances is considered. A robust attitude controller is designed based on the passivity approach the quaternion representation, which introduces the suppression vector of external disturbance into the control law and does not need angular velocity measurement. Stability conditions of the robust attitude controller are given. And the numerical simulation results show the effectiveness of the attitude controller.

  15. Optimal Sliding Mode Controllers for Attitude Stabilization of Flexible Spacecraft

    Chutiphon Pukdeboon


    Full Text Available The robust optimal attitude control problem for a flexible spacecraft is considered. Two optimal sliding mode control laws that ensure the exponential convergence of the attitude control system are developed. Integral sliding mode control (ISMC is applied to combine the first-order sliding mode with optimal control and is used to control quaternion-based spacecraft attitude manoeuvres with external disturbances and an uncertainty inertia matrix. For the optimal control part the state-dependent Riccati equation (SDRE and optimal Lyapunov techniques are employed to solve the infinite-time nonlinear optimal control problem. The second method of Lyapunov is used to guarantee the stability of the attitude control system under the action of the proposed control laws. An example of multiaxial attitude manoeuvres is presented and simulation results are included to verify the usefulness of the developed controllers.

  16. Chaotic attitude control of satellite using impulsive control

    Nowadays, attitude control systems of satellites demand better performance, resulting in the application of new advanced nonlinear control theory. In this paper, impulsive control is applied to a six-dimensional system which describes the attitude dynamics of a satellite subjected to deterministic external perturbations which induce chaotic motion when no control is affected. Several theorems on the stability of impulsive control systems are presented. These theorems are then used to find the conditions under which the chaotic systems can be asymptotically controlled to the origin by using impulsive control. Given the parameters of the chaotic system and the impulsive control law, an estimation of the upper bound of the impulse interval is given. Finally, we give some simulations results to visualize the effectiveness and feasibility of the proposed method.

  17. Three-axis active magnetic attitude control asymptotical study

    Ovchinnikov, M. Yu.; Roldugin, D. S.; Penkov, V. I.


    Active magnetic attitude control system providing given inertial attitude is considered. Control algorithm is constructed on the basis of a planar motion model. It decreases attitude discrepancy. Alternative approach is based on the PD-controller design. System behavior is analyzed for specific motion cases and sometimes for specific inertia tensor (axisymmetrical satellite) using averaging technique. Overall satellite angular motion is covered. Necessary attitude is found to be accessible for some control parameters. Stability is proven and optimal algorithm parameters are obtained. Floquet-based analysis is performed to verify and broaden analytical results.

  18. Attitude control system design and on-orbit performance analysis of nano-satellite—“Tian Tuo 1”

    Ran Dechao


    Full Text Available “Tian Tuo 1” (TT-1 nano-satellite is the first single-board nano-satellite that was successfully launched in China. The main objective of TT-1 is technology demonstration and scientific measurements. The satellite carries out the significant exploration of single-board architecture feasibility validation, and it is tailored to the low-cost philosophy by adopting numerous commercial-off-the-shelf (COTS components. The satellite is featured with three-axis stabilization control capability. A pitch bias momentum wheel and three magnetic coils are adopted as control actuators. The sun sensors, magnetometers and a three-axis gyro are employed as the measurement sensors. The quaternion estimator (QUEST and unscented Kalman filter (UKF method are adopted for the nano-satellite attitude determination. On-orbit data received by ground station is conducted to analysis the performance of attitude determination and control system (ADCS. The results show that the design of ADCS for TT-1 is suitable, robust and feasible.

  19. SAS Attitude Support System

    Snyder, J. L.; Meyers, G. F.


    A unique ground control system was designed and implemented to support and meet the stringent mission requirements of the SAS-1. The important features of the system are described with emphasis on the software used to control the orientation of the spacecraft. A summary of the system's operation during the SAS-1 mission is given along with a discussion of the performance of the software subsystems relative to the mission requirements.

  20. The Magnetic Attitude Control of ABRIXAS

    Komgsmann, Hans; Wiegand, Matthias; Matthews, Oliver


    ABRIXAS is a small astronomical satellite planned by the Astrophysical Institute Potsdam (AIP) and the German Space Agency DARA. Its main scientific objective is to survey the total hemisphere; the satellite rotates once per orbit along the sun line, and after half a year the survey mission will be fulfilled. The attitude control system is one of the most critical subsystems with respect to cost and mission success, and an independent study was done. With a momentum biased system, three magne...

  1. Spacecraft Attitude Control in Hamiltonian Framework

    Wisniewski, Rafal


    The objective of this paper is to give a design scheme for attitude control algorithms of a generic spacecraft. Along with the system model formulated in the Hamilton's canonical form the algorithm uses information about a required potential energy and a dissipative term. The control action is the...... sum of the gradient of the potential energy and the dissipative force. It is shown that this control law makes the system uniformly asymptotically stable to the desired reference point. Three problems were addressed in the paper: spacecraft stabilization in the inertial frame, libration damping with...

  2. Attitude Determination and Control System (ADCS) and Maintenance and Diagnostic System (MDS): A maintenance and diagnostic system for Space Station Freedom

    Toms, David; Hadden, George D.; Harrington, Jim


    The Maintenance and Diagnostic System (MDS) that is being developed at Honeywell to enhance the Fault Detection Isolation and Recovery system (FDIR) for the Attitude Determination and Control System on Space Station Freedom is described. The MDS demonstrates ways that AI-based techniques can be used to improve the maintainability and safety of the Station by helping to resolve fault anomalies that cannot be fully determined by built-in-test, by providing predictive maintenance capabilities, and by providing expert maintenance assistance. The MDS will address the problems associated with reasoning about dynamic, continuous information versus only about static data, the concerns of porting software based on AI techniques to embedded targets, and the difficulties associated with real-time response. An initial prototype was built of the MDS. The prototype executes on Sun and IBM PS/2 hardware and is implemented in the Common Lisp; further work will evaluate its functionality and develop mechanisms to port the code to Ada.

  3. Lorentz Force Based Satellite Attitude Control

    Giri, Dipak Kumar; Sinha, Manoranjan


    Since the inception of attitude control of a satellite, various active and passive control strategies have been developed. These include using thrusters, momentum wheels, control moment gyros and magnetic torquers. In this present work, a new technique named Lorentz force based Coulombic actuators for the active control is proposed. This method uses electrostatic charged shells, which interact with the time varying earth's magnetic field to establish a full three axes control of the satellite. It is shown that the proposed actuation mechanism is similar to a satellite actuated by magnetic coils except that the resultant magnetic moment vanishes under two different conditions. The equation for the required charges on the the Coulomb shells attached to the satellite body axes is derived, which is in turn used to find the available control torque for actuating the satellite along the orbit. Stability of the proposed system for very high initial angular velocity and exponential stability about the origin are proved for a proportional-differential control input. Simulations are carried out to show the efficacy of the proposed system for the attitude control of the earth-pointing satellite.

  4. The Submillimeter Wave Astronomy Satellite Attitude Control Software Design

    Anderson, Mark; Wennersten, Miriam; Bonnett, Joseph; Hill, Adrian


    The Submilimeter Wave Astronomy Satellite (SWAS) was selected for flight by NASA in 1989 as a part of the Small Explorer (SMEX) program. SWAS's primary science objective is to conduct high spectral resolution surveys of galactic molecular clouds. The SWAS Attitude Control System (ACS) is three-axis controlled, zero momentum stabilized, and is capable of performing subarcminute pointing. This paper will discuss the design of the software components which comprise the Attitude Control System So...

  5. Attitude Control of a Single Tilt Tri-Rotor UAV System: Dynamic Modeling and Each Channel's Nonlinear Controllers Design

    Juing-Shian Chiou


    Full Text Available This paper has implemented nonlinear control strategy for the single tilt tri-rotor aerial robot. Based on Newton-Euler’s laws, the linear and nonlinear mathematical models of tri-rotor UAVs are obtained. A numerical analysis using Newton-Raphson method is chosen for finding hovering equilibrium point. Back-stepping nonlinear controller design is based on constructing Lyapunov candidate function for closed-loop system. By imitating the linguistic logic of human thought, fuzzy logic controllers (FLCs are designed based on control rules and membership functions, which are much less rigid than the calculations computers generally perform. Effectiveness of the controllers design scheme is shown through nonlinear simulation model on each channel.

  6. Robustness and Actuator Bandwidth of MRP-Based Sliding Mode Control for Spacecraft Attitude Control Problems

    Keum, Jung-Hoon; Ra, Sung-Woong


    Nonlinear sliding surface design in variable structure systems for spacecraft attitude control problems is studied. A robustness analysis is performed for regular form of system, and calculation of actuator bandwidth is presented by reviewing sliding surface dynamics. To achieve non-singular attitude description and minimal parameterization, spacecraft attitude control problems are considered based on modified Rodrigues parameters (MRP). It is shown that the derived controller ensures the sliding motion in pre-determined region irrespective of unmodeled effects and disturbances.

  7. In-orbit performance of the ITOS improved attitude control system with Hall generator brushless motor and earth-splitting technique

    Peacock, W. M.


    The National Aeronautics and Space Administration (NASA), launched ITOS-D with an improved attitude control system. A Hall generator brushless dc torque motor replaced the brush dc torque motor on Tiros-M and ITOS-A. Two CO2 attitude horizon sensors and one mirror replaced the four wideband horizon sensors and two mirrors on ITOS-1 and NOAA-1. Redundant pitch-control electronic boxes containing additional electronic circuitry for earth-splitting and brushless motor electronics were used. A method of generating a spacecraft earth-facing side reference for comparison to the time occurrence of the earth-splitting pulse was used to automatically correct pitch-attitude error. A single rotating flywheel, supported by a single bearing, provided gyroscopic stability and the required momentum interchange to keep one side of the satellite facing the earth. Magnetic torquing against the earth's magnetic field eliminated the requirement for expendable propellants which would limit satellite life in orbit.

  8. Autonomous spacecraft attitude control using magnetic torquing only

    Musser, Keith L.; Ebert, Ward L.


    Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.

  9. Fully magnetic sliding mode control for acquiring three-axis attitude

    Ovchinnikov, M. Yu.; Roldugin, D. S.; Penkov, V. I.; Tkachev, S. S.; Mashtakov, Y. V.


    Satellite equipped with purely magnetic attitude control system is considered. Sliding mode control is used to achieve three-axis satellite attitude. Underactuation problem is solved for transient motion. Necessary attitude is acquired by proper sliding manifold construction. Satellite motion on the manifold is executed with magnetic control system. One manifold construction approach is proposed and discussed. Numerical examples are provided.

  10. Conceptual design of a low-cost real-time hardware-in-the-loop simulator for satellite attitude control system

    Bayat, Farhad


    Integration of flight hardware with real-time simulation increases satellite attitude control system (ACS) reliability by providing greater test coverage through end-to-end testing in a realistic test environment. In this paper, a compound hardware and software simulator has been designed for evaluation and testing of the spacecraft ACS, placing emphasis on the real-time hardware-in-loop (RTHIL) architecture. The environment comprises both real-time control and data acquisition applications o...

  11. Attitude control of a nano satellite


    The CubeSTAR satellite is a student satellite project at the University of Oslo. The main mission is to measure the turbulence in the electron plasma using a novel Multi Needle Langmuir Probe system developed at the University of Oslo. In order to get correct measurements, it’s important that the probes are located in the front of the satellite in the orbit velocity direction. In this thesis, the attitude control problem of the CubeSTAR nano-satellite is the main topic. The satellite wil...

  12. Variable structure attitude maneuver and vibration control of flexible spacecraft

    HU Qing-lei; MA Cuang-fu


    A dual-stage control system design method is presented for the three-axis-rotational maneuver and vibration stabilization of a spacecraft with flexible appendages embedded with piezoceramics as sensor and actuator.In this design approach,the attitude control and the vibration suppression sub-systems ale designed separately using the lower order model.The design of attitude controller is based on the variable structure control (VSC)theory leading to a discontinuous control law.This controller accomplishes asymptotic attitude maneuvering in the closed-loop system and is insensitive to the interaction of elastic modes and uncertainty in the system.To actively suppress the flexible vibrations,the modal velocity feedback control method is presented by using piezoelectric materials as additional sensor and actuator bonded on the surface of the flexible appendages.In addition,a special configuration of actuators for three-axis attitude control is also investigated:the pitch attitude controlled by a momentum wheel,and the roll/yaw control achieved by on-off thrustem.which is modulated by pulse width pulse frequency modulation technique to construct the proper control torque history.Numerical simulations performed show that the rotational maneuver and vibration suppression ale accomplished in spite of the presence of disturbance torque and parameter uncertainty.

  13. Max Launch Abort System (MLAS) Pad Abort Test Vehicle (PATV) II Attitude Control System (ACS) Integration and Pressurization Subsystem Dynamic Random Vibration Analysis

    Ekrami, Yasamin; Cook, Joseph S.


    In order to mitigate catastrophic failures on future generation space vehicles, engineers at the National Aeronautics and Space Administration have begun to integrate a novel crew abort systems that could pull a crew module away in case of an emergency at the launch pad or during ascent. The Max Launch Abort System (MLAS) is a recent test vehicle that was designed as an alternative to the baseline Orion Launch Abort System (LAS) to demonstrate the performance of a "tower-less" LAS configuration under abort conditions. The MLAS II test vehicle will execute a propulsive coast stabilization maneuver during abort to control the vehicles trajectory and thrust. To accomplish this, the spacecraft will integrate an Attitude Control System (ACS) with eight hypergolic monomethyl hydrazine liquid propulsion engines that are capable of operating in a quick pulsing mode. Two main elements of the ACS include a propellant distribution subsystem and a pressurization subsystem to regulate the flow of pressurized gas to the propellant tanks and the engines. The CAD assembly of the Attitude Control System (ACS) was configured and integrated into the Launch Abort Vehicle (LAV) design. A dynamic random vibration analysis was conducted on the Main Propulsion System (MPS) helium pressurization panels to assess the response of the panel and its components under increased gravitational acceleration loads during flight. The results indicated that the panels fundamental and natural frequencies were farther from the maximum Acceleration Spectral Density (ASD) vibrations which were in the range of 150-300 Hz. These values will direct how the components will be packaged in the vehicle to reduce the effects high gravitational loads.

  14. Design of an attitude control system for spin-axis control of a 3U CubeSat

    Westfall, Alexander J.

    This paper describes the design process of developing a spin-axis control system for a 3U CubeSat, a relatively small satellite. Design requires the CubeSat to de-spin after deployment and direct its antenna to track Earth nadir position. The one degree of freedom controller is developed for the TechEdSat, which is a CubeSat with a payload that allows for the assumption that rotation pitch and yaw rates are sufficiently close to zero. Satellite torqueing disturbances are modeled with reaction wheel noise for a more complete system analysis. Sensor noise is unmodeled. Frequency domain and time domain analyses are presented; the entire system bandwidth operates at 0.08 hertz with 43.2 decibels of gain and 67.7° of phase margin. During nominal operations, pointing accuracy with perfect state knowledge assumption maintains position with steady state error of 13.7 arc seconds and oscillates by 16.7 arc seconds at a rate of 0.7 mHertz. Artificial wheel noise is injected into the model causing the pointing accuracy to drop to +/- 15 arc seconds. Environmental disturbances are modeled extensively; the magnetic field torque is the worst disturbance, at 4.2e-7 Newton-meters. A 0.2 Amp˙m2 magnetorquer dumps the excess momentum every 7.75 hours and require 1.5 hours to complete. In the deployment simulation, a 1 rotation per minute spin is arrested with no angular offset in 60 seconds. Future plans include utilizing the model to build and fly a prototype reaction wheel on a future TechEdSat mission to verify modeled expectations.

  15. The Attitude Control System Concept for the Joint Australian Engineering Micro-Satellite (JAESat)

    Dando, Aaron


    JAESat is a joint micro-satellite project between Queensland University of Technology (QUT), Australian Space Research Institute (ASRI) and other national and international partners including the Australian Cooperative Research Centre for Satellite Systems (CRCSS), Kayser-Threde GmbH, Aerospace Concepts and Auspace who will contribute to this project. The JAESat micro-satellite project is an educational and GNSS technology demonstration mission. The main objectives of the JAESat mission are t...

  16. Geometric Tracking Control of the Attitude Dynamics of a Rigid Body on SO(3)

    Lee, Taeyoung


    This paper provides new results for a tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. By selecting an attitude error function carefully, we show that the proposed control system guarantees a desirable tracking performance uniformly for nontrivial...

  17. ISS Contingency Attitude Control Recovery Method for Loss of Automatic Thruster Control

    Bedrossian, Nazareth; Bhatt, Sagar; Alaniz, Abran; McCants, Edward; Nguyen, Louis; Chamitoff, Greg


    In this paper, the attitude control issues associated with International Space Station (ISS) loss of automatic thruster control capability are discussed and methods for attitude control recovery are presented. This scenario was experienced recently during Shuttle mission STS-117 and ISS Stage 13A in June 2007 when the Russian GN&C computers, which command the ISS thrusters, failed. Without automatic propulsive attitude control, the ISS would not be able to regain attitude control after the Orbiter undocked. The core issues associated with recovering long-term attitude control using CMGs are described as well as the systems engineering analysis to identify recovery options. It is shown that the recovery method can be separated into a procedure for rate damping to a safe harbor gravity gradient stable orientation and a capability to maneuver the vehicle to the necessary initial conditions for long term attitude hold. A manual control option using Soyuz and Progress vehicle thrusters is investigated for rate damping and maneuvers. The issues with implementing such an option are presented and the key issue of closed-loop stability is addressed. A new non-propulsive alternative to thruster control, Zero Propellant Maneuver (ZPM) attitude control method is introduced and its rate damping and maneuver performance evaluated. It is shown that ZPM can meet the tight attitude and rate error tolerances needed for long term attitude control. A combination of manual thruster rate damping to a safe harbor attitude followed by a ZPM to Stage long term attitude control orientation was selected by the Anomaly Resolution Team as the alternate attitude control method for such a contingency.

  18. Solar Sail Attitude Control Performance Comparison

    Bladt, Jeff J.; Lawrence, Dale A.


    Performance of two solar sail attitude control implementations is evaluated. One implementation employs four articulated reflective vanes located at the periphery of the sail assembly to generate control torque about all three axes. A second attitude control configuration uses mass on a gimbaled boom to alter the center-of-mass location relative to the center-of-pressure producing roll and pitch torque along with a pair of articulated control vanes for yaw control. Command generation algorithms employ linearized dynamics with a feedback inversion loop to map desired vehicle attitude control torque into vane and/or gimbal articulation angle commands. We investigate the impact on actuator deflection angle behavior due to variations in how the Jacobian matrix is incorporated into the feedback inversion loop. Additionally, we compare how well each implementation tracks a commanded thrust profile, which has been generated to follow an orbit trajectory from the sun-earth L1 point to a sub-L1 station.

  19. The development and demonstration of hybrid programmable attitude control electronics

    Smith, L. S.; Kopf, E. H., Jr.


    In the course of extended life attitude control system (ELACS) research sponsored by NASA a hybrid programable attitude control electronics (HYPACE) concept was developed and demonstrated. The wide variety of future planetary missions demanded a new control approach to accommodate the automatic fault tolerance and long the life requirements of such missions. HYPACE provides an adaptable, analog/digital design approach that permits preflight and in-flight accommodation of mission changes, component performance variations, and spacecraft changes, through programing. This enabled broad multimission flexibility of application in a cost effective manner. Previously, flight control computers have not been not flown on planetary missions because of weight and power problems. These problems were resolved in the design of HYPACE. The HYPACE design, which was demonstrated in breadboard form on a single-axis gas-bearing spacecraft simulation, uses a single control channel to perform the attitude control functions sequentially, thus significantly reducing the number of component parts over hard-wired designs.

  20. Models of complex attitude systems

    Sørensen, Bjarne Taulo

    production systems was modelled. The analysis was based on data from a cross-cultural survey involving 1931 participants from Belgium, Denmark, Germany and Poland. The survey questionnaire contained measures of personal value orientations and attitudes towards environment and nature, industrial food...... production, food and the environment, technological progress, animal welfare, local employment and the local economy. In addition, the survey included a conjoint task by which participants’ evaluations of the importance of production system attributes were measured. The data were analysed by means of causal...

  1. Attitude Control Performance of IRVE-3

    Dillman, Robert A.; Gsell, Valerie T.; Bowden, Ernest L.


    The Inflatable Reentry Vehicle Experiment 3 (IRVE-3) launched July 23, 2012, from NASA Wallops Flight Facility and successfully performed its mission, demonstrating both the survivability of a hypersonic inflatable aerodynamic decelerator in the reentry heating environment and the effect of an offset center of gravity on the aeroshell's flight L/D. The reentry vehicle separated from the launch vehicle, released and inflated its aeroshell, reoriented for atmospheric entry, and mechanically shifted its center of gravity before reaching atmospheric interface. Performance data from the entire mission was telemetered to the ground for analysis. This paper discusses the IRVE-3 mission scenario, reentry vehicle design, and as-flown performance of the attitude control system in the different phases of the mission.

  2. NASA Workshop on Hybrid (Mixed-Actuator) Spacecraft Attitude Control

    Dennehy, Cornelius J.; Kunz, Nans


    At the request of the Science Mission Directorate Chief Engineer, the NASA Technical Fellow for Guidance, Navigation & Control assembled and facilitated a workshop on Spacecraft Hybrid Attitude Control. This multi-Center, academic, and industry workshop, sponsored by the NASA Engineering and Safety Center (NESC), was held in April 2013 to unite nationwide experts to present and discuss the various innovative solutions, techniques, and lessons learned regarding the development and implementation of the various hybrid attitude control system solutions investigated or implemented. This report attempts to document these key lessons learned with the 16 findings and 9 NESC recommendations.

  3. Precision Attitude Control for the BETTII Balloon-Borne Interferometer

    Benford, Dominic J.; Fixsen, Dale J.; Rinehart. Stephen


    The Balloon Experimental Twin Telescope for Infrared Interferometry (BETTII) is an 8-meter baseline far-infrared interferometer to fly on a high altitude balloon. Operating at wavelengths of 30-90 microns, BETTII will obtain spatial and spectral information on science targets at angular resolutions down to less than half an arcsecond, a capability unmatched by other far-infrared facilities. This requires attitude control at a level ofless than a tenth of an arcsecond, a great challenge for a lightweight balloon-borne system. We have designed a precision attitude determination system to provide gondola attitude knowledge at a level of 2 milliarcseconds at rates up to 100Hz, with accurate absolute attitude determination at the half arcsecond level at rates of up to 10Hz. A mUlti-stage control system involving rigid body motion and tip-tilt-piston correction provides precision pointing stability to the level required for the far-infrared instrument to perform its spatial/spectral interferometry in an open-loop control. We present key aspects of the design of the attitude determination and control and its development status.

  4. System and method for correcting attitude estimation

    Josselson, Robert H. (Inventor)


    A system includes an angular rate sensor disposed in a vehicle for providing angular rates of the vehicle, and an instrument disposed in the vehicle for providing line-of-sight control with respect to a line-of-sight reference. The instrument includes an integrator which is configured to integrate the angular rates of the vehicle to form non-compensated attitudes. Also included is a compensator coupled across the integrator, in a feed-forward loop, for receiving the angular rates of the vehicle and outputting compensated angular rates of the vehicle. A summer combines the non-compensated attitudes and the compensated angular rates of the to vehicle to form estimated vehicle attitudes for controlling the instrument with respect to the line-of-sight reference. The compensator is configured to provide error compensation to the instrument free-of any feedback loop that uses an error signal. The compensator may include a transfer function providing a fixed gain to the received angular rates of the vehicle. The compensator may, alternatively, include a is transfer function providing a variable gain as a function of frequency to operate on the received angular rates of the vehicle.

  5. A novel single thruster control strategy for spacecraft attitude stabilization

    Godard; Kumar, Krishna Dev; Zou, An-Min


    Feasibility of achieving three axis attitude stabilization using a single thruster is explored in this paper. Torques are generated using a thruster orientation mechanism with which the thrust vector can be tilted on a two axis gimbal. A robust nonlinear control scheme is developed based on the nonlinear kinematic and dynamic equations of motion of a rigid body spacecraft in the presence of gravity gradient torque and external disturbances. The spacecraft, controlled using the proposed concept, constitutes an underactuated system (a system with fewer independent control inputs than degrees of freedom) with nonlinear dynamics. Moreover, using thruster gimbal angles as control inputs make the system non-affine (control terms appear nonlinearly in the state equation). This necessitates the control algorithms to be developed based on nonlinear control theory since linear control methods are not directly applicable. The stability conditions for the spacecraft attitude motion for robustness against uncertainties and disturbances are derived to establish the regions of asymptotic 3-axis attitude stabilization. Several numerical simulations are presented to demonstrate the efficacy of the proposed controller and validate the theoretical results. The control algorithm is shown to compensate for time-varying external disturbances including solar radiation pressure, aerodynamic forces, and magnetic disturbances; and uncertainties in the spacecraft inertia parameters. The numerical results also establish the robustness of the proposed control scheme to negate disturbances caused by orbit eccentricity.

  6. SDRE Based Attitude Control Using Modified Rodriguez Parameters

    Doruk, R Ozgur


    The purpose of this paper is to present an application of the State Dependent Riccati Equation (SDRE) method to satellite attitude control where the satellite kinematics is modeled by Modified Rodriguez Parameters (MRP). The SDRE methodology is applicable on special forms of nonlinear systems where satellite model is one of the candidates. It is not easy to find an analytical solution from the SDRE. Thus point wise solutions are interpolated with respect to the operating conditions. The point wise solutions are obtained from the MATLAB algorithms which are derived from the positive definite solutions of the SDRE. The global stability analysis is difficult due to the nature of the methodology. The resultant attitude controllers outside the breakpoints (the selected operating conditions for interpolation) are suboptimal. The performance of the designs is examined by simulations on MATLAB - Simulink environment. The simulation results show that, the designed attitude controllers are working satisfactorily even i...

  7. 挠性飞行器飞轮姿态控制系统设计%Flexible Spacecraft Attitude Control System Design Using Wheels

    耿云海; 崔祜涛; 崔海英; 杨涤


    针对带有大型太阳帆板的挠性空间飞行器动力学特性十分复杂的特点,通过合理的假设,采用单轴解耦分析姿态控制系统稳定性问题。采用极点配置法,按照刚体卫星设计系统PID参数,利用根轨迹,确定按刚体卫星参数设计的系统能使挠性空间飞行器控制系统具有渐近稳定性的充分条件;推导系统参数间的关系式,分析挠性空间飞行器主轴姿态控制系统稳定性问题。最后,通过仿真验证了系统的性能。%Because the dynamics' property of the flexible spacecraft with large solar panels is very complex, decoupling method is adopted to study the stability of the attitude control system for single axis through suitable assumption. The system PID parameters are designed using polar assignment according to rigid satellite. Then with root locus method, the sufficient condition is determined that the system designed by rigid satellite parameter ensures the stability of flexible spacecraft control system. The relation among parameters is derived and the stability of single axis flexible spacecraft attitude control system is studied. At last, the system performance is verified by simulation.

  8. Attitude Estimation in Fractionated Spacecraft Cluster Systems

    Hadaegh, Fred Y.; Blackmore, James C.


    An attitude estimation was examined in fractioned free-flying spacecraft. Instead of a single, monolithic spacecraft, a fractionated free-flying spacecraft uses multiple spacecraft modules. These modules are connected only through wireless communication links and, potentially, wireless power links. The key advantage of this concept is the ability to respond to uncertainty. For example, if a single spacecraft module in the cluster fails, a new one can be launched at a lower cost and risk than would be incurred with onorbit servicing or replacement of the monolithic spacecraft. In order to create such a system, however, it is essential to know what the navigation capabilities of the fractionated system are as a function of the capabilities of the individual modules, and to have an algorithm that can perform estimation of the attitudes and relative positions of the modules with fractionated sensing capabilities. Looking specifically at fractionated attitude estimation with startrackers and optical relative attitude sensors, a set of mathematical tools has been developed that specify the set of sensors necessary to ensure that the attitude of the entire cluster ( cluster attitude ) can be observed. Also developed was a navigation filter that can estimate the cluster attitude if these conditions are satisfied. Each module in the cluster may have either a startracker, a relative attitude sensor, or both. An extended Kalman filter can be used to estimate the attitude of all modules. A range of estimation performances can be achieved depending on the sensors used and the topology of the sensing network.

  9. Satellite Attitude Control Utilizing the Earth's Magnetic Field

    White, John S.; Shigemoto, Fred H.; Bourquin, Kent


    A study was conducted to determine the feasibility of a satellite attitude fine-control system using the interaction of the earth's magnetic field with current-carrying coils to produce torque. The approximate intensity of the earth's magnetic field was determined as a function of the satellite coordinates. Components of the magnetic field were found to vary essentially sinusoidally at approximately twice orbital frequency. Amplitude and distortion of the sinusoidal components were a function of satellite orbit. Two systems for two-axis attitude control evolved from this study, one using three coils and the other using two coils. The torques developed by the two systems differ only when the component of magnetic field along the tracking line is zero. For this case the two-coil system develops no torque whereas the three-coil system develops some effective torque which allows partial control. The equations which describe the three-coil system are complex in comparison to those of the two-coil system and require the measurement of all three components of the magnetic field as compared with only one for the two-coil case. Intermittent three-axis torquing can also be achieved. This torquing can be used for coarse attitude control, or for dumping the stored momentum of inertia reaction wheels. Such a system has the advantage of requiring no fuel aboard the satellite. For any of these magnetic torquing schemes the power required to produce the magnetic moment and the weight of the coil seem reasonable.

  10. Spacecraft attitude control momentum requirements analysis

    Robertson, Brent P.; Heck, Michael L.


    The relationship between attitude and angular momentum control requirements is derived for a fixed attitude, Earth orbiting spacecraft with large area articulating appendages. Environmental effects such as gravity gradient, solar radiation pressure, and aerodynamic forces arising from a dynamic, rotating atmosphere are examined. It is shown that, in general, each environmental effect contributes to both cyclic and secular momentum requirements both within and perpendicular to the orbit plane. The gyroscopic contribution to the angular momentum control requirements resulting from a rotating, Earth oriented spacecraft is also discussed. Special conditions are described where one or more components of the angular momentum can be made to vanish, or become purely cyclical. Computer generated plots for a candidate space station configuration are presented to supplement the analytically derived results.

  11. Attitude Control on the Pico Satellite Solar Cell Testbed-2

    Janson, Siegfried; Hardy, Brian; Chin, Andrew; Rumsey, Daniel; Ehrlich, Daniel; Hinkley, David


    The Pico Satellite Solar Cell Testbed-2 (PSSCT-2) was a 5” x 5” x 10”, 3.7-kg mass nanosatellite ejected from the Space Shuttle Atlantis during the final STS-135 mission on July 20, 2011. PSSCT-2 had a three-axis attitude control system to enable firing of solid rockets for orbit raising, pointing of solar cells normal to the sun for on-orbit performance monitoring, and pointing of a GPS antenna in the anti-flight direction for radio-occultation measurements. Attitude determination and contro...

  12. Voyager Saturn encounter attitude and articulation control experience

    Carlisle, G.; Hill, M.


    The Voyager attitude and articulation control system is designed for a three-axis stabilized spacecraft; it uses a biasable sun sensor and a Canopus Star Tracker (CST) for celestial control, as well as a dry inertial reference unit, comprised of three dual-axis dry gryos, for inertial control. A series of complex maneuvers was required during the first of two Voyager spacecraft encounters with Saturn (November 13, 1980); these maneuvers involved rotating the spacecraft simultaneously about two or three axes while maintaining accurate pointing of the scan platform. Titan and Saturn earth occulation experiments and a ring scattering experiment are described. Target motion compensation and the effects of celestial sensor interference are also considered. Failure of the CST, which required an extensive reevaluation of the star reference and attitude control mode strategy, is discussed. Results analyzed thus far show that the system performed with high accuracy, gathering data deeper into Saturn's atmosphere than on any previous planetary encounter.

  13. Observing Mode Attitude Controller for the Lunar Reconnaissance Orbiter

    Calhoun, Philip C.; Garrick, Joseph C.


    The Lunar Reconnaissance Orbiter (LRO) mission is the first of a series of lunar robotic spacecraft scheduled for launch in Fall 2008. LRO will spend at least one year in a low altitude polar orbit around the Moon, collecting lunar environment science and mapping data to enable future human exploration. The LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing mode", provides Lunar Nadir, off-Nadir, and Inertial fine pointing for the science data collection and instrument calibration. The controller combines the capability of fine pointing with that of on-demand large angle full-sky attitude reorientation into a single ACS mode, providing simplicity of spacecraft operation as well as maximum flexibility for science data collection. A conventional suite of ACS components is employed in this mode to meet the pointing and control objectives. This paper describes the design and analysis of the primary LRO fine pointing and attitude re-orientation controller function, known as the "Observing mode" of the ACS subsystem. The control design utilizes quaternion feedback, augmented with a unique algorithm that ensures accurate Nadir tracking during large angle yaw maneuvers in the presence of high system momentum and/or maneuver rates. Results of system stability analysis and Monte Carlo simulations demonstrate that the observing mode controller can meet fine pointing and maneuver performance requirements.

  14. Feedforward attitude control for a TDRS with mobile antennas


    In this paper, feedforward attitude control law for a Tracking and Data Relay Satellite (TDRS) with mobile antennas is proposed. To track or point the target spacecraft with median/law orbit, the large mobile antennas have to move in a wide range. The movement of such mobile antennas disturbs the satellite attitude consequently. Conventionally, the main body of the satellite and the mobile antennas are controlled independently.The proposed controller first estimates the angular momentum which the mobile antennas will produce based on the momentum conservation equation. Next, it computes the desired velocity of reaction wheels to compensate the disturbance due to the antenna motion. It then adds the error of the wheels' velocity between a desired one and a current value as a feedforward signal to the control system. The proposed controller is demonstrated using a mathematical simulation, of which these results coincide well with analytical results.

  15. Coordinated Multiple Spacecraft Attitude Control with Communication Time Delays and Uncertainties

    LI Guiming; LIU Liangdong


    In this paper,we consider the coordinated attitude control problem of spacecraft formation with communication delays,model and disturbance uncertainties,and propose novel synchronized control schemes.Since the attitude motion is essential in non-Euclidean space,thus,unlike the existing designs which describe the delayed relative attitude via linear algorithm,we treat the attitude error and the local relative attitude on the nonlinear manifold-Lie group,and attempt to obtain coupling attitude information by the natural quatemion multiplication.Our main focus is to address two problems:1) Propose a coordinated attitude controller to achieve the synchronized attitude maneuver,i.e.,synchronize multiple spacecraft attitudes and track a time-varying desired attitude; 2) With known model information,we achieve the synchronized attitude maneuver with disturbances under angular velocity constraints.Especially,if the formation does not have any uncertainties,the designer can simply set the controller via an appropriate choice of control gains to avoid system actuator saturation.Our controllers are proposed based on the Lyapunov-Krasovskii method and simulation of a spacecraft formation is conducted to demonstrate the effectiveness of theoretical results.

  16. Application of matrix singular value properties for evaluating gain and phase margins of multiloop systems. [stability margins for wing flutter suppression and drone lateral attitude control

    Mukhopadhyay, V.; Newsom, J. R.


    A stability margin evaluation method in terms of simultaneous gain and phase changes in all loops of a multiloop system is presented. A universal gain-phase margin evaluation diagram is constructed by generalizing an existing method using matrix singular value properties. Using this diagram and computing the minimum singular value of the system return difference matrix over the operating frequency range, regions of guaranteed stability margins can be obtained. Singular values are computed for a wing flutter suppression and a drone lateral attitude control problem. The numerical results indicate that this method predicts quite conservative stability margins. In the second example if the eigenvalue magnitude is used instead of the singular value, as a measure of nearness to singularity, more realistic stability margins are obtained. However, this relaxed measure generally cannot guarantee global stability.

  17. Local controllability and stabilization of spacecraft attitude by two single-gimbal control moment gyros

    Gui Haichao; Jin Lei; Xu Shijie


    The attitude control problem of a spacecraft underactuated by two single-gimbal control moment gyros (SGCMGs) is investigated. Small-time local controllability (STLC) of the attitude dynamics of the spacecraft-SGCMGs system is analyzed via nonlinear controllability theory. The conditions that guarantee STLC of the spacecraft attitude by two non-coaxial SGCMGs are obtained with the momentum of the SGCMGs as inputs, implying that the spacecraft attitude is STLC when the total angular momentum of the whole system is zero. Moreover, our results indi-cate that under the zero-momentum restriction, full attitude stabilization is possible for a spacecraft using two non-coaxial SGCMGs. For the case of two coaxial SGCMGs, the STLC property of the spacecraft cannot be determined. In this case, an improvement to the previous full attitude stabiliz-ing control law, which requires zero-momentum presumption, is proposed to account for the singu-larity of SGCMGs and enhance the steady state performance. Numerical simulation results demonstrate the effectiveness and advantages of the new control law.

  18. The use of real-time, hardware-in-the-loop simulation in the design and development of the new Hughes HS601 spacecraft attitude control system

    Slafer, Loren I.


    Realtime simulation and hardware-in-the-loop testing is being used extensively in all phases of the design, development, and testing of the attitude control system (ACS) for the new Hughes HS601 satellite bus. Realtime, hardware-in-the-loop simulation, integrated with traditional analysis and pure simulation activities is shown to provide a highly efficient and productive overall development program. Implementation of high fidelity simulations of the satellite dynamics and control system algorithms, capable of real-time execution (using applied Dynamics International's System 100), provides a tool which is capable of being integrated with the critical flight microprocessor to create a mixed simulation test (MST). The MST creates a highly accurate, detailed simulated on-orbit test environment, capable of open and closed loop ACS testing, in which the ACS design can be validated. The MST is shown to provide a valuable extension of traditional test methods. A description of the MST configuration is presented, including the spacecraft dynamics simulation model, sensor and actuator emulators, and the test support system. Overall system performance parameters are presented. MST applications are discussed; supporting ACS design, developing on-orbit system performance predictions, flight software development and qualification testing (augmenting the traditional software-based testing), mission planning, and a cost-effective subsystem-level acceptance test. The MST is shown to provide an ideal tool in which the ACS designer can fly the spacecraft on the ground.

  19. Preliminary Attitude Control Studies for the ASTER Mission

    This work discusses an attitude control study for the ASTER mission, the first Brazilian mission to the deep space. The study is part of a larger scenario that is the development of optimal trajectories to navigate in the 2001 SN263 asteroid system, together with the generation of orbit and attitude controllers for autonomous operation. The spacecraft attitude is defined from the orientation of the body reference system to the Local Vertical Local Horizontal (LVLH) of a circular orbit around the Alpha asteroid. The rotational equations of motion involve the dynamic equations, where the three angular speeds are generated from a set of three reaction wheels and the gravitational torque. The rotational kinematics is represented in the Euler angles format. The controller is developed via the linear quadratic regulator approach with output feedback. It involves the generation of a stability augmentation (SAS) loop and a tracking outer loop, with a compensator of desired structure. It was chosen the feedback of the p, q and r angular speeds in the SAS, one for each reaction wheel. In the outer loop, it was chosen a proportional integral compensator. The parameters are tuned using a numerical minimization that represents a linear quadratic cost, with weightings in the tracking error and controls. Simulations are performed with the nonlinear model. For small angle manoeuvres, the linear results with reaction wheels or thrusters are reasonable, but, for larger manoeuvres, nonlinear control techniques shall be applied, for example, the sliding mode control

  20. Advanced Attitude Control af Pico Sized Satellites

    Larsen, Jesper A.; Amini, Rouzbeh; Izadi-Zamanabadi, Roozbeh


    The AAU-Cubesat project started in 2001 and led to the launch of the rst AAU-Cubesat and followed up with the second Cubesat project, AAUSAT-II, which carries a combined gamma and X-Ray detector. Due to the precision pointing requirement in the X-Ray sensor it is necessary to realize a pointing...... accuracy of better than 5 degrees. Cost, size, weight and power requirements, on the other hand, impose selecting relative simple sensors and actuators which leads to an attitude control requirement of less than 1 degree. This precision is obtained by a combination of magnetorquers and momentum wheels. The...

  1. Robust Adaptive Attitude Control for Airbreathing Hypersonic Vehicle with Attitude Constraints and Propulsive Disturbance

    Jian Fu; Liangming Wang; Mou Chen; Sijiang Chang


    A robust adaptive backstepping attitude control scheme, combined with invariant-set-based sliding mode control and fast-nonlinear disturbance observer, is proposed for the airbreathing hypersonic vehicle with attitude constraints and propulsive disturbance. Based on the positive invariant set and backstepping method, an innovative sliding surface is firstly developed for the attitude constraints. And the propulsive disturbance of airbreathing hypersonic vehicle is described as a differential ...

  2. Attitude-Control Algorithm for Minimizing Maneuver Execution Errors

    Acikmese, Behcet


    A G-RAC attitude-control algorithm is used to minimize maneuver execution error in a spacecraft with a flexible appendage when said spacecraft must induce translational momentum by firing (in open loop) large thrusters along a desired direction for a given period of time. The controller is dynamic with two integrators and requires measurement of only the angular position and velocity of the spacecraft. The global stability of the closed-loop system is guaranteed without having access to the states describing the dynamics of the appendage and with severe saturation in the available torque. Spacecraft apply open-loop thruster firings to induce a desired translational momentum with an extended appendage. This control algorithm will assist this maneuver by stabilizing the attitude dynamics around a desired orientation, and consequently minimize the maneuver execution errors.

  3. Attitude Controller-Observer Design for the NTNU Test Satellite

    Alvenes, Fredrik


    This report presents the results from the development and design of an Attitude Controller-Observer for the NTNU Test Satellite (NUTS). It gives an insight to mathematical modeling of satellite attitude dynamics for 3 degrees of freedom. By the different limitations of how the NUTS operates, these models are adjusted accordingly.A strategy for controlling the attitude is presented. Through an explanation of the magnetic actuators, the control laws are also adapted to work with the NUTS satell...

  4. Rover Attitude and Pointing System Simulation Testbed

    Vanelli, Charles A.; Grinblat, Jonathan F.; Sirlin, Samuel W.; Pfister, Sam


    The MER (Mars Exploration Rover) Attitude and Pointing System Simulation Testbed Environment (RAPSSTER) provides a simulation platform used for the development and test of GNC (guidance, navigation, and control) flight algorithm designs for the Mars rovers, which was specifically tailored to the MERs, but has since been used in the development of rover algorithms for the Mars Science Laboratory (MSL) as well. The software provides an integrated simulation and software testbed environment for the development of Mars rover attitude and pointing flight software. It provides an environment that is able to run the MER GNC flight software directly (as opposed to running an algorithmic model of the MER GNC flight code). This improves simulation fidelity and confidence in the results. Further more, the simulation environment allows the user to single step through its execution, pausing, and restarting at will. The system also provides for the introduction of simulated faults specific to Mars rover environments that cannot be replicated in other testbed platforms, to stress test the GNC flight algorithms under examination. The software provides facilities to do these stress tests in ways that cannot be done in the real-time flight system testbeds, such as time-jumping (both forwards and backwards), and introduction of simulated actuator faults that would be difficult, expensive, and/or destructive to implement in the real-time testbeds. Actual flight-quality codes can be incorporated back into the development-test suite of GNC developers, closing the loop between the GNC developers and the flight software developers. The software provides fully automated scripting, allowing multiple tests to be run with varying parameters, without human supervision.


    LI Zhi-bin; WANG Zhao-lin; WANG Tian-shu; LIU Ning


    The influences of nonlinear centrifugal force to large overall attitude motion of coupled rigid-flexible system was investigated. First the nonlinear model of the coupled rigidflexible system was deduced from the idea of "cenlrifugal potential field", and then the dynamic effects of the nonlinear centrifugal force to system attitude motion were analyzed by approximate calculation; At last, the Lyapunov function based on energy norm was selected,in the condition that only the measured values of attitude and attitude speed are available,and it is proved that the PD feedback control law can ensure the attitude stability during large angle maneuver.

  6. General Attitude Control Algorithm for Spacecraft Equipped with Star Camera and Reaction Wheels

    Wisniewski, Rafal; Kulczycki, P.

    realized on an integrated circuit. This paper considers two issues: slew maneuver with a feature of avoiding direct exposure of the camera's CCD chip to the Sun %, three-axis attitude control and optimal control torque distribution in a reaction wheel assembly. The attitude controller is synthesized...... applying the energy shaping technique, where the desired potential function is carefully designed using a physical insight into the nature of the problem. The system stability is thoroughly analyzed and the control performance simulated...

  7. Spacecraft methods and structures with enhanced attitude control that facilitates gyroscope substitutions

    Li, Rongsheng (Inventor); Kurland, Jeffrey A. (Inventor); Dawson, Alec M. (Inventor); Wu, Yeong-Wei A. (Inventor); Uetrecht, David S. (Inventor)


    Methods and structures are provided that enhance attitude control during gyroscope substitutions by insuring that a spacecraft's attitude control system does not drive its absolute-attitude sensors out of their capture ranges. In a method embodiment, an operational process-noise covariance Q of a Kalman filter is temporarily replaced with a substantially greater interim process-noise covariance Q. This replacement increases the weight given to the most recent attitude measurements and hastens the reduction of attitude errors and gyroscope bias errors. The error effect of the substituted gyroscopes is reduced and the absolute-attitude sensors are not driven out of their capture range. In another method embodiment, this replacement is preceded by the temporary replacement of an operational measurement-noise variance R with a substantially larger interim measurement-noise variance R to reduce transients during the gyroscope substitutions.

  8. Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

    Xing Huo


    Full Text Available The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.

  9. Observer Based Sliding Mode Attitude Control: Theoretical and Experimental Results

    U. Jørgensen


    Full Text Available In this paper we present the design of a sliding mode controller for attitude control of spacecraft actuated by three orthogonal reaction wheels. The equilibrium of the closed loop system is proved to be asymptotically stable in the sense of Lyapunov. Due to cases where spacecraft do not have angular velocity measurements, an estimator for the generalized velocity is derived and asymptotic stability is proven for the observer. The approach is tested on an experimental platform with a sphere shaped Autonomous Underwater Vehicle SATellite: AUVSAT, developed at the Norwegian University of Science and Technology.

  10. Algorithm of Attitude Control and Its Simulation of Free-Flying Space Robot


    Reaction wheel or reaction thruster is employed to maintain the attitude of the base of space robot fixed in attitude control of free-flying space robot.However, in this method, a large amount of fuel will be consumed, and it will shorten the on-orbit life span of space robot, it also vibrate the system and make the system unsteady.The restricted minimum disturbance map (RMDM) based algorithm of attitude control is presented to keep the attitude of the base fixed during the movement of the manipulator.In this method it is realized by planning motion trajectory of the end-effector of manipulator without using reaction wheel or reaction thruster.In order to verify the feasibility and effectiveness of the algorithm attitude control presented in this paper, computer simulation experiments have been made and the experimental results demonstrate that this algorithm is feasible.

  11. Graduate Student Attitudes toward Grading Systems

    Michaelides, Michalis; Kirshner, Ben


    This study examined graduate student attitudes towards letter and pass/fail grading systems in the Law School and the School of Education in a selective university in the United States. Fifty-four students completed a questionnaire on goal orientations (ability comparison vs. mastery), amount of effort and stress in each of the two grading…

  12. Consumer attitudes to different pig production systems

    de Barcellos, Marcia Dutra; Grunert, Klaus G.; Zhou, Y.;


    In many countries consumers have shown an increasing interest to the way in which food products are being produced. This study investigates Chinese consumers’ attitudes towards different pig production systems by means of a conjoint analysis. While there has been a range of studies on Western...

  13. Integrated Method - the Optimum Way to Improve the Quality of Frequency Response Characteristics of the Space Vehicle Attitude Control System

    Britova, Yu.; Dmitriev, V.; Kostyuchenko, T.


    The integrated method applied to the design of technical systems is a process in which various project, calculation and verification procedures are interconnected and interrelated. The results of procedures are used in a certain sequence, thus ensuring maximum reachable optimality of the system being designed.

  14. Attitude and Vibration Control of Flexible Spacecraft Using Singular Perturbation Approach

    Morteza Shahravi; Milad Azimi


    This paper addresses a composite two-time-scale control system for simultaneous three-axis attitude maneuvering and elastic mode stabilization of flexible spacecraft. By choosing an appropriate time coordinates transformation system, the spacecraft dynamics can be divided into double time-scale subsystems using singular perturbation theory (SPT). Attitude and vibration control laws are successively designed by considering a time bandwidths separation between the oscillatory flexible parts mot...

  15. Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration

    Sanders, Devon S.; Heater, Daniel L.; Peeples, Steven R.; Sules. James K.; Huang, Po-Hao Adam


    A cubesat attitude control system (ACS) was designed at the NASA Marshall Space Flight Center (MSFC) to provide sub-degree pointing capabilities using low cost, COTS attitude sensors, COTS miniature reaction wheels, and a developmental micro-propulsion system. The ACS sensors and actuators were integrated onto a 3D-printed plastic 3U cubesat breadboard (10 cm x 10 cm x 30 cm) with a custom designed instrument board and typical cubesat COTS hardware for the electrical, power, and data handling and processing systems. In addition to the cubesat development, a low-cost air bearing was designed and 3D printed in order to float the cubesat in the test environment. Systems integration and verification were performed at the MSFC Small Projects Rapid Integration & Test Environment laboratory. Using a combination of both the miniature reaction wheels and the micro-propulsion system, the open and closed loop control capabilities of the ACS were tested in the Flight Robotics Laboratory. The testing demonstrated the desired sub-degree pointing capability of the ACS and also revealed the challenges of creating a relevant environment for development testin

  16. Attitude control system design and on-orbit performance analysis of nano-satellite—“Tian Tuo 1”

    Ran Dechao; Sheng Tao; Cao Lu; Chen Xiaoqian; Zhao Yong


    “Tian Tuo 1” (TT-1) nano-satellite is the first single-board nano-satellite that was successfully launched in China. The main objective of TT-1 is technology demonstration and scientific measurements. The satellite carries out the significant exploration of single-board architecture feasibility validation, and it is tailored to the low-cost philosophy by adopting numerous commercial-off-the-shelf (COTS) components. The satellite is featured with three-axis stabilization control capability. A ...

  17. Motor Control of Two Flywheels Enabling Combined Attitude Control and Bus Regulation

    Kenny, Barbara H.


    This presentation discussed the flywheel technology development work that is ongoing at NASA GRC with a particular emphasis on the flywheel system control. The "field orientation" motor/generator control algorithm was discussed and explained. The position-sensorless angle and speed estimation algorithm was presented. The motor current response to a step change in command at low (10 kRPM) and high (60 kRPM) was discussed. The flywheel DC bus regulation control was explained and experimental results presented. Finally, the combined attitude control and energy storage algorithm that controls two flywheels simultaneously was presented. Experimental results were shown that verified the operational capability of the algorithm. shows high speed flywheel energy storage (60,000 RPM) and the successful implementation of an algorithm to simultaneously control both energy storage and a single axis of attitude with two flywheels. Overall, the presentation demonstrated that GRC has an operational facility that

  18. Consumer Attitudes Towards Domestic Solar Power Systems

    Faiers, Adam; Neame, Charles


    The success of the UK policy to reduce carbon emissions is partly dependent on the ability to persuade householders to become more energy efficient, and to encourage installation of domestic solar systems. Solar power is an innovation in the UK but the current policy of stimulating the market with grants is not resulting in widespread adoption. This case study, using householders in central England, investigates householder attitudes towards characteristics of solar systems and identifies som...

  19. Estimating Friction Parameters in Reaction Wheels for Attitude Control

    Valdemir Carrara


    Full Text Available The ever-increasing use of artificial satellites in both the study of terrestrial and space phenomena demands a search for increasingly accurate and reliable pointing systems. It is common nowadays to employ reaction wheels for attitude control that provide wide range of torque magnitude, high reliability, and little power consumption. However, the bearing friction causes the response of wheel to be nonlinear, which may compromise the stability and precision of the control system as a whole. This work presents a characterization of a typical reaction wheel of 0.65 Nms maximum angular momentum storage, in order to estimate their friction parameters. It used a friction model that takes into account the Coulomb friction, viscous friction, and static friction, according to the Stribeck formulation. The parameters were estimated by means of a nonlinear batch least squares procedure, from data raised experimentally. The results have shown wide agreement with the experimental data and were also close to a deterministic model, previously obtained for this wheel. This model was then employed in a Dynamic Model Compensator (DMC control, which successfully reduced the attitude steady state error of an instrumented one-axis air-bearing table.

  20. Fixed-Star Tracking Attitude Control of Spacecraft Using Single-Gimbal Control Moment Gyros

    Sangwon Kwon; Yuki Tani; Hiroshi Okubo; Takashi Shimomura


    Problem statement: A cluster of small-sized Single-Gimbal Control Moment Gyros (SGCMGs) is proposed as an attitude control actuator for high-speed maneuver of small satellites. There exists a singularity problem what is peculiar to the CMG system. Approach: This study presented a simple singularity avoidance steering law using the Singular Value Decomposition (SVD) algorithm. Results: Capability of the present steering method in singularity avoidance was demonstrated with numerical simulation...

  1. Magnetic and Momentum Bias Attitude Control Design for the HETE Small Satellite

    Chang, Daniel


    A design study of the attitude control system for the High Energy Transient Experiment (RETE) small satellite is presented. The satellite is 3-axis stabilized and sun pointing, with stringent pointing stability requirements. For actuation, magnetic torquers and a momentum wheel are chosen for their technological maturity and lack of consumables. One science instrument (CCD UV camera) and sun sensors provide attitude measurement. Two complimentary control strategies are implemented to maximize...

  2. Pulsed Electrogasdynamic Thruster for Attitude Control and Orbit Maneuver Project

    National Aeronautics and Space Administration — A new pulsed electric thruster, named "pulsed electrogasdynamic thruster," for attitude control and orbit maneuver is proposed. In this thruster, propellant gas is...

  3. Pulsed Electrogasdynamic Thruster for Attitude Control and Orbit Maneuver Project

    National Aeronautics and Space Administration — In the Phase I program we successfully demonstrated the feasibility of the Pulsed ElectroGasdynamic (PEG) thruster for attitude control and orbital maneuvering. In...

  4. On-orbit attitude control of the Cosmic Background Explorer (COBE)

    Bramberg, B.; Croft, J.


    The way in which COBE (launched by the SS in late 1982) performs its attitude control is described, along with the design of its on-orbit system. COBE, to be situated in a 900 km high, sun-synchronous orbit, contains two unique control features: (1) the orientation of the spinning satellite is controlled to a sun-normal attitude in the sun/local vertical plane; and (2) pitch and roll control is maintained by a unique triaxial arrangement of reaction wheels, magnetic torque bars and sensors, located in the body's tranverse plane. Inherent in this triaxial configuration concept is a built-in redundancy that will maintain attitude control in the event of any single-point sensor/actuator component failure. Each of the three control drive electronics operates independently and directly of a system of dedicated sensors. This system functions independently of a computer or an ephemeris communication link, leading to greater reliability.

  5. Improved optimal steering law for SGCMG and adaptive attitude control of flexible spacecraft

    Lu Wang; Yu Guo; Liping Wu; Qingwei Chen


    The issue of attitude maneuver of a flexible spacecraft is investigated with single gimbaled control moment gyroscopes (SGCMGs) as an actuator. To solve the inertia uncertainty of the system, an adaptive attitude control algorithm is designed by ap-plying a radial basis function (RBF) neural network. An improved steering law for SGCMGs is proposed to achieve the optimal out-put torque. It enables the SGCMGs not only to avoid singularity, but also to output more precise torque. In addition, global, uniform, ultimate bounded stability of the attitude control system is proved via the Lyapunov technique. Simulation results demonstrate the effectiveness of the new steering law and the algorithm of attitude maneuver of the flexible spacecraft.

  6. Attitude stabilization of electrodynamic tethers in elliptic orbits by time-delay feedback control

    Iñarrea, Manuel; Lanchares, Víctor; Pascual, Ana Isabel; Salas, José Pablo


    It is well known that libration motion of electrodynamic tethers operating in inclined orbits is affected by dynamic instability due to the electromagnetic interaction between the tether and the geomagnetic field. We study the application of two feedback control methods in order to stabilize the periodic attitude motions of electrodynamic tethers in elliptic inclined orbits. Both control schemes are based on the time-delayed autosynchronization of the system. Numerical simulations of the controlled libration motion show that both control techniques are able to transform the uncontrolled unstable periodic motions into asymptotically stable ones. Such stabilized periodic attitude motions can be taken as starting points for the operation of the tether. The control domains of both methods have been computed for different values of the system parameters, as functions of the two control parameters shared by both control schemes. The relative effectiveness of the two techniques in the stabilization of the periodic attitude motion has also been studied.

  7. Satellite Attitude Control Using Only Electromagnetic Actuation

    Wisniewski, Rafal


    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus of the work was on the class of periodic systems reflecting orbital motion of the satellite. In addition to a theoretical treatment, the thesis contains a large portion of application considerations. The con...

  8. Satellite Attitude Control Using Only Electromagnetic Actuation

    Wisniewski, Rafal

    The primary purpose of this work was to develop control laws for three axis stabilization of a magnetic actuated satellite. This was achieved by a combination of linear and nonlinear system theory. In order to reach this goal new theoretical results were produced in both fields. The focus of the ...

  9. Star tracker based attitude determination system for nanosatellites

    Jané Abad, Jaume


    The aim of this project is to conceive, design, implement, test, qualify, operate, and validate a new high accuracy sensor based on a star sensor for the ADCS subsystem of the 3Cat-2 Mission. This system will implement the necessary algorithms for the star identification and attitude determination in a highly constrained in time, size, mass and power embedded environment. Test and qualification campaign shall be done both in controlled environment and field test. [ANGLÈS] Access to space i...

  10. Semi-active Attitude Control and Off-line Attitude Determination for the SEETI-Express Student Micro-satellite

    Alminde, Lars


    This paper concerns the development of the Attitude Determination and Control System (ADCS) for the SSETI-Express micro-satellite mission. The mission is an educational project involving 14 universities and the European Space Agency (ESA). The satellite has been designed and built, by students, over a period of only 18 months. This paper emphasises on the trade-offs required to build an operational ADCS system within such a rapidly developing project.

  11. Semi-active Attitude Control and Off-line Attitude Determination for the SEETI-Express Student Micro-satellite

    Alminde, Lars

    This paper concerns the development of the Attitude Determination and Control System (ADCS) for the SSETI-Express micro-satellite mission. The mission is an educational project involving 14 universities and the European Space Agency (ESA). The satellite has been designed and built, by students, o......, over a period of only 18 months. This paper emphasises on the trade-offs required to build an operational ADCS system within such a rapidly developing project....

  12. Semi-active Attitude Control and Off-line Attitude Determination for the SSETI-Express Student Micro-satellite

    Alminde, Lars


    This paper concerns the development of the Attitude Determination and Control System (ADCS) for the SSETI-Express micro-satellite mission. The mission is an educational project involving 14 universities and the European Space Agency (ESA). The satellite has been designed and built, by students, o......, over a period of only 18 months. This paper emphasises on the trade-offs required to build an operational ADCS system within such a rapidly developing project....

  13. Backup Attitude Control Algorithms for the MAP Spacecraft

    ODonnell, James R., Jr.; Andrews, Stephen F.; Ericsson-Jackson, Aprille J.; Flatley, Thomas W.; Ward, David K.; Bay, P. Michael


    The Microwave Anisotropy Probe (MAP) is a follow-on to the Differential Microwave Radiometer (DMR) instrument on the Cosmic Background Explorer (COBE) spacecraft. The MAP spacecraft will perform its mission, studying the early origins of the universe, in a Lissajous orbit around the Earth-Sun L(sub 2) Lagrange point. Due to limited mass, power, and financial resources, a traditional reliability concept involving fully redundant components was not feasible. This paper will discuss the redundancy philosophy used on MAP, describe the hardware redundancy selected (and why), and present backup modes and algorithms that were designed in lieu of additional attitude control hardware redundancy to improve the odds of mission success. Three of these modes have been implemented in the spacecraft flight software. The first onboard mode allows the MAP Kalman filter to be used with digital sun sensor (DSS) derived rates, in case of the failure of one of MAP's two two-axis inertial reference units. Similarly, the second onboard mode allows a star tracker only mode, using attitude and derived rate from one or both of MAP's star trackers for onboard attitude determination and control. The last backup mode onboard allows a sun-line angle offset to be commanded that will allow solar radiation pressure to be used for momentum management and orbit stationkeeping. In addition to the backup modes implemented on the spacecraft, two backup algorithms have been developed in the event of less likely contingencies. One of these is an algorithm for implementing an alternative scan pattern to MAP's nominal dual-spin science mode using only one or two reaction wheels and thrusters. Finally, an algorithm has been developed that uses thruster one shots while in science mode for momentum management. This algorithm has been developed in case system momentum builds up faster than anticipated, to allow adequate momentum management while minimizing interruptions to science. In this paper, each mode and

  14. Nonlinear Attitude Control of Planar Structures in Space Using Only Internal Controls

    Reyhanoglu, Mahmut; Mcclamroch, N. Harris


    An attitude control strategy for maneuvers of an interconnection of planar bodies in space is developed. It is assumed that there are no exogeneous torques and that torques generated by joint motors are used as means of control so that the total angular momentum of the multibody system is a constant, assumed to be zero. The control strategy utilizes the nonintegrability of the expression for the angular momentum. Large angle maneuvers can be designed to achieve an arbitrary reorientation of the multibody system with respect to an inertial frame. The theoretical background for carrying out the required maneuvers is summarized.

  15. Crew exploration vehicle (CEV) attitude control using a neural-immunology/memory network

    Weng, Liguo; Xia, Min; Wang, Wei; Liu, Qingshan


    This paper addresses the problem of the crew exploration vehicle (CEV) attitude control. CEVs are NASA's next-generation human spaceflight vehicles, and they use reaction control system (RCS) jet engines for attitude adjustment, which calls for control algorithms for firing the small propulsion engines mounted on vehicles. In this work, the resultant CEV dynamics combines both actuation and attitude dynamics. Therefore, it is highly nonlinear and even coupled with significant uncertainties. To cope with this situation, a neural-immunology/memory network is proposed. It is inspired by the human memory and immune systems. The control network does not rely on precise system dynamics information. Furthermore, the overall control scheme has a simple structure and demands much less computation as compared with most existing methods, making it attractive for real-time implementation. The effectiveness of this approach is also verified via simulation.

  16. Chinese consumers' attitude towards different pig production systems

    de Barcellos, Marcia Dutra; Grunert, Klaus G.; Yanfeng, Z.;


    This study investigates Chinese consumers' attitude towards different pig production systems by means of a conjoint analysis. While there has been a range of studies on western consumers' attitudes to various forms of food production, little is known about such attitudes in other cultural contexts...

  17. Spacecraft momentum control systems

    Leve, Frederick A; Peck, Mason A


    The goal of this book is to serve both as a practical technical reference and a resource for gaining a fuller understanding of the state of the art of spacecraft momentum control systems, specifically looking at control moment gyroscopes (CMGs). As a result, the subject matter includes theory, technology, and systems engineering. The authors combine material on system-level architecture of spacecraft that feature momentum-control systems with material about the momentum-control hardware and software. This also encompasses material on the theoretical and algorithmic approaches to the control of space vehicles with CMGs. In essence, CMGs are the attitude-control actuators that make contemporary highly agile spacecraft possible. The rise of commercial Earth imaging, the advances in privately built spacecraft (including small satellites), and the growing popularity of the subject matter in academic circles over the past decade argues that now is the time for an in-depth treatment of the topic. CMGs are augmented ...

  18. Adaptive variable structure control based on backstepping for spacecraft with reaction wheels during attitude maneuver

    SONG Bin; MA Guang-fu; LI Chuan-jiang


    An adaptive variable structure control method based on backstepping is proposed for the attitude maneuver problem of rigid spacecraft with reaction wheel dynamics in the presence of uncertain inertia matrix and external disturbances. The proposed control approach is a combination of the backstepping and the adaptive variable structure control. The cascaded structure of the attitude maneuver control system with reaction wheel dynamics gives the advantage for applying the backstepping method to construct Lyapunov functions. The robust stability to external disturbances and parametric uncertainty is guaranteed by the adaptive variable structure control. To validate the proposed control algorithm, numerical simulations using the proposed approach are performed for the attitude maneuver mission of rigid spacecraft with a configuration consisting of four reaction wheels for actuator and three magnetorquers for momentum unloading. Simulation results verify the effectiveness of the proposed control algorithm.

  19. Micro Sun Sensor with CMOS Imager for Small Satellite Attitude Control

    Yoshihara, Keisuke; Hashimoto, Hidekazu; Yamamoto, Toru; Saito, Hirobumi; HIROKAWA, Eiji; Mita, Makoto; Magoshi, Kota


    A new type of Micro Sun Sensor (MSS) was started development for use on JAXA’s small satellites and space exploring spacecraft as attitude sensor. In recent years, small satellites are used for various missions, such as the Earth observation and science observation, and high functional attitude control system for small satellite is also required. Therefore, the sun sensor for small satellite is required to be good balance of its dimension, mass, power consumption and performance. The detector...

  20. A Precise Attitude Determination and Control Strategy for Small Astrometry Satellite “Nano-JASMINE”

    Hosonuma, Takayuki


    Intelligent Space Systems Laboratory (ISSL) Universityof Tokyo has developed a 35 kgastrometry satellite,“Nano-JASMINE”(Nano JAPAN Astrometry Satellite Mission for INfraredExploration)in cooperation with National Astronomical Observatoryof Japan (NAOJ). In the Nano-JASMINE mission, the satellite attitude spin rate should be controlled to an accuracy of 4 × 10−7 rad/s duringthe observation. To accomplish such severe attitude stabilization, we have developed two novelmethods. The first method i...

  1. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  2. A computed torque method based attitude control with optimal force distribution for articulated body mobile robots

    Fukushima, Edwardo F.; Hirose, Shigeo [Tokyo Inst. of Tech. (Japan)


    This paper introduces an attitude control scheme based in optimal force distribution using quadratic programming which minimizes joint energy consumption. This method shares similarities with force distribution for multifingered hands, multiple coordinated manipulators and legged walking robots. In particular, an attitude control scheme was introduced inside the force distribution problem, and successfully implemented for control of the articulated body mobile robot KR-II. This is an actual mobile robot composed of cylindrical segments linked in series by prismatic joints and has a long snake-like appearance. These prismatic joints are force controlled so that each segment's vertical motion can automatically follow the terrain irregularities. An attitude control is necessary because this system acts like a system of wheeled inverted pendulum carts connected in series, being unstable by nature. The validity and effectiveness of the proposed method is verified by computer simulation and experiments with the robot KR-II. (author)

  3. Consumer attitudes towards domestic solar power systems

    The success of the UK policy to reduce carbon emissions is partly dependent on the ability to persuade householders to become more energy efficient, and to encourage installation of domestic solar systems. Solar power is an innovation in the UK but the current policy of stimulating the market with grants is not resulting in widespread adoption. This case study, using householders in central England, investigates householder attitudes towards characteristics of solar systems and identifies some of the barriers to adoption. The study utilises Diffusion of Innovations theory to identify attitudes towards system attributes, and isolates the characteristics that are preventing a pragmatic 'early majority' from adopting the technology. A group of 'early adopters', and a group of assumed 'early majority' adopters of solar power were surveyed and the results show that overall, although the 'early majority' demonstrate a positive perception of the environmental characteristics of solar power, its financial, economic and aesthetic characteristics are limiting adoption. Differences exist between the two groups showing support for the concept of a 'chasm' between adopter categories after Moore (Crossing the Chasm: Marketing and Selling High-tech Products to Mainstream Customers, second ed. Harper Perennial, New York). However, if consumers cannot identify the relative advantage of solar power over their current sources of power, which is supplied readily and cheaply through a mains system, it is unlikely that adoption will follow. Recommendations concerning the marketing and development of solar products are identified

  4. Fuzzy robust attitude controller design for hydrofoil catamaran

    Ren Junsheng; Yang Yansheng


    A robust attitude controller for hydrofoil catamaran throughout its operating envelope is proposed, based on Tagaki-Sugeno (T-S) fuzzy model. Firstly, T-S fuzzy model and robust attitude control strategy for hydrofoil catamaran is presented by use of linear matrix inequality (LMI) techniques. Secondly, a nonlinear mathematical model of hydrofoil catamaran is established, acting as the platform for further researches. The specialty in interpolation of T-S fuzzy model guarantees that feedback gain can be obtained smoothly, while boat's speed is shifting over the operating envelope. The external disturbances are also attenuated to achieve H∞ control performance, meanwhile. Finally, based on such a boat,HC200B-A1, simulation researches demonstrate the design procedures and the effectiveness of fuzzy robust attitude controller.

  5. Global Observer-based Attitude Controller Using Direct Inertial Measurements

    Saâdi Bouhired


    Full Text Available In this work, we address the problem of global attitude control using direct inertial measurements. When using direct inertial measurement to observe the rigid body attitude, it is shown that due to a geometrical obstruction, it is impossible to achieve global asymptotic stability. In fact, for a particular initial condition the tracking error quaternion converges to a pure imaginary quaternion formed by an eigenvector of a characteristic matrix related to the inertial constant and known vectors. Our proposition consists of adding a dynamic signal to force the rigid body to escape from such a situation. The proposed observer-based controller is synthesized based on a single Lyapunov function and a stability analysis shows that the controller stabilizes globally and asymptotically the rigid body attitude at the desired one. The effectiveness of the proposed observer-based controller is confirmed by simulation results.

  6. Sliding Mode Attitude Control for Magnetic Actuated Satellite

    Wisniewski, Rafal


    Magnetic torquing is attractive as a control principle on small satellites. The actuation principle is to use the interaction between the earth's magnetic field and magnetic field generated by a coil set in the satellite. This control principle is inherently nonlinear, and difficult to use because control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This...

  7. Small satellite attitude control for sun-oriented operations utilizing a momentum bias with magnetic actuators

    Wolfe, Scott Michael


    The feasibility of using a three axis control, momentum bias system with magnetic actuators for sun-oriented operations is explored. Relevant equations of motion are developed for a sun-oriented coordinate system and control laws are developed for: initial spacecraft capture after launch vehicle separation; reorientation from Earth oriented to a sun oriented operations mode; sun-oriented attitude control; and momentum wheel control. Simulations demonstrating the stability and time responsiven...

  8. Propellantless Attitude Control of Solar Sail Technology Utilizing Reflective Control Devices

    Munday, Jeremy


    Solar sails offer an opportunity for a CubeSatscale, propellant-free spacecraft technology that enables long-term and long-distance missions not possible with traditional methods. Solar sails operate using the transfer of linear momentum from photons of sunlight reflected from the surface of the sail. To propel the spacecraft, no mechanically moving parts, thrusters, or propellant are needed. However, attitude control, or orientation, is still performed using traditional methods involving reaction wheels and propellant ejection, which severely limit mission lifetime. For example, the current state of the art solutions employed by upcoming missions couple solar sails with a state of the art propellant ejection gas system. Here, the use of the gas thruster has limited the lifetime of the mission. To solve the limited mission lifetime problem, the Propellantless Attitude Control of Solar Sail Technology Utilizing Reflective Control Devices project team is working on propellantless attitude control using thin layers of material, an optical film, electrically switchable from transparent to reflective. The technology is based on a polymer-dispersed liquid crystal (PDLC), which allows this switch upon application of a voltage. This technology removes the need for propellant, which reduces weight and cost while improving performance and lifetime.

  9. Sliding Mode Attitude Control for Magnetic Actuated Satellite

    Wisniewski, Rafal


    Magnetic torquing is attractive as a control principle on small satellites. The actuation principle is to use the interaction between the earth's magnetic field and magnetic field generated by a coil set in the satellite. This control principle is inherently nonlinear, and difficult to use because...... control torques can only be generated perpendicular to the local geomagnetic field vector. This has been a serious obstacle for using magnetorquer based control for three-axis attitude control. This paper deals with three-axis stabilization of a low earth orbit satellite. The problem of controlling the...... spacecraft attitude using only magnetic torquing is realized in the form of the sliding mode control. A three dimensional sliding manifold is proposed, and it is shown that the satellite motion on the sliding manifold is asymptotically stable...

  10. Prospects of Relative Attitude Control Using Coulomb Actuation

    Schaub, Hanspeter; Stevenson, Daan


    The relative attitude is studied between two charge controlled spacecraft being held at a fixed separation distance. While one body has a spherical shape, the 2nd body is assumed to be non-spherical and tumbling. The attitude control goal is to arrest the rotation of the 2nd body. While prior work has identified the existence of torques between charged bodies, this is the first analytical study on a charged feedback attitude control. Using the recently developed multi-sphere method to provide a simplified electrostatic force and torque model between non-spherical shapes, Lyapunov theory is used to develop a stabilizing attitude control using spacecraft potential as the control variable. Zero and non-zero equilibrium potentials are considered, with the later suitable for the electrostatic tug concept. With a pulling configuration, the cylinder will come to rest with the long axis aligned with the inter-vehicle axis in a stable configuration. For a pusher, the cylinder will settle 90 degrees rotated from this axis. Numerical simulations illustrate the control performance.

  11. Combined control of fast attitude maneuver and stabilization for large complex spacecraft

    Zhang, Yao; Zhang, Jing-Rui


    In remote sensing or laser communication space missions, spacecraft need fast maneuver and fast stabilization in order to accomplish agile imaging and attitude tracking tasks. However, fast attitude maneuvers can easily cause elastic deformations and vibrations in flexible appendages of the spacecraft. This paper focuses on this problem and deals with the combined control of fast attitude maneuver and stabilization for large complex spacecraft. The mathematical model of complex spacecraft with flexible appendages and momentum bias actuators on board is presented. Based on the plant model and combined with the feedback controller, modal parameters of the closed-loop system are calculated, and a multiple mode input shaper utilizing the modal information is designed to suppress vibrations. Aiming at reducing vibrations excited by attitude maneuver, a quintic polynomial form rotation path planning is proposed with constraints on the actuators and the angular velocity taken into account. Attitude maneuver simulation results of the control systems with input shaper or path planning in loop are separately analyzed, and based on the analysis, a combined control strategy is presented with both path planning and input shaper in loop. Simulation results show that the combined control strategy satisfies the complex spacecraft's requirement of fast maneuver and stabilization with the actuators' torque limitation satisfied at the same time.

  12. Robust attitude control for rapid multi-target tracking in spacecraft formation flying


    A robust attitude tracking control scheme for spacecraft formation flying is presented.The leader spacecraft with a.rapid mobile antenna and a camera is modeled.While the camera is tracking the ground target,the antenna is tracking the follower spacecraft.By an angular velocity constraint and an angular constraint,two methods are proposed to compute the reference attitude profiles of the camera and antenna,respectively.To simplify the control design problem,this paper first derives the desired inverse system (DIS),which can convert the attitude tracking problem of 3D space into the regulator problem.Based on DIS and sliding mode control (SMC),a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance.By Lyapunov stability theory,the closed loop system stability can be achieved.The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.

  13. Near minimum-time feedback attitude control with multiple saturation constraints for agile satellites

    Liu Xiangdong; Xin Xing; Li Zhen; Chen Zhen; Sheng Yongzhi


    Agile satellites are of importance in modern aerospace applications, but high mobility of the satellites may cause them vulnerable to saturation during attitude maneuvers due to limited rating of actuators. This paper proposes a near minimum-time feedback control law for the agile satellite attitude control system. The feedback controller is formed by specially designed cascaded sub-units. The rapid dynamic response of the modified Bang–Bang control logic achieves the near optimal property and ensures the non-saturation properties on three-axis. To improve the dynamic performance, a model reference control strategy is proposed, in which the on-line near optimal attitude maneuver path is generated by the cascade controller and is then tracked by a nonlinear back-stepping controller. Furthermore, the accuracy and the robustness of the control system are achieved by momentum-based on-line inertial identification. The rapid attitude maneuvering can be applied for tasks including the move to move case. Numerical simulations are conducted to verify the effectiveness of the proposed control strategy in terms of the saturation-free property and rapidness.

  14. Attitude control of a space structure using a 3-R rigid manipulator

    Mukherjee, Ranjan; Zurowski, Mary

    The attitude control of space structures is an important problem. There has been considerable research in this area that has focussed on the use of momentum exchange devices. In this paper, we propose to control the attitude of space structures using a serial three-link PUMA-type manipulator that can be mounted on the space structure. This unconventional method of attitude control exploits the nonholonomic nature of the constraints that arise due to the conservation of angular momentum. We adopt a surface integral approach for the motion planning of the manipulator that will reorient the space structure in any desired way. The salient features of our algorithm are: (a) it is possible to mathematically prove the controllability of the system; (b) The motion of the manipulator can be planned amidst additional constraints like joint limits of the manipulator; and (c) the algorithm can be easily extended for application to flexible space structures.

  15. Active Vibration Control of Satellite Flexible Structures during Attitude Maneuvers

    Saeed Hemmati; Morteza Shahravi; Keramat Malekzadeh


    The purpose of this study is controlling active vibration of satellite flexible structures during attitude maneuvers. A smart structure is a structure which is able to sense and control active reaction to any external factors and stimulation. As it comes from the definition of smart structures, development of this knowledge depends on the materials science development, theories and strategies for control. In materials science, smart materials are developed in such a way that they are able to ...

  16. Attitude Estimation and Position Control of VTOL UAVs using IMU and GPS Measurements

    Roberts, Andrew


    We address two fundamental problems associated with the control of vertical take-off and landing (VTOL) unmanned airborne vehicles (UAVs): attitude estimation and position control. We propose two velocity-aided attitude observers which utilize a global-positioning system (GPS) in addition to an inertial measurement unit (IMU). The `velocity-aided' class of observer uses an accelerometer to measure the system \\emph{apparent acceleration} (instead of the gravity vector), and is therefore better suited for applications where the rigid-body (aircraft) is subjected to significant linear accelerations (which is to be expected for VTOL UAVs). We also propose a position controller which utilizes the accelerometer in a similar fashion. More precisely, rather than using the system orientation (as is usually done in the existing position controllers), we use the vector measurements (accelerometer and magnetometer measurements) directly in the position control law. Consequently, the proposed position controller does not ...

  17. Cassini at Saturn Proximal Orbits - Attitude Control Challenges

    Burk, Thomas A.


    The Cassini mission at Saturn will come to an end in the spring and summer of 2017 with a series of 22 orbits that will dip inside the rings of Saturn. These are called proximal orbits and will conclude with spacecraft disposal into the atmosphere of the ringed world on September 15, 2017. These unique orbits that cross the ring plane only a few thousand kilometers above the cloud tops of the planet present new attitude control challenges for the Cassini operations team. Crossing the ring plane so close to the inner edge of the rings means that the Cassini orientation during the crossing will be tailored to protect the sensitive electronics bus of the spacecraft. This orientation will put the sun sensors at some extra risk so this paper discusses how the team prepares for dust hazards. Periapsis is so close to the planet that spacecraft controllability with RCS thrusters needs to be evaluated because of the predicted atmospheric torque near closest approach to Saturn. Radiation during the ring plane crossings will likely trigger single event transients in some attitude control sensors. This paper discusses how the attitude control team deals with radiation hazards. The angular size and unique geometry of the rings and Saturn near periapsis means that star identification will be interrupted and this paper discusses how the safe mode attitude is selected to best deal with these large bright bodies during the proximal orbits.

  18. Orbit and attitude control of spacecraft formation flying

    ZHANG Zhi-guo; LI Jun-feng


    Formation flying is a novel concept of distributing the flmctionality of large spacecraft among several smaller, less expensive, cooperative satellites. Some applica-tions require that a controllable satellite keeps relative position and attitude to observe a specific surface of another satellite among the cluster. Specially, the target space vehi- cle is malfunctioning. The present paper focuses on the problem that how to control a chaser satellite to fly around an out-of-work target satellite closely in earth orbit and to track a specific surface. Relative attitude and first approximate relative orbital dynamics equations are presented. Control strategy is derived based on feedback linearization and Lyapunov theory of stability. Further, considering the uncertainty of inertia, an adaptive control method is developed to obtain the correct inertial ratio. The numerical simulation is given to verify the validity of proposed control scheme.

  19. Orion Launch Abort Vehicle Attitude Control Motor Testing

    Murphy, Kelly J.; Brauckmann, Gregory J.; Paschal, Keith B.; Chan, David T.; Walker, Eric L.; Foley, Robert; Mayfield, David; Cross, Jared


    Current Orion Launch Abort Vehicle (LAV) configurations use an eight-jet, solid-fueled Attitude Control Motor (ACM) to provide required vehicle control for all proposed abort trajectories. Due to the forward position of the ACM on the LAV, it is necessary to assess the effects of jet-interactions (JI) between the various ACM nozzle plumes and the external flow along the outside surfaces of the vehicle. These JI-induced changes in flight control characteristics must be accounted for in developing ACM operations and LAV flight characteristics. A test program to generate jet interaction aerodynamic increment data for multiple LAV configurations was conducted in the NASA Ames and NASA Langley Unitary Plan Wind Tunnels from August 2007 through December 2009. Using cold air as the simulant gas, powered subscale models were used to generate interaction data at subsonic, transonic, and supersonic test conditions. This paper presents an overview of the complete ACM JI experimental test program for Orion LAV configurations, highlighting ACM system modeling, nozzle scaling assumptions, experimental test techniques, and data reduction methodologies. Lessons learned are discussed, and sample jet interaction data are shown. These data, in conjunction with computational predictions, were used to create the ACM JI increments for all relevant flight databases.

  20. Robust Adaptive Geometric Tracking Controls on SO(3) with an Application to the Attitude Dynamics of a Quadrotor UAV

    Lee, Taeyoung


    This paper provides new results for a robust adaptive tracking control of the attitude dynamics of a rigid body. Both of the attitude dynamics and the proposed control system are globally expressed on the special orthogonal group, to avoid complexities and ambiguities associated with other attitude representations such as Euler angles or quaternions. By designing an adaptive law for the inertia matrix of a rigid body, the proposed control system can asymptotically follow an attitude command without the knowledge of the inertia matrix, and it is extended to guarantee boundedness of tracking errors in the presence of unstructured disturbances. These are illustrated by numerical examples and experiments for the attitude dynamics of a quadrotor UAV.

  1. Attitude Determination System for a Phased Array Beamformer

    Garrucho Moras, Lidia


    The project aims to design and build a control system for a new GNSS reflectometer. The instrument has two antenna arrays and it is needed to electronically steer the beams of these arrays (each array has two frequency bands and two beams per band) to point some satellites and the ground point where the transmitted signals from these satellites reflect. To achieve this, the instrument needs to determine the position and attitude of the sensor using GNSS receivers and IMUs and then it will cal...

  2. Spacecraft Hybrid (Mixed-Actuator) Attitude Control Experiences on NASA Science Missions

    Dennehy, Cornelius J.


    There is a heightened interest within NASA for the design, development, and flight implementation of mixed-actuator hybrid attitude control systems for science spacecraft that have less than three functional reaction wheel actuators. This interest is driven by a number of recent reaction wheel failures on aging, but what could be still scientifically productive, NASA spacecraft if a successful hybrid attitude control mode can be implemented. Over the years, hybrid (mixed-actuator) control has been employed for contingency attitude control purposes on several NASA science mission spacecraft. This paper provides a historical perspective of NASA's previous engineering work on spacecraft mixed-actuator hybrid control approaches. An update of the current situation will also be provided emphasizing why NASA is now so interested in hybrid control. The results of the NASA Spacecraft Hybrid Attitude Control Workshop, held in April of 2013, will be highlighted. In particular, the lessons learned captured from that workshop will be shared in this paper. An update on the most recent experiences with hybrid control on the Kepler spacecraft will also be provided. This paper will close with some future considerations for hybrid spacecraft control.

  3. Design and analysis of a moment control unit for agile satellite with high attitude stability requirement

    Zhang, Yao; Li, Mou; Song, Zhuoyue; Shan, Jinjun; Guan, Xin; Tang, Liang


    A moment control unit is developed and verified by numerical simulation. This moment control unit is employed as an actuator for the satellite attitude control. It contains four control moment gyroscopes (CMGs) to realize the rapid attitude maneuver and a vibration isolation system for each CMG. This unit can not only reduce the required electronics for each CMG and thus the weight, but also improve the stability of the satellite attitude. The design of the structure is presented first. This structure not only holds and protects the CMGs, but also isolates the vibrations caused by each CMG. Then, a dynamic model of a single CMG with a vibration isolation system is formulated, and the time- and frequency-domain characteristics of this dynamic model are discussed. Numerical simulations of a satellite attitude control example are then used to evaluate the system. The new moment control unit occupies less volume than previous designs, and the results show that the new design improves satellite pointing performance because of the vibration isolation.

  4. Finite-Time Reentry Attitude Control Using Time-Varying Sliding Mode and Disturbance Observer

    Xuzhong Wu


    Full Text Available This paper presents the finite-time attitude control problem for reentry vehicle with redundant actuators in consideration of planet uncertainties and external disturbances. Firstly, feedback linearization technique is used to cancel the nonlinearities of equations of motion to construct a basic mode for attitude controller. Secondly, two kinds of time-varying sliding mode control methods with disturbance observer are integrated with the basic mode in order to enhance the control performance and system robustness. One method is designed based on boundary layer technique and the other is a novel second-order sliding model control method. The finite-time stability analyses of both resultant closed-loop systems are carried out. Furthermore, after attitude controller produces the torque commands, an optimization control allocation approach is introduced to allocate them into aerodynamic surface deflections and on-off reaction control system thrusts. Finally, the numerical simulation results demonstrate that both of the time-varying sliding mode control methods are robust to uncertainties and disturbances without chattering phenomenon. Moreover, the proposed second-order sliding mode control method possesses better control accuracy.

  5. Quaternion-based adaptive output feedback attitude control of spacecraft using Chebyshev neural networks.

    Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang


    This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach. PMID:20729168

  6. Multivariable control theory applied to hierarchial attitude control for planetary spacecraft

    Boland, J. S., III; Russell, D. W.


    Multivariable control theory is applied to the design of a hierarchial attitude control system for the CARD space vehicle. The system selected uses reaction control jets (RCJ) and control moment gyros (CMG). The RCJ system uses linear signal mixing and a no-fire region similar to that used on the Skylab program; the y-axis and z-axis systems which are coupled use a sum and difference feedback scheme. The CMG system uses the optimum steering law and the same feedback signals as the RCJ system. When both systems are active the design is such that the torques from each system are never in opposition. A state-space analysis was made of the CMG system to determine the general structure of the input matrices (steering law) and feedback matrices that will decouple the axes. It is shown that the optimum steering law and proportional-plus-rate feedback are special cases. A derivation of the disturbing torques on the space vehicle due to the motion of the on-board television camera is presented. A procedure for computing an upper bound on these torques (given the system parameters) is included.

  7. Finite-Time Anti-Disturbance Inverse Optimal Attitude Tracking Control of Flexible Spacecraft

    Chutiphon Pukdeboon


    Full Text Available We propose a new robust optimal control strategy for flexible spacecraft attitude tracking maneuvers in the presence of external disturbances. An inverse optimal control law is designed based on a Sontag-type formula and a control Lyapunov function. An adapted extended state observer is used to compensate for the total disturbances. The proposed controller can be expressed as the sum of an inverse optimal control and an adapted extended state observer. It is shown that the developed controller can minimize a cost functional and ensure the finite-time stability of a closed-loop system without solving the associated Hamilton-Jacobi-Bellman equation directly. For an adapted extended state observer, the finite-time convergence of estimation error dynamics is proven using a strict Lyapunov function. An example of multiaxial attitude tracking maneuvers is presented and simulation results are included to show the performance of the developed controller.

  8. Method and apparatus for rate integration supplement for attitude referencing with quaternion differencing

    Rodden, John James (Inventor); Price, Xenophon (Inventor); Carrou, Stephane (Inventor); Stevens, Homer Darling (Inventor)


    A control system for providing attitude control in spacecraft. The control system comprising a primary attitude reference system, a secondary attitude reference system, and a hyper-complex number differencing system. The hyper-complex number differencing system is connectable to the primary attitude reference system and the secondary attitude reference system.

  9. Locus of Control and Attitude toward Eating in a Female College Population.

    Groth-Marnat, Gary; Scumaker, Jack F.


    Investigated relationship between locus of control and attitude to food intake in 101 female college students. Results indicated that locus of control was unable to predict attitudes toward eating and fear of becoming overweight. Thesis that locus of control would be related to attitude toward food intake was not supported. (Author/NB)

  10. Flexible Dynamics and Attitude Control of a Square Solar Sail

    Choi, Mirue

    This thesis presents a comprehensive analysis of attitude and structural dynamics of a square solar sail. In particular, this research examines the use of corner-attached reflective vanes to control the attitude of the spacecraft. An introduction to known solar sail designs is given, then the mathematics involved in calculating solar radiation pressure forces are presented. A detailed derivation and implementation of the unconstrained nonlinear flexible structural dynamics with Finite Element Method (FEM) models are explored, with several sample simulations of published large deflection experiments used as verification measures. To simulate the inability of a thin membrane to resist compression, the sail membrane elements are augmented with a method that approximates the wrinkling and the slacking dynamics, which is followed by a simulation of another well-known experiment as a verification measure. Once the structural dynamics are established, the usage of the tip vanes is explored. Specifically, a control allocation problem formed by having two degrees of freedom for each tip vane is defined and an efficient solution to this problem is presented, allowing desired control torques to be converted to appropriate vane angles. A randomized testing mechanism is implemented to show the efficacy of this algorithm. The sail shadowing problem is explored as well, where a component of the spacecraft casts shadow upon the sail and prevents solar radiation pressure force from being produced. A method to calculate the region of shadow is presented, and two different shadowing examples are examined --- due to the spacecraft bus, and due to the sail itself. Combining all of the above, an attitude control simulation of the sail model is presented. A simple PD controller combined with the control allocation scheme is used to provide the control torque for the sail, with which the spacecraft must orient towards a number of pre-specified attitude targets. Several attitude


    F. Contreras


    Full Text Available A frictionless environment simulation platform, utilized for accomplishing three-axis attitude control tests in small satellites,is introduced. It is employed to develop, improve, and carry out objective tests of sensors, actuators, and algorithms in theexperimental framework. Different sensors (i.e. sun, earth, magnetometer, and an inertial measurement unit are utilizedto assess three-axis deviations. A set of three inertial wheels is used as primary actuators for attitude control, together withthree mutually perpendicular magnetic coils intended for desaturation purposes, and as a backup control system. Accuratebalancing, through the platform’s center of mass relocation into the geometrical center of the spherical air-bearing,significatively reduces gravitational torques, generating a virtually torque-free environment. A very practical balancingprocedure was developed for equilibrating the table in the local horizontal plane, with a reduced final residual torque. Awireless monitoring system was developed for on-line and post-processing analysis; attitude data are displayed and stored,allowing properly evaluate the sensors, actuators, and algorithms. A specifically designed onboard computer and a set ofmicrocontrollers are used to carry out attitude determination and control tasks in a distributed control scheme.The main components and subsystems of the simulation platform are described in detail.

  12. A hybrid attitude controller consisting of electromagnetic torque rods and an active fluid ring

    Nobari, Nona A.; Misra, Arun K.


    In this paper, a novel hybrid actuation system for satellite attitude stabilization is proposed along with its feasibility analysis. The system considered consists of two magnetic torque rods and one fluid ring to produce the control torque required in the direction in which magnetic torque rods cannot produce torque. A mathematical model of the system dynamics is derived first. Then a controller is developed to stabilize the attitude angles of a satellite equipped with the abovementioned set of actuators. The effect of failure of the fluid ring or a magnetic torque rod is examined as well. It is noted that the case of failure of the magnetic torque rod whose torque is along the pitch axis is the most critical, since the coupling between the roll or yaw motion and the pitch motion is quite weak. The simulation results show that the control system proposed is quite fault tolerant.

  13. A computer simulation of Skylab dynamics and attitude control for performance verification and operational support

    Buchanan, H.; Nixon, D.; Joyce, R.


    A simulation of the Skylab attitude and pointing control system (APCS) is outlined and discussed. Implementation is via a large hybrid computer and includes those factors affecting system momentum management, propellant consumption, and overall vehicle performance. The important features of the flight system are discussed; the mathematical models necessary for this treatment are outlined; and the decisions involved in implementation are discussed. A brief summary of the goals and capabilities of this tool is also included.

  14. Hierarchical structured robust adaptive attitude controller design for reusable launch vehicles

    Guangxue Yu; Huifeng Li


    Reentry attitude control for reusable launch vehicles (RLVs) is chal enging due to the characters of fast nonlinear dy-namics and large flight envelop. A hierarchical structured attitude control system for an RLV is proposed and an unpowered RLV con-trol model is developed. Then, the hierarchical structured control frame consisting of attitude control er, compound control strategy and control al ocation is presented. At the core of the design is a robust adaptive control (RAC) law based on dual loop time-scale separation. A radial basis function neural network (RBFNN) is implemented for compensation of uncertain model dynamics and external disturbances in the inner loop. And then the robust op-timization is applied in the outer loop to guarantee performance robustness. The overal control design frame retains the simplicity in design while simultaneously assuring the adaptive and robust performance. The hierarchical structured robust adaptive con-trol er (HSRAC) incorporates flexibility into the design with regard to control er versatility to various reentry mission requirements. Simulation results show that the improved tracking performance is achieved by means of RAC.

  15. Attitude and Translation Control of a Solar Sail Vehicle

    Singh, Gurkirpal


    A report discusses the ability to control the attitude and translation degrees-of-freedom of a solar sail vehicle by changing its center of gravity. A movement of the spacecraft s center of mass causes solar-pressure force to apply a torque to the vehicle. At the compact core of the solar-sail vehicle lies the spacecraft bus which is a large fraction of the total vehicle mass. In this concept, the bus is attached to the spacecraft by two single degree-of-freedom linear tracks. This allows relative movement of the bus in the sail plane. At the null position, the resulting solar pressure applies no torque to the vehicle. But any deviation of the bus from the null creates an offset between the spacecraft center of mass and center of solar radiation pressure, resulting in a solar-pressure torque on the vehicle which changes the vehicle attitude. Two of the three vehicle degrees of freedom can be actively controlled in this manner. The third, the roll about the sunline, requires a low-authority vane/propulsive subsystem. Translation control of the vehicle is achieved by directing the solar-pressure-induced force in the proper inertial direction. This requires attitude control. Attitude and translation degrees-of-freedom are therefore coupled. A guidance law is proposed, which allows the vehicle to stationkeep at an appropriate point on the inertially-rotating Sun-Earth line. Power requirements for moving the bus are minimal. Extensive software simulations have been performed to demonstrate the feasibility of this concept.

  16. Entry Attitude Controller for the Mars Science Laboratory

    Brugarolas, Paul B.; SanMartin, A. Miguel; Wong, Edward C.


    This paper describes the preliminary concept for the RCS 3-axis attitude controller for the exo-atmospheric and guided entry phases of the Mars Science Laboratory Entry, Descend and Landing. The entry controller is formulated as three independent channels in the control frame, which is nominally aligned with the stability frame. Each channel has a feedfoward and a feedback. The feedforward path enables fast response to large bank commands. The feedback path stabilizes the vehicle angle of attack and sideslip around its trim position, and tracks bank commands. The feedback path has a PD/D structure with deadbands that minimizes fuel usage. The performance of this design is demonstrated via simulation.

  17. Fixed-Star Tracking Attitude Control of Spacecraft Using Single-Gimbal Control Moment Gyros

    Sangwon Kwon


    Full Text Available Problem statement: A cluster of small-sized Single-Gimbal Control Moment Gyros (SGCMGs is proposed as an attitude control actuator for high-speed maneuver of small satellites. There exists a singularity problem what is peculiar to the CMG system. Approach: This study presented a simple singularity avoidance steering law using the Singular Value Decomposition (SVD algorithm. Results: Capability of the present steering method in singularity avoidance was demonstrated with numerical simulations for fixed-star tracking control of a small satellite using four SGCMGs. Conclusion: The proposed steering law utilizes the singular value decomposition to obtain singular vectors and generates the command gimbal rate that keeps the command torque in the direction orthogonal to the singular direction with a maximum gain.

  18. Position and attitude tracking control for a quadrotor UAV.

    Xiong, Jing-Jing; Zheng, En-Hui


    A synthesis control method is proposed to perform the position and attitude tracking control of the dynamical model of a small quadrotor unmanned aerial vehicle (UAV), where the dynamical model is underactuated, highly-coupled and nonlinear. Firstly, the dynamical model is divided into a fully actuated subsystem and an underactuated subsystem. Secondly, a controller of the fully actuated subsystem is designed through a novel robust terminal sliding mode control (TSMC) algorithm, which is utilized to guarantee all state variables converge to their desired values in short time, the convergence time is so small that the state variables are acted as time invariants in the underactuated subsystem, and, a controller of the underactuated subsystem is designed via sliding mode control (SMC), in addition, the stabilities of the subsystems are demonstrated by Lyapunov theory, respectively. Lastly, in order to demonstrate the robustness of the proposed control method, the aerodynamic forces and moments and air drag taken as external disturbances are taken into account, the obtained simulation results show that the synthesis control method has good performance in terms of position and attitude tracking when faced with external disturbances. PMID:24534327


    刘延柱; 陈立群


    This paper deals with the chaotic attitude motion of a magnetic rigid spacecraft with internal damping in an elliptic orbit. The dynamical model of the spacecraft is established. The Melnikov analysis is carried out to prove the existence of a complicated nonwandering Cantor set. The dynamical behaviors are numerically investigated by means of time history, Poincare map, Lyapunov exponents and power spectrum. Numerical simulations demonstrate the chaotic motion of the system.The input-output feedback linearization method and its modified version are applied, respectively, to control the chaotic attitude motions to the given fixed point or periodic motion.

  20. Magnetospheric Multiscale (MMS) Mission Attitude Ground System Design

    Sedlak, Joseph E.; Superfin, Emil; Raymond, Juan C.


    This paper presents an overview of the attitude ground system (AGS) currently under development for the Magnetospheric Multiscale (MMS) mission. The primary responsibilities for the MMS AGS are definitive attitude determination, validation of the onboard attitude filter, and computation of certain parameters needed to improve maneuver performance. For these purposes, the ground support utilities include attitude and rate estimation for validation of the onboard estimates, sensor calibration, inertia tensor calibration, accelerometer bias estimation, center of mass estimation, and production of a definitive attitude history for use by the science teams. Much of the AGS functionality already exists in utilities used at NASA's Goddard Space Flight Center with support heritage from many other missions, but new utilities are being created specifically for the MMS mission, such as for the inertia tensor, accelerometer bias, and center of mass estimation. Algorithms and test results for all the major AGS subsystems are presented here.

  1. Adaptive Integral-type Sliding Mode Control for Spacecraft Attitude Maneuvering Under Actuator Stuck Failures

    HU Qinglei; ZHANG Youmin; HUO Xing; XIAO Bing


    A fault tolerant control (FTC) design technique against actuator stuck faults is investigated using integral-type sliding mode control (ISMC) with application to spacecraft attitude maneuvering control system. The principle of the proposed FTC scheme is to design an integral-type sliding mode attitude controller using on-line parameter adaptive updating law to compensate for the effects of stuck actuators. This adaptive law also provides both the estimates of the system parameters and external disturbances such that a prior knowledge of the spacecraft inertia or boundedness of disturbances is not required. Moreover, by including the integral feedback term, the designed controller can not only tolerate actuator stuck faults, but also compensate the disturbances with constant components. For the synthesis of controller, the fault time, patterns and values are unknown in advance, as motivated from a practical spacecraft control application. Complete stability and performance analysis are presented and illustrative simulation results of application to a spacecraft show that high precise attitude control with zero steady-error is successfully achieved using various scenarios of stuck failures in actuators.

  2. Public attitudes towards nuclear power and alternative energy systems

    Phase I of this study analyzed attitudes and beliefs of respondents drawn from Metro-Manila. The second phase utilized a sample drawn from residents near a geothermal power plant site in Southern Philippines. Four dimensions of beliefs (psychological/environmental risks, technological benefits/development, economic benefits/implications and socio-political implications/benefits) were identified through factor analysis of belief items on nuclear energy and refined empirically to determine perceptions of respondents about all energy systems. Identification of the relationships between dimensions provided insight into the shared perceptions about each energy system held by the various groups of respondents. The overall attitude of the respondents towards energy systems (nuclear, solar, hydro, geothermal and oil) was determined using three attitude measures: Fishbein model, Osgood's semantic differential technique, and direct response to unfavorability/favorability scale. The belief dimensions were correlated with the attitude measures to determine the degree of contribution of each dimension to attitude. A comparative analysis was made to differentiate attitudes and beliefs held by the PRO and CON nuclear groups, and by the subsamples: university students, science teachers and barangay leaders of the Metro-Manila sample. Attitudes and beliefs relating to the demographic variables were also examined for the two samples. (author)

  3. Backstepping-Based Inverse Optimal Attitude Control of Quadrotor

    An Honglei


    Full Text Available Input saturation must be taken into account for applying rapid reorientation in the large angle manoeuvre of a quadrotor. In this paper, a backstepping‐based inverse optimal attitude controller (BIOAC is derived which has the property of a maximum convergence rate in the sense of a control Lyapunov function (CLF under input torque limitation. In the controller, a backstepping technique is used for handling the complexity introducing by the unit quaternion representation of the attitude of a quadrotor with four parameters. Moreover, the inverse optimal approach is employed to circumvent the difficulty of solving the Hamilton‐Jacobi‐Bellman (HJB equation. The performance of BIOAC is compared with a PD controller in which the input torque limitation is not considered under the same unit quaternion representation using numerical simulation while the results show that BIOAC gains faster convergence with less control effort. Next, BIOAC is realized on a test bed and the effectiveness of the control law is verified by experimental studies.

  4. Multimode attitude and orbit control for the Atmosphere Explorer spacecraft

    Stewart, B.


    The orbit profile for the Atmosphere Explorer requires a velocity adjust capability of 2000 ft/sec/sec and individual maneuvers of up to 24 ft/sec in magnitude. This requirement is met by a monopropellant hydrazine propulsion subsystem which also provides, by virtue of the tank arrangement, a means of adjusting the spacecraft center of mass in orbit, thereby minimizing external disturbance torques. The attitude control subsystem is of the momentum bias type. A large internal flywheel furnishes gyroscopic stiffness and permits rapid changes in operating mode (despun to spinning mode) by controlled interchange of momentum between the flywheel and the spacecraft main body.

  5. Attitude Control of Satellite With Pulse-Width Pulse- Frequency (PWPF Modulator Using Generalized Incremental Predictive Control

    Ehsan Chegeni


    Full Text Available In this paper, we use generalized incremental predictive control (GIPC to stabilize attitude of satellite. We compare Generalized Predictive Control (GPC with GIPC algorithm and present that GIPC has better performance. The three-axis attitude control systems are activated in pulse mode. Consequently, a modulation of the torque command is compelling in order to avoid high non-linear control action. This work considers the Pulse-Width Pulse-Frequency modulator (PWPF is composed of a Schmitt trigger, a first order filter, and a feedback loop. PWPF modulator has several advantages over classical bang-bang controllers such as close to linear operation, high accuracy, and reduced propellant consumption

  6. A GPS-Based Attitude Determination System for Small Satellites

    Gershman, Daniel; Young, Kristopher; Kelsey, Anders; Eldad, Ofer; Rostoker, Jason; Mohiuddin, Shan; Cerruti, Alessandro; Peck, Mason


    This paper presents a novel, GPS-based attitude determination system (ADS). Carrier-phase differential GPS (CDGPS) accurate to within centimeters enables magnetometer-level pointing accuracy. Employing three GPS antennas allows for the determination of three independent baseline vectors, which can be combined to yield a precise attitude solution. Both simulation data for a satellite in LEO and terrestrial field test data suggest subcentimeter level accuracy, yielding an instantaneous pointing...

  7. Delay Depending Decentralized Adaptive Attitude Synchronization Tracking Control of Spacecraft Formation

    ZHOU Jiakang; MA Guangfu; HU Qinglei


    This paper deals with the problem of cooperative attitude tracking with time-varying communication delays as well as the delays between inter-synchronization control parts and self-tracking control parts in the spacecraft formation flying.First,we present the attitude synchronization tracking control algorithms and analyze the sufficient delay-dependent stability condition with the choice of a Lyapunov function when the angular velocity can be measured.More specifically,a class of linear filters is developed to derive an output feedback control law without having direct information of the angular velocity,which is significant for practical applications with low-cost configurations of spacecraft.Using a well-chosen Lyapunov-Krasovskii function,it is proven that the presented control law can make the spacecraft formation attitude tracking system synchronous and achieve exponential stability,in the face of model uncertainties,as well as non-uniform time-varying delays in communication links and different control parts.Finally,simulation results are presented to demonstrate the effectiveness of the proposed control schemes.

  8. AttSim, Attitude Simulation with Control Software in the Loop

    Koenigsmann, Hans; Gurevich, Gwynne


    AttSim is a spacecraft attitude simulator that has been specifically developed to design and verify attitude control concepts and flight software architectures and algorithms. Its primary goal is to provide a generic approach to small satellite attitude control development by allowing scalable performance. AttSim specifically allows the user to develop software modules that can be used as flight code, and to verify control logic, controller gains, and other mission-critical elements. The code...

  9. Implicit and Explicit Attitudes and Interracial Interaction: The Moderating Role of Situationally Available Control Resources

    Hofmann, Wilhelm; Gschwendner, Tobias; Castelli, Luigi; Schmitt, Manfred


    Abstract The present research examined whether implicit and explicit racial attitudes predict interracial interaction behavior differently as a function of situationally available control resources. Specifically, we investigated how implicit attitudes (Implicit Association Test) and explicit attitudes (Blatant/Subtle prejudice) were related to interracial interaction behaviors of Italians toward an African ...

  10. Controlled comparison of attitudes of psychiatrists, general practitioners, homosexual doctors and homosexual men to male homosexuality.

    Bhugra, D.; King, M


    A controlled analysis of the attitudes of doctors and homosexual men to male homosexuality is reported. Not surprisingly the homosexual men held the most liberal attitudes which served as a yard-stick against which the doctors' attitudes could be assessed. The implications of these data, collected before the AIDS era, are discussed in terms of the current needs of homosexual patients.

  11. Attitudes of European citizens towards pig production systems

    Krystallis, Athanasios; de Barcellos, Marcia Dutra; Kügler, Jens Oliver;


    pork with specific fat content, and finally the preferred quality characteristics of the pork end-product. The results of the conjoint analysis were used for a subsequent cluster analysis in order to identify European citizen clusters. Respondents' socio-demographic profile, attitudes towards issues......The objective of the study is to map citizen attitudes towards pigmeat production systems, and to investigate whether these attitudes associate with pork and pork product consumption. A conjoint experimentwas carried out with empirical data collected from 1931 individuals in four European countries...... of this study. The results of the conjoint experiment at the sample level show that people assigned most importance to animal and environmental well-being as criteria to discriminate between "good" and "bad" pig production practices, despite the fact that their attitudes towards environmental protection, animal...

  12. An Attitude Control of Flexible Spacecraft Using Fuzzy-PID Controller

    Park, Jong-Oh; Im, Young-Do

    This primary objective of this study is to demonstrate simulation and ground-based experiment for the attitude control of flexible spacecraft. A typical spacecraft structure consists of the rigid body and flexible appendages which are large flexible solar panels, parabolic antennas built from light materials in order to reduce their weight. Therefore the attitude control has a big problem because these appendages induce structural vibration under the excitation of external forces. A single-axis rotational simulator with a flexible arm is constructed with on-off air thrusters and reaction wheel as actuation. The simulator is also equipped with payload pointing capability by simultaneous thruster and DC servo motor actuation. The experiment of flexible spacecraft attitude control is performed using only the reaction wheel. Using the reaction wheel the performance of the fuzzy-PID controller is illustrated by simulation and experimental results for a single-axis rotational simulator.

  13. Linear Time Varying Approach to Satellite Attitude Control Using only Electromagnetic Actuation

    Wisniewski, Rafal


    , lightweight, and power efficient actuators is therefore crucial and viable. This paper discusser linear attitude control strategies for a low earth orbit satellite actuated by a set of mutually perpendicular electromagnetic coils. The principle is to use the interaction between the Earth's magnetic field and...... the magnetic field generated by the coils. A key challenge is the fact that the mechanical torque can only be produced in a plane perpendicular to the local geomagnetic field vector, therefore the satellite is not controllable at fixed time. Avaliability of design methods for time varying systems is...... limited, nevertheless, a solution of the riccati equation gives an excellent frame for investigations provided in this paper. An observation that geomagnetic field changes approximately periodically when satellite is on a near polar orbit is used throughout this paper. Three types of attitude controllers...

  14. A Dynamic Attitude Measurement System Based on LINS

    Hanzhou Li


    Full Text Available A dynamic attitude measurement system (DAMS is developed based on a laser inertial navigation system (LINS. Three factors of the dynamic attitude measurement error using LINS are analyzed: dynamic error, time synchronization and phase lag. An optimal coning errors compensation algorithm is used to reduce coning errors, and two-axis wobbling verification experiments are presented in the paper. The tests indicate that the attitude accuracy is improved 2-fold by the algorithm. In order to decrease coning errors further, the attitude updating frequency is improved from 200 Hz to 2000 Hz. At the same time, a novel finite impulse response (FIR filter with three notches is designed to filter the dither frequency of the ring laser gyro (RLG. The comparison tests suggest that the new filter is five times more effective than the old one. The paper indicates that phase-frequency characteristics of FIR filter and first-order holder of navigation computer constitute the main sources of phase lag in LINS. A formula to calculate the LINS attitude phase lag is introduced in the paper. The expressions of dynamic attitude errors induced by phase lag are derived. The paper proposes a novel synchronization mechanism that is able to simultaneously solve the problems of dynamic test synchronization and phase compensation. A single-axis turntable and a laser interferometer are applied to verify the synchronization mechanism. The experiments results show that the theoretically calculated values of phase lag and attitude error induced by phase lag can both match perfectly with testing data. The block diagram of DAMS and physical photos are presented in the paper. The final experiments demonstrate that the real-time attitude measurement accuracy of DAMS can reach up to 20″ (1σ and the synchronization error is less than 0.2 ms on the condition of three axes wobbling for 10 min.

  15. Periodic H-2 Synthesis for Spacecraft Attitude Control with Magnetometers

    Wisniewski, Rafal; Stoustrup, Jakob


    A control synthesis for a spacecraft equipped with a set of magnetorquer coils is addressed. The electromagnetic actuation is particularly attractive for small low-cost spacecraft missions, due to their relatively low price, high reliability, light weight, and low power consumption. The interacti....... A linear matrix inequality-based algorithm is proposed for attitude control synthesis. Simulation results are provided, showing the prospect of the concept for onboard implementation.......A control synthesis for a spacecraft equipped with a set of magnetorquer coils is addressed. The electromagnetic actuation is particularly attractive for small low-cost spacecraft missions, due to their relatively low price, high reliability, light weight, and low power consumption. The interaction...

  16. Attitudes and practices adopted by hypertensive workers on the disease’s control

    Zélia Maria de Sousa Araújo Santos; Helder Pádua Lima


    Systemic arterial hypertension (HAS) consists of a major public health problem, with a prevalence of 20 to 25% in the population above 18 years old. In the professional practice, the lack of treatment adhesion is frequently observed, being manifested not only by the medicamental treatment’s suspension or irregularity, but also by the adoption of inadequate life style. This work had the aim of identifying the attitudes and practices of hypertensive workers on the diseases’ control. The researc...

  17. A study of attitude control concepts for precision-pointing non-rigid spacecraft

    Likins, P. W.


    Attitude control concepts for use onboard structurally nonrigid spacecraft that must be pointed with great precision are examined. The task of determining the eigenproperties of a system of linear time-invariant equations (in terms of hybrid coordinates) representing the attitude motion of a flexible spacecraft is discussed. Literal characteristics are developed for the associated eigenvalues and eigenvectors of the system. A method is presented for determining the poles and zeros of the transfer function describing the attitude dynamics of a flexible spacecraft characterized by hybrid coordinate equations. Alterations are made to linear regulator and observer theory to accommodate modeling errors. The results show that a model error vector, which evolves from an error system, can be added to a reduced system model, estimated by an observer, and used by the control law to render the system less sensitive to uncertain magnitudes and phase relations of truncated modes and external disturbance effects. A hybrid coordinate formulation using the provided assumed mode shapes, rather than incorporating the usual finite element approach is provided.

  18. Spacecraft attitude control using neuro-fuzzy approximation of the optimal controllers

    Kim, Sung-Woo; Park, Sang-Young; Park, Chandeok


    In this study, a neuro-fuzzy controller (NFC) was developed for spacecraft attitude control to mitigate large computational load of the state-dependent Riccati equation (SDRE) controller. The NFC was developed by training a neuro-fuzzy network to approximate the SDRE controller. The stability of the NFC was numerically verified using a Lyapunov-based method, and the performance of the controller was analyzed in terms of approximation ability, steady-state error, cost, and execution time. The simulations and test results indicate that the developed NFC efficiently approximates the SDRE controller, with asymptotic stability in a bounded region of angular velocity encompassing the operational range of rapid-attitude maneuvers. In addition, it was shown that an approximated optimal feedback controller can be designed successfully through neuro-fuzzy approximation of the optimal open-loop controller.

  19. Reaction Wheel Installation Deviation Compensation for Overactuated Spacecraft with Finite-Time Attitude Control


    A novel attitude tracking control scheme is presented for overactuated spacecraft to address the attitude stabilization problem in presence of reaction wheel installation deviation, external disturbance and uncertain mass of moment inertia. An adaptive sliding mode control technique is proposed to track the uncertainty. A Lyapunov-based analysis shows that the compensation control law can guarantee that the desired attitude trajectories are followed in finite-time. The key feature of the prop...

  20. Design of the EO-1 Pulsed Plasma Thruster Attitude Control Experiment

    Zakrzwski, Charles; Sanneman, Paul; Hunt, Teresa; Blackman, Kathie; Bauer, Frank H. (Technical Monitor)


    The Pulsed Plasma Thruster (PPT) Experiment on the Earth Observing 1 (EO-1) spacecraft has been designed to demonstrate the capability of a new generation PPT to perform spacecraft attitude control. The PPT is a small, self-contained pulsed electromagnetic Propulsion system capable of delivering high specific impulse (900-1200 s), very small impulse bits (10-1000 micro N-s) at low average power (less than 1 to 100 W). EO-1 has a single PPT that can produce torque in either the positive or negative pitch direction. For the PPT in-flight experiment, the pitch reaction wheel will be replaced by the PPT during nominal EO-1 nadir pointing. A PPT specific proportional-integral-derivative (PID) control algorithm was developed for the experiment. High fidelity simulations of the spacecraft attitude control capability using the PPT were conducted. The simulations, which showed PPT control performance within acceptable mission limits, will be used as the benchmark for on-orbit performance. The flight validation will demonstrate the ability of the PPT to provide precision pointing resolution. response and stability as an attitude control actuator.

  1. Nonlinear control of marine vehicles using only position and attitude measurements

    Paulsen, Marit Johanne


    This thesis presents new results on the design and analysis of nonlinear output feedback controllers for auto pilots and dynamic positioning systems for ships and underwater vehicles. Only position and attitude measurements of the vehicle are used in the control design. The underlying idea of the work is to use certain structural properties of the equations of motion in the controller design and analysis. New controllers for regulation and tracking have been developed and the stability of the resulting closed-loop systems has been rigorously established. The results are supported by simulations. The following problems have been investigated covering design of passive controller for regulation, comparison of two auto pilots, nonlinear damping compensation for tracking, tracking control for nonlinear ships, and output tracking control with wave filtering for multivariable models of possibly unstable vehicles. 97 refs., 32 figs.

  2. Gaining control over responses to implicit attitude tests: Implementation intentions engender fast responses on attitude-incongruent trials.

    Webb, Thomas L; Sheeran, Paschal; Pepper, John


    The present research investigated whether forming implementation intentions could promote fast responses to attitude-incongruent associations (e.g., woman-manager) and thereby modify scores on popular implicit measures of attitude. Expt 1 used the Implicit Association Test (IAT) to measure associations between gender and science versus liberal arts. Planning to associate women with science engendered fast responses to this category-attribute pairing and rendered summary scores more neutral compared to standard IAT instructions. Expt 2 demonstrated that forming egalitarian goal intentions is not sufficient to produce these effects. Expt 3 extended these findings to a different measure of implicit attitude (the Go/No-Go Association Task) and a different stereotypical association (Muslims-terrorism). In Expt 4, managers who planned to associate women with superordinate positions showed more neutral IAT scores relative to non-planners and effects were maintained 3 weeks later. In sum, implementation intentions enable people to gain control over implicit attitude responses. PMID:22435844

  3. Robust attitude control design for spacecraft under assigned velocity and control constraints.

    Hu, Qinglei; Li, Bo; Zhang, Youmin


    A novel robust nonlinear control design under the constraints of assigned velocity and actuator torque is investigated for attitude stabilization of a rigid spacecraft. More specifically, a nonlinear feedback control is firstly developed by explicitly taking into account the constraints on individual angular velocity components as well as external disturbances. Considering further the actuator misalignments and magnitude deviation, a modified robust least-squares based control allocator is employed to deal with the problem of distributing the previously designed three-axis moments over the available actuators, in which the focus of this control allocation is to find the optimal control vector of actuators by minimizing the worst-case residual error using programming algorithms. The attitude control performance using the controller structure is evaluated through a numerical example. PMID:23618744


    Jagbir Singh


    Semester System at university stage is not only an examination system rather an education system whose primary concern is learning instead of centred instead teaching centre. This study is aimed to examine the attitude of university students towards Semester System and study the problems faced by students in new semester system along with the analysis of the curriculum of University stage. The investigator randomly selected a total number of 11 Departments for the study that included Arts, ...

  5. Body-fixed orbit-attitude hovering control over an asteroid using non-canonical Hamiltonian structure

    Wang, Yue; Xu, Shijie


    The orbit-attitude hovering means that both the position and attitude of the spacecraft are kept to be stationary in the asteroid body-fixed frame. The orbit-attitude hovering is discussed in the framework of the gravitationally coupled orbit-attitude dynamics, also called the full dynamics, in which the spacecraft is modeled as a rigid body to take into account the gravitational orbit-attitude coupling naturally. A feedback hovering control law is proposed by using the non-canonical Hamiltonian structure of the problem, which is consisted of two potential shapings and one energy dissipation. The first potential shaping is to create an artificial equilibrium at the desired hovering position-attitude. Then, the second potential shaping modifies the potential further so that the artificial equilibrium is a minimum of the modified Hamiltonian on the invariant manifold. Finally, the energy dissipation leads the motion to converge asymptotically to the minimum of the modified Hamiltonian, i.e., the artificial equilibrium for hovering. The feasibility of the hovering control law is verified through numerical simulations. The proposed hovering control law has a simple form and can be implemented by the spacecraft autonomously with little computation. This feature can be attributed to the utilization of the Hamiltonian structure and natural dynamical behaviors of the system in the control law design.

  6. Tethered satellite system dynamics and control

    Musetti, B.; Cibrario, B.; Bussolino, L.; Bodley, C. S.; Flanders, H. A.; Mowery, D. K.; Tomlin, D. D.


    The first tethered satellite system, scheduled for launch in May 1991, is reviewed. The system dynamics, dynamics control, and dynamics simulations are discussed. Particular attention is given to in-plane and out-of-plane librations; tether oscillation modes; orbiter and sub-satellite dynamics; deployer control system; the sub-satellite attitude measurement and control system; the Aeritalia Dynamics Model; the Martin-Marietta and NASA-MSFC Dynamics Model; and simulation results.

  7. Deploying process modeling and attitude control of a satellite with a large deployable antenna

    Zhigang Xing; Gangtie Zheng


    Modeling and attitude control methods for a satellite with a large deployable antenna are studied in the present paper. Firstly, for reducing the model dimension, three dynamic models for the deploying process are developed, which are built with the methods of multi-rigid-body dynamics, hybrid coordinate and substructure. Then an attitude control method suitable for the deploying process is proposed, which can keep stability under any dynamical parameter variation. Subsequently, this attitude...

  8. Attitude Control on TET-1 - Experiences from the First Year of Operations

    Hobsch, Markus; Cossavella, Fabiana; Löw, Sebastian; Herman, Jacobus


    The micro-satellite TET-1 carries several technology experiments. It is the first in a series offering the possibility of in-orbit verification of new equipment made in Germany by the industrial and scientific aerospace community. TET-1 was launched 22nd July 2012 and is operated by the German Space Operations Center. Attitude and attitude control is influenced by several of the experiments. Special attitude control modes are required for a number of experiments in order to point the sate...

  9. Attitudes of Brazilian citizens towards pig production systems

    de Barcellos, Marcia Dutra; Kügler, Jens Oliver; Saab, Maria Stella Melo;

    in southern and central-western states of Brazil. The experiment was based on the following pig farming characteristics: farm size, floor type, efforts to protect soil, air and water, fat content, and pork quality. The results of the conjoint analysis were used for a subsequent cluster analysis in order......The objective of this study is to map Brazilian citizen attitudes towards pig meat production systems and to investigate whether these attitudes associate with pork and pork product consumption. A conjoint experiment was carried out with empirical data collected from 475 respondents interviewed...

  10. Docking Offset Between the Space Shuttle and the International Space Station and Resulting Impacts to the Transfer of Attitude Reference and Control

    Helms, W. Jason; Pohlkamp, Kara M.


    The Space Shuttle does not dock at an exact 90 degrees to the International Space Station (ISS) x-body axis. This offset from 90 degrees, along with error sources within their respective attitude knowledge, causes the two vehicles to never completely agree on their attitude, even though they operate as a single, mated stack while docked. The docking offset can be measured in flight when both vehicles have good attitude reference and is a critical component in calculations to transfer attitude reference from one vehicle to another. This paper will describe how the docking offset and attitude reference errors between both vehicles are measured and how this information would be used to recover Shuttle attitude reference from ISS in the event of multiple failures. During STS-117, ISS on-board Guidance, Navigation and Control (GNC) computers began having problems and after several continuous restarts, the systems failed. The failure took the ability for ISS to maintain attitude knowledge. This paper will also demonstrate how with knowledge of the docking offset, the contingency procedure to recover Shuttle attitude reference from ISS was reversed in order to provide ISS an attitude reference from Shuttle. Finally, this paper will show how knowledge of the docking offset can be used to speed up attitude control handovers from Shuttle to ISS momentum management. By taking into account the docking offset, Shuttle can be commanded to hold a more precise attitude which better agrees with the ISS commanded attitude such that start up transients with the ISS momentum management controllers are reduced. By reducing start-up transients, attitude control can be transferred from Shuttle to ISS without the use of ISS thrusters saving precious on-board propellant, crew time and minimizing loads placed upon the mated stack.