IN THE NAME OF ALLAH THE MOST BENEFICENT THE MOST MERCIFUL

SPACERAFT DYNAMICS AND CONTROL

DR. QASIM ZEESHAN

BE, MECHANICAL ENGINEERING
NATIONAL UNIVERSITY OF SCIENCE AND TECHNOLOGY, NUST, PAKISTAN, 2000

MS, FLIGHT VEHICLE DESIGN

BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS, BUAA, P.R.CHINA, 2006

PhD, FLIGHT VEHICLE DESIGN

BEIJING UNIVERSITY OF AERONAUTICS AND ASTRONAUTICS, BUAA, P.R.CHINA, 2009

qsmzeeshan@yahoo.com ; 0321-9595510

SPACECRAFT ATTITUDE DYNAMICS AND CONTROL

SPACECRAFT DYNAMICS AND CONTROL DISTURBANCE TORQUES

LECTURE #

SPACECRAFT DYNAMICS AND CONTROL EXTERNAL DISTURBANCE TORQUES

LECTURE #

External Disturbance Torques

Drag NOTE: The magnitudes of the torques is dependent on the spacecraft design.

Torque

Gravity
Solar Press. Magnetic LEO

Orbital Altitude

GEO

SPACECRAFT DYNAMICS AND CONTROL INTERNAL DISTURBANCE TORQUES

LECTURE #

Internal Disturbing Torques

Examples
Uncertainty

in S/C Center of Gravity (typically 1-3

cm) Thruster Misalignment (typically 0.1 0.5 ) Thruster Mismatch (typically ~5%) Rotating Machinery Liquid Sloshing (e.g. propellant) Flexible structures Crew Movement

Disturbing Torques

T T

H I r F

DISTURBANCE TORQUES GRAVITY GRADIENT

LECTURE #

Gravity Gradient Torque

Earth Sensor uses the principle of gravity gradient sensing, which consists in the very slight change in gravity as you move away from the center of the earth. When an elongated mass is placed in this environment, it will tend to align itself with this field, since one part of the mass is pulled more strongly than the other. By measuring this displacement, of the mass trying to align itself, it is possible to know where the earth is !

Gravity Gradient Torque

Diagram showing effect of gravity gradient on a proof mass. ( a) the proof mass inside the satellite is perpendicular to the earth. Both sides of the mass being the same distance from the earth, there is no detectable effect. b) if the satellite rotates by a given amount, the mass inside it is of course rotated in the same way. c) Since now one side is closer to the earth and sees more pull, an additional rotation (torque) will occur as shown in (c).

Gravity Gradient Torque

Tg
where:
Tg maximum gravity gradient Earth' s gravitatio nal parameter R orbit radius I y , I z S/C mass moments of inertia maximum deviation away from vertical

3 Iz 3 2R

I y sin 2
y

DISTURBANCE TORQUES MAGNETIC TORQUE

LECTURE #

Magnetic Torque
where:
Tm

Tm

m xB

magnetic disturbanc e torque

m S/C residual magnetic dipole Amp m 2 B strength of Earth' s magnetic field M for points above the equator 3 R 2M for points above the poles 3 R M Earth' s magnetic moment 7.96 1015 tesla m 3 R orbit radius meters
*Note value of m depends on S/C size and whether on-board compensation is used - values can range from 0.1 to 20 Amp-m2 - m = 1 for typical small, uncompensated S/C

DISTURBANCE TORQUES AERODYNAMIC TORQUE

LECTURE #

Aerodynamic Torque
Ta
where:
Ta

F c pa cg
1 C D Av 2 2

aerodynamic disturbanc e torque

atmospheric density C D coefficien t of drag typical S/C values are 2 - 2.5 A cross - sectional area v velocity C pa center of atmospheric pressure Cg center of gravity

DISTURBANCE TORQUES SOLAR PRESSURE

LECTURE #

Solar Pressure Torque

Tsrp
where:

F c ps cg
Fs As 1 c cos i

F
Tsrp c ps cg Fs

solar radiation presure disturbanc e torque center of solar radiation pressure center of gravity solar flux density W m2

c speed of light As area of illuminate d surface reflectance factor 0 i sun incidence angle 1, typical value 0.6 for S/C

FireSat Example

Disturbing Torques

All of these disturbing torques can also be used to control the satellite

Gravity Gradient Boom Aero-fins Magnetic Torque Rods Solar Sails

Spin Stabilized Satellites

Gravity Gradient Stabilization

Gravitational attraction:
f = m/r2 Top: f1 > f2 torque is out of the page Bottom: f1 > f2 torque is into the page In both cases, the torque is a restoring torque, tending to make the satellite swing like a pendulum

Gravity Gradient Stabilization

In the 60s was viewed as free attitude control In general, G2 is not accurate enough, spacecraft can even flip over Not really free, because of boom mass However, OrbComm and TechSat 21 use gravity gradient with flexible solar panels on an extensible wrapper around the boom The Moon is gravity-gradient stabilized; Lagrange (1736-1813) showed this In the 60s was viewed as free attitude control In general, G2 is not accurate enough, spacecraft

Tech SAT 21

SPACECRAFT DYNAMICS AND CONTROL

ATTITUDE DETERMINATION AND CONTROL SYSTEM ADCS
LECTURE #

Attitude Determination and Control System

Attitude Determination and Control Subsystem (ADCS)

Attitude control is the exercise of control over the orientation of an object with respect to an inertial frame of reference or another entity (the celestial sphere, certain fields, nearby objects, etc.). Controlling vehicle attitude requires sensors to measure vehicle attitude, actuators to apply the torques needed to re-orient the vehicle to a desired attitude, and algorithms to command the actuators based on

(1) sensor measurements of the current attitude (2) specification of a desired attitude.

The integrated field that studies the combination of sensors, actuators and algorithms is called "Guidance, Navigation and Control" (GNC)

Attitude Determination and Control System

Torques

Control actuator On-board computer

Attitude

Attitude sensor

Error signal

Commands

Torques

Controller

Actuator

Spacecraft

Ground control

Sensors
Measured attitude Attitude

Attitude Determination and Control System

Attitude Determination and Control Subsystem (ADCS)

Stabilizes the vehicle Orients vehicle in desired directions Senses the orientation of the vehicle relative to reference (e.g. inertial) points

Determination: Sensors Control: Actuators Controls attitude despite external disturbance torques acting on spacecraft

Attitude Determination and Control System

Attitude Determination and Control System

ADCS Design Requirements and Constraints

Pointing Accuracy (Knowledge vs. Control)

Drives Sensor Accuracy Required Drives Actuator Accuracy Required

Rate Requirements (e.g. Slew) Stationkeeping Requirements Disturbing Environment Mass and Volume Power Reliability Cost and Schedule

ADCS Design

ADCS Design

ADCS Design

ADCS Design

ADCS Design

THANK YOU FOR YOUR INTEREST