QUASI-PERIODIC ORBITS ABOUT THE TRANSLUNAR

LIBRATION POINT

R O B E R T W. F A R Q U H A R
NASA Goddard Space Flight Center, Greenbelt, Md., U.S.A.
and
AHMED A. K A M E L *
Stanford University, Stanford, Calif., U.S.A.
L

(Received 13 September, 1972)

Abstract. Analytical solutions for quasi-periodic orbits about the translunar libration point are
obtained by using the method of Lindstedt-Poincar6 and computerized algebraic manipulations. The
solutions include the effects of nonlinearities, lunar orbital eccentricity, and the Sun's gravitational
field. For a small-amplitude orbit, the orbital path as viewed from the Earth traces out a Lissajous
figure. This is due to a small difference in the fundamental frequencies of the in-plane and out-of-plane
oscillations. However, when the amplitude of the in-plane oscillation is greater than 32 379 km, there
is a corresponding value of the out-of-plane amplitude that will produce a path where the funda-
mental frequencies are equal. This synchronized trajectory describes a 'halo orbit' of the Moon.

1. Introduction

The possibility of stationing a data-relay satellite in a quasi-periodic orbit about the

translunar libration point has been proposed as a means for establishing a continuous
communications link between the Earth and the far side of the Moon (Farquhar, 1971).
This type of orbit may also be an ideal location for a lunar space station (Farquhar,
1972). Because of the natural instability of these orbits however, some station keeping
will be required for satellite maintenance. In theory, the fuel cost associated with this
stationkeeping requirement could be made negligibly small; the only limitation being
the noise in the satellite tracking data. However, computer simultations of the station-
keeping maneuvers have shown that the fuel expenditure is substantially higher when
the satellite is forced to follow an inaccurate orbital path. Therefore, the determination
of highly accurate nominal trajectories in the vicinity of the translunar libration point
is of some importance.
In order to find nominal trajectories that correspond to the true physical situation,
it will be necessary to employ a fairly detailed representation of the Sun's gravitational
effect in the Earth-Moon system. When this is done, the equations of motion are
considerably more complicated than those for a restricted three-body model. In spite
of this complexity however, an analytical solution will be sought because the presence
of an unstable mode makes it extremely difficult to find the quasi-periodic orbits by
numerical means. Of course, an analytical solution is more desirable in any case.

* Presently with Philco-Ford Corp., Palo Alto, Calif.

Celestial Mechanics 7 (1973) 458--473. All Rights Reserved

Copyright 9 1973 by D. Reidel Publishing Company, Dordrecht-Holland
 Q U A S I - P E R I O D I C ORBITS ABOUT THE T R A N S L U N A R LIBRATION P O I N T 459

2. Equations of Motion

Consider the motion of a small body in the vicinity of the translunar libration point,
L 2. If the motion is referred to a rotating Cartesian coordinate system that is centered
at the L2 point as depicted in Figure 1", it can be shown (Farquhar, 1970; Farquhar,

§
Y
X

MOON _ ~ - i L2

EARTH

Fig. 1. Cartesian coordinate system (xy-plane is coincident with M o o n ' s orbital plane).

and Kamel, in prep.) that the equations of motion are**

Y-2(1 § v=)95 § (1 § 7 L 1 ) 0 -- /~zy =
-- (1 § Vz) 2 r(1 § y; 1) (1 § 0) § x] - (1 § vz) vxz -
(1 - # ) 1
.~ 1-(1 + ~; ) ( 1 + e) + ~] -
"yLl e

~i L r~ + (1 + ~ ) : J -
mas 1 - ~ + ~)(1 + ~) + ~ ( ~ - ~s) # (1 § @) § MLX~7
?L r~ + R~ I
f + 2(1 + vz) I-(1 + 7~, x) 0 + x] +/~z 1-(1 + ?~1) (1 + 0) + x] -
- 2 v x 2 § 9xz = I-v2 + (1 + v=)2] y -

[1--#
r3~ ~-
~(1 y
3?3
DI2
as
3 [y--
r3e
ys t-
ysl
+ 2 v ~ f + ~xY = v.2z - v~ (1 + v=) [(1 + ?[ 1) (1 + Q) + x] -
(1)
r3~ +- ~3L as r3e t ,

* N o t e that the distance between L2 and the M o o n is not constant. However the ratio of this dis-
tance to the instantaneous E a r t h - M o o n distance R( is constant; that is, y z --- d2/Rr -- 0.167 833 147 6.
** T h e following quantities are set equal to unity: (1) yLa, where a is the u n p e r t u r b e d m e a n Earth-
M o o n distance (a -- 384 748.91 km); (2) mean angular rate of M o o n a r o u n d Earth (n -- 2.661 699 489 •
x 10 -6 rad s-l).
460 ROBERT W. FARQUHAR AND AHMED A. KAMEL

where
# = mass parameter for the E a r t h - M o o n system (# = 1/82.30).
7z = distance ratio for L 2 point ( T z = d 2 / R ( = O . 1 6 7 8 3 3 1476).
m = ratio of mean motions of the M o o n and the Sun. (m=0.074801 3263).
r o, r e, r ( = distances between the small body and the Sun, Earth, and Moon, respec-
tively.
R e = d i s t a n c e between the Earth and the Sun.
r~=distance between the E a r t h - M o o n barycenter and the Sun (components are
denoted by xs, y~, Zs).
a s = mean distance between the E a r t h - M o o n barycenter and the Sun.
The m 2 terms in Equation (1) are due to the direct solar perturbation. The effects of
the indirect solar perturbation and the M o o n ' s orbital eccentricity are contained in 0,
vx and Vz which represent variations in the E a r t h - M o o n distance and the M o o n ' s
angular rate (e.g., dz = 1 + 0). Explicit formulae for these variations are given below.
Neglecting higher-order terms, the equations of motion can be written in the
expanded form (Farquhar, 1970; F a r q u h a r and Kamel, in prep.)

5 / - 2 (1 + v=)3~ = [(1 + v=) 2 + 2 (1 + 0) -3 Bz,] x + i , = y - v x v z z -

- ~ C L (1 + 0 ) - 4 1 2 x z - (y2 + z2)] +
+ 2D L (1 + O) - s [2x 2 - 3 (y2 + z2)] x -
~EL (1 + 0)-6 [8x 4 + 3 (y4 + z 4) _ 24x 2 (y2 + z 2) + 6 y 2 z 2 ] _

as xs Xs Ys xs Zs
- m 2 -- 1-3 -- x-3 y-3 z ,
\ rs/ \ rsl

.9 + 2(1 + v::) .~ -- [(1 + v=)2 - (1 + Q) - 3 n L .-Jr- 1'2] y --

- i'zX + i,xz + 2vx2 + 3CL (1 + 0) -4 x y -

3OL (1 + 0)-5 [4x 2 - (y2 + zZ)] y + (2)
nt- 5 E L (l [4x 2 _ 3 (y2 + z2)] x y +
(as)3{3 (xQ)(Y~)x [ 1 3 (y~)2Iy + 3 (7,)(~)
Y~ z~ }
-+- ~ ) ) - 6

-t- m 2
\ rsl \ r4 d

e = (1 + n,] z- v (a + -
- i ' x y - 2VxP + 3CL (1 + 0) -4 x z -
-azDL (1 + 0)-5 [4x z - (y2 + z2)] z +
+ ~EL (1 + 0) -6 [4x 2 -- 3 (y2 + z2)] x z +

+m e (as~3 { (xs) (Zs) (ys) (z~) I (zs~21 }

\rs/ 3 ~ rs x+3 rs ; y- 1-3 \r4 _1 z

where BL = 3.190423657, CL = 2.659334398, D z = 2.583009811, Ez. = 2.572040953,

and
 QUASI-PERIODIC ORBITS ABOUT THE TRANSLUNAR LIBRATION POINT 461

(1 + 0 ) - 1 = 1 + e cos r + e 2 COS 2 r +
+ ~ m 2 + m 2 cos 2~ + - ~ m e cos (2~ - r -
le3 cos r + 9e3 cos 3 r + A-~m 3 cos 2~ -

-- 1156 m ( ~ t t ) COS ~ 5ey2 c o s (~b - 2 r / ) +

+ 1--A-Sine2 c o s 2 ~ + l ~ J m 2 e c o s ( 2 { - r +

+ - ~ m e e' c o s (2{ - r - q~') - 18S-me e ' COS - r + r +

+ 88 ya ) e' + r 172 m z e COS r +

3 3 - 2 e cos
+ -r-~m 105
(2~ + r
64 me2 c o s ( 2 ~ - 3r
__ 3 m 2 e , cos r , + ~-,,,
7. 2~,e cos (2~ - r ) -
21 m 2 e ,
cos (2r + 4)') + -z~-me e , cos (4) _
r _

28,me
1 e' c o s ( r + r (3)

Vz = 2e cos r + 5 e 2 c o s 2 r + - ~ m 2 cos 2~ + -~-me cos (2~ - r -

e3
85 . 3
-- c o s r + - ~ e 3 c o s 3 r + -i-~-m cos 2~ -
4

15
- --g-m ( a a t ) cos ~ ~-ey2 cos ( r - 2r/) +

+ ~--ASme2 cos 2~ + 11463 m2e COS (2~ - r +

+ - ~ m e e' cos (2~ - r - r 4 me e' cos (2~ -- r + r ) +
15

+ 5 () ~7
a e' cos (~ + r ) - 3 m 2 e cos r +

"11-5-8---Lm2e c o s (2~ --[-- r 105

32 m e 2 cos (2~ - 3 r -
- 3 m 2 e ' cos r +-~--m2e ' cos ( 2 ~ - r
-- 181m2e ' c o s (2~ + r + 2---!-~mee' cos ( r -- r --
_ 21 me e' cos ( r + q~') (4)

Vx = 3m2~ c o s ~ sin (v' - f2) (5)

with
r 4
3m 2 2322 5 m 3) t + e - o o ~ (6)

~=(1-m) t+e-e' (7)

,7=(1 +3m: 39 2/'F/3 2128

73 m 4 ) t + e -- g2o (8)
! ! NI
=mt+e --~o (9)

v' = m t + e' + 2e' sin r + 5 e ' 2 sin 2 r (10)

= Qo _
(88m2 39 2 m3 273m4) t (11)
128
462 ROBERT W . F A R Q U H A R A N D AHMED A. KAMEL

Auxiliary quantities for the direct solar perturbation can also be written in terms of
the angle variables of Equations (6) to (11). Thus

2 esin e ,in ,sin

- cos r {e 2 + e '2 q- 1 2 2 -- (e 2 c o s 24) + e '2 c o s 24,') -
- - 2e e' [ c o s (4) -- q~') -- c o s (q~ + qS')]} --
- sin { {88 2 sin 24, - -a-e
5 ,2 sin 2q5, + 3_~_m2sin 2{ +
+ @-me sin (2{ - ~b) - 3me' sin 4;} + 88 cos ( 2 ~ / - {) (12)

- sin { - 2 (e sin q5 - e' sin ~b') cos { +

+ sin ~ {e 2 + e '2 + 1 ,2 _ ( e 2 c o s + e '2 cos 2q~') -

- 2e e' [cos (~b - q~') - cos (q5 + ~b')]} -
-- COS ~ {{e 2 sin 2~b -- xe
5 , 2 sin 2q5' + _ ! ~ m 2 sin 2{ +
+ -~-me sin (2{ - qS) - 3me' sin 4;} - 88 sin ( 2 r / - {) (13)

(z-s = 2 sin (v' - f2) (14)

k ~as/ = 1 + 3 e' cos qS' + ~e

3 ,2(1 + 3 cos 24;). (15)

The astronomical constants used in the above equations are:

e: M o o n ' s orbital eccentricity (e=0.054900489).
e': Earth's orbital eccentricity ( e ' = 0 . 0 1 6 721 7).
(a/a'): modified ratio of the semimajor axes for the orbits of Earth and the M o o n
[(a/a') = 0.002 509 352 3].
y: tangent of the mean inclination of the M o o n ' s orbit ( y = 0 . 0 9 0 0 4 6 3 0 6 6 ) .
e, e': mean longitudes of the epochs of the mean motions of the M o o n and the Sun.
05, 05': mean longitudes of the lunar and solar perigees.
~0: longitude of the mean ascending node of the M o o n ' s orbit.
Numerical values for the last five constants can be found in The American Ephemeris
and Nautical Almanac.
Finding solutions to the lengthy equations of motion listed above would appear
to be a rather formidable task. However, by using a computer to carry out the extensive
algebraic manipulations, it has been possible to obtain accurate analytical representa-
tions of certain families of quasi-periodic orbits about the L 2 point. These solutions
are discussed in the following sections.

3. Lissajous Trajectory

This section contains a third-order solution for small-amplitude orbits about the L 2
point. An outline of the perturbation technique that was used to generate this solution
is also presented.
 QUASI-PERIODIC ORBITS ABOUT THE TRANSLUNAR LIBRATION POINT 463

3.1. LINEARIZED SOLUTION

The linear constant-coefficient portion of Equation (2) can be written

2-ap- bx=O

.9 + a 2 + c y = 0 (16)
~+dz=0,
where
a = 2(1 + 3y2m2) --- 2.000034
b = BL (2 + 3e 2 + m 2 Jr- ~--~5e4nt- 4 8 3 m2e 2 9 m 4
x6
3.
+ -~-,. e
2..t2
) q-
64
m2
+ 1 + 2e 2 -t 2 t- 2--~1e4+ l 29 m2e 2 55. 4 3 2 t2~
"Jr" -~--i r r t -Jr- ~ m e 7] --"
32

= 7.436 984
m2
c = BL 1 "k" 3e2 -~ 2 ~. _L~_e4 nt_ 4:28m832e2 392 m4 Jr- 3m2 e' 2i -- (17)

- 1 + 2e 2 + 2 ' + 2@e4 + 129 2 13827 m 4 'It- 3m2e' 2 ~

3 2 m2e + --
J
= 2.204 904
(
d = B L 1 + 3e2 -[
m2
2 t- 41 2883 m 2 e 2 392 rn 4 -31" {m2e,2
) "JI-

3 t2
nt- m 2 (1 + ~e - 3~2) _.. 3.219481.

The contribution of rn, e, 7, and e' has been included in the calculation of the coeffi-
cients a, b, c, and d to simplify the higher-order analysis and to compute more accurate
values for the fundamental frequencies. In Equation (16) it is readily seen that the
z-axis solution is simple-harmonic and does not depend on x and y. The motion in
the xy-plane is coupled, and the characteristic equation is given by

s 4 + (a 2 - b - c) s 2 - b c = 0. (18)

This equation possesses two real roots that are equal in magnitude, but opposite in
sign. The two remaining roots are pure imaginaries. Therefore, the xy-motion has
a divergent mode as well as an oscillatory one. However, if certain initial conditions
are satisfied, only the oscillatory mode will be excited and the solution will be bounded
(Moulton, 1914)*. In this case, the linearized solution becomes

xl o = kAro sin (C%yot + 01)

Y l0 = Ayo c o s (Ogxyot + 01) (19)
Zlo = A~o sin (COzot + 02)

* In actual practice, it would not be possible for a satellite to achieve these initial conditions, but it
can be assumed that the divergent mode would be suppressed by using an active control system
(Farquhar, 1970).
464 R O B E R T W . F A R Q U H A R A N D A H M E D A. K A M E L

with
OOxyO= 1.865 485
Ogzo = 1.794291 (20)
2
k = acoxyo _- c - OOxyo= 0.341763
2
b + OOxyo aOgxyo

and the four arbitrary constants are denoted by Ayo, Az0, 01, and 0 2.

3.2. T H I R D - O R D E R SOLUTION
The third-order solution for the trajectory can be expressed in the form

X --- /T~X 1 -~- /'?12X2 -[- /T/3X3

y = m y 1 + mZY2 + m3y3 (21)
Z "~ DIZ 1 + W/2Z2 + D13Z3 .

The small parameter m is selected as the basic quantity that defines the order of mag-
nitude. In this scheme, the first terms on the right-hand sides of Equations (21) are
taken to be of 0(m), the second terms of 0 (m2), etc. The constants e, e', and ~ are
also specified to be of 0 (m) and a/a' is of 0 (m2).
Equations (21) are substituted into Equations (2) to obtain a system of linear inho-
mogeneous differential equations in (xi, yi, z~), i-- 1, 2, 3. This is accomplished in the
usual way by equating like powers of m, except for the constant coefficients of the
linear terms which are treated as before [Equations (16) and (17) ]. To avoid the appear-
ance of secular terms in (x3, Y3, z3), the method of Lindstedt-Poincar6 is employed
(Blaqui~re, 1966). In this method, the time is normalized such that the dependency of
the oscillation frequency on the amplitude is allowed. Following this procedure,
(xl, Yl, zl) can be written as

xl = 0.341 763 A r sin 7'1

Yl = Ay COS T 1 (22)

Z1 = As sin T2 ,

where
7'1 = OOxy(At, Az) t + 01
(23)
T2 = ooz (Ay, As) t + 02

with
(-Dx yO
O,)xy --"
1 + m2ogxy2 (Ay, Az)
(24)
O)zO
(D z =
1 "-]- m 2 0 9 z 2 ( a y , A z ) "
 Q U A S I - P E R I O D I C ORBITS A B O U T TIlE T R A N S L U N A R L I B R A T I O N P O I N T 465

The differential equations for (x2, Y2, z2) are

dT 2 dT1 2 x2 = 2
1 0 O)xyO O)xy0

d2y2
[- k y2 = (25)
dT? o dT1 2
(DxyO
2
O)xy0

d2 z2 H2
d T 2 ~- z2 = 2
(Dz0

where

Yl sin r +

+ 4 tokyo dT1 cos ~b - 3C L (2x~ -- Yl ~ - z~)

G2 = 2 ( e ) x ~ s i n ~ b - ( m ) (3BL - 4 ) Yl cos~b - (26)

- 4
(e) .x,
o~xro dT1 COS ~b + 3CLXlY 1

H 2 -- 3
(e) BLZ 1 COS~ + 3CLX l z 1.

S o l v i n g E q u a t i o n (25) yields

0 4904 sin( + 0493 , sin (4~ + 7"1) -

2
- 0.095 884 05 Ar cos 2T1 + 0.128 774 A~ cos 2T2 -
- 0.268 186 42 - 0.205 537 Ar2

2
- 0.055 296 Ay sin 27'1 - 0.086 597 05 A 2 sin 27"2 (27)

+ 0.424 1194 ArA~ cos (T2 - T~) + 0.133991 0 A,A~ cos (Tz + T1).

The forcing functions for the third order take the form

F3 ---
{2O)xy2 (bk w cOxyo)__ 2
(_Dxy 0
[ 0.342 854 (e)2 +
+ 0.008 202 A 2 + 0.108 050 Ar Ar sin 7'1 + other terms
466 ROBERT W. FARQUHAR AND AHMED A. KAMEL

G3 {2(-oxy2(akoxyo + c) - 20
(_Oxy [
0.325 455 -

(28)
- 0.058 141 A 2 + 0.102 210 Ay Ay cos 7'1

H a = COzo
2 [ 1 196 357 + 0.078 465 A 2 -

- 0 . 0 6 5 877 Ay - 2co~2 Az sin T2 + other terms.

Direct integration of the differential equations for (X3, Ya, Z3) with these forcing
functions will yield secular terms involving 7'1 sin T1, 7'1 cos 7'1, and T2 sin T2. These
terms can be eliminated with the proper selection of O~xy2, o~z2, and another arbitrary
constant C~ which is introduced by assuming that x3 contains the term C~Ay sin 7'1.
The analysis leads to three algebraic equations that are used to determine the condi-
tions on these constants. Carrying out the algebra, it is found that
2
cl 00921008 (e) + 0.029 054 86 Ay2 + 0.007 644 849 A 2
(29)
(.Oxy2 -- 0.138781 1
(m) + 0.04349909 Ay - 0.040608 12 A~

o)z2 = 0.598 177 9 - 0.032 938 45 Ay + 0.039 232 49 A~z.

The remaining steps in finding (X3, Y3, 23) are straightforward, and the final result is

X3 -- Ay[-- 0.122841 sin (2q~ - 7"1) + 0.643204 sin (24~ + Tx)] +

+ cos - 0 71 4cos( +
+ 0.335 398 cos (~b + 2T2)-1 +

+ (e) Ay2[0.173731 cos ~b + 0.325 999 c o s ( ~ b - 2 T 1 ) -

- 0.270 446 cos (~b + 2 7"1)] +

+ (e) Ay [ - 1 . 1 0 0 33 sin(4~ - 7 " 1 - 2 ~ ) -

- 1.189247 sin (~b + 7"1 - 2~)] +

+ A,Az2 [ - 0.430448 sin (2T2 - T~) - 0.031 302 sin (2T2 + T~)] +
+ A y3 [0.027 808 sin 37"1] + CiAy sin 7'1 +
+ A, [ - 0.388 56 sin (7"1 - 2~) + 0.455 452 sin (7"1 + 2~)]
 QUASI-PERIODIC ORBITS ABOUT THE TRANSLUNAR LIBRATION POINT 467

Y3 = A, [0.608 685 cos (2q5 - Tx) + 1.407 026 cos (2q~ + 7"1)] +

+ ( e ) A2 [ - 0.116 822 sin ~b - 0.214742 sin (~b - 2T2) -

- 0 . 2 3 2 5 0 3 sin (q~ + 2T2)] + (30)

+ A, [ - 0.109 499 sin ~b - 0.144 553 sin (~b - 27"1) -

- 0 . 1 5 5 751 sin (4) + 27"1)] +

+ ( e ) Ay [2.733 367 cos (~b- T ~ - 2 ~ ) -

- 3.848 485 cos (4) + 7"1 - 2~)] +

+ A r A 2 [ - 1.191421 cos ( 2 T 2 - T~) - 0.000 165 cos (2T2 + 7"1)] +
+ Ar3 [ - 0.027 574 cos 37"1] +
+ A t [ - 1.743411 cos (T1 - 2{) + 0.741 825 cos (T~ + 2{)]

z3= A~ [ - 0.536 652 s i n ( 2 4 ) - T2)+ 1.103 381 sin(2~b + T 2 ) ] +

+ 0.367 360 cos (~b + T2 + 7"1)+ 0.063629 c o s ( ~ - T2 + T x ) -

- 0.034 729 cos (4) + T2 - Ta)] +

+ ( e ) A ~ [ - 2 . 3 5 3 465 sin (~b- T z - 2 ~ ) -

- 3.831 413 sin (~b + T2 - 2~)-1 +

+ A 3 [0.017 664 sin 3Tz] +
+ A~A2[ - 0.866 84 sin (Te - 27"1) - 0.044 724 sin (T2 + 2T1)] +
+Az[- 1.487 917 sin ( T z - 2{) + 0.475 507 sin (T2 + 2{)].
3.3. DISCUSSION
Traces of the third-order solution for a one-year period are shown in Figure 2. Because
of the frequency difference between the in-plane and out-of-plane oscillations, the
x z and yz-projections are Lissajous curves. The period of the in-plane oscillation is
Txy0 --14.65 days, while the out-of-plane period is Tz0- 15.23 days.
As previously mentioned, due to the instability of the Lissajous trajectory, an orbit-
control system would be needed to keep a satellite on this path. To assess the effect
of an inaccurate representation of the nominal Lissajous trajectory on the station-
keeping costs, a computer simulation of the controlled satellite motion was employed.
In this simulation the satellite was forced to follow a nominal path that was given by
Equation (21), and the residual acceleration was computed numerically using the
 Y

Nt N
X

NN N
I T
Z

'r

l N~,/2\2~ /;.

Fig. 2. Lissajous trajectory (Ay -- Az = 5000 km).

 Q U A S I - P E R I O D I C ORBITS A B O U T T H E T R A N S L U N A R L I B R A T I O N P O I N T 469

equations of motion.For the case whereAy=Az= 3500 km, the average residual accel-
erations were (in Earth-gravity units; g - 9.81 m s- 2).

Using first-order nominal path: 2.16 x 10-6g

Using second-order nominal path: 3.59 x 10-Tg
Using third-order nominal path: 8.78 x 10-8g.

These results dramatically illustrate the importance of using an accurate nominal path.
To attain the accuracy that would be needed for a real mission, a fourth-order nominal
path would be required. The fourth-order solution for the Lissajous trajectory is given
in Farquhar and Kamel (in prep.).

4. Large Halo Orbit

Having found a reasonably accurate solution for small-amplitude quasi-periodic orbits

around the Lz point, it is of interest to find out what happens to this solution when
03xy and 03z become more equal due to the nonlinear effects.* Using Equations (24)
and (29) it is readily found that

03~y 03z = 0.073672 - 0.000785 Ay2 + 0.000818 A~. (31)

The smallest value of Ay that will make 03xy- 03z= 0 in Equation (31) is Ay=46793 km.
At this large amplitude, the expansion of the orbit in the form given by Equation (21)
is no longer valid. Therefore, a new formulation of the orbital expansion is needed
here. Because 03xyo- 03z0 is of 0(m), it is only possible to eliminate the secular terms at
the third-order level if the expansion is assumed to have the form (to fourth order in
ml/2).
X = D'I1/2X 1 "3t- D'/X 2 -3t- D I 3 / 2 X 3 Jr- D " / 2 X 4

y = m l / 2 y 1 + m y 2 + m 3 / 2 y 3 -at- tn2y4 (32)

Z = DI1/2Z 1 -at- m22 + DI 3/ 2Z3 + m 2 z 4 9

In order for (xl, yl, zl) to have the same fundamental frequency, the substitution,
2
d= 03~yo- ma is employed [see Equation (16)]. The extra terms resulting from this
substitution will contribute az~ to H3 and az2 to/-/4. The solution can now be obtained
in the same way as in the Lissajous case with one important exception. This occurs at
the third-order level where only two arbitrary constants, C'1 and 032, are available to
eliminate the secular terms. Due to this circumstance, Ay and Az must satisfy the
relationship
2 __ 2
Ay2 = 1.176726 A 2 + 3.358 157 03xy0 2 03zO = 1.176726 A 2 + 3.361 330.
m03xyO
(33)

* It seems that this possibility has also been considered in a General Electric Co. Report where it is
claimed that a family of orbits around Lz, for which the xy and the z-periods are exactly equal, were
found by using numerical integration of the exact restricted three-body equations. It is further stated
that the maximum y-displacement of these orbits is in the range 33,000 km to 45,000 km depending
on the maximum z-displacement.
470 ROBERT W. FARQUHAR AND AHMED A. KAMEL

60,000

/
/ f

E
v,
50,000

J
/
v

/
40,000
/
f
/
/
f

30,000
0 10,000 20,000 30,000 40,000
A z (kin)
Fig. 3. Amplitude relationship for large halo orbits.

A graph of Equation (33) is given in Figure 3". The minimum value of Ay for this
synchronized orbit is Ay= 32 379 km, which is much smaller than the value obtained
from Equation (31).
The rest of the perturbation solution follows the pattern outlined in the previous
section, and further details will be omitted. The final answers are
xl = 0.341 763 A r sin T
y~ = A r cos T (34)
z~ = Az sin T
__
x2 - [0.095 884 A r2 - 0 . 1 2 0 121 A 2] cos 2T
- [0.205 537 A r2 + 0.268 186 A~]
(35)
Y2 ___ - [0.055296 A r2 + 0.076511A~] sin2T
z2 = A r A z [0.130 581 9 cos 2T + 0.391 746 7]
r
x 3 "-- C1A r sin T - [0.030889 A r A z2 - 0 . 0 2 7 808 A 3] sin 3T +

+ ( e ) A r [0.554904 sin (~b- T ) + 0.493 213 sin (~b + T)]

Y3 = [0.001 354 AyAz - 0.027 574 cos 3T -

-(e) Ar[1.905541 cos(~b- T ) - 1.210697 cos (~b + T)] (36)

z3 = [0.017 581 A 3 - 0 . 0 4 3 703 A~Az] sin 3T +

+ ( e ) Az [1.760 353 sin(~b- T ) + 1.020367 sin(~b + T)-I

* To convert (Au, Az,) to normalized units when they are expressed in kilometers, divide by: a 7L m 1/2
for large halo orbit; a ),L m for Lissajous trajectory.
 QUA~SI-PERIODIC ORBITS A B O U T T H E T R A N S L U N A R L I B R A T I O N P O I N T 471

X4 -- [0.001 411 A~ + 0.009 169 A 2rAz2 + 0.004 593 A 4] cos 2T +

+ [0.004872 A~ 0.017795 A 2yA=2 + 0.012 429 A 4] cos4T
-

2 2
- [0.015 522 A*z + 0.144268 AyAz + 0.019739 A~] +
+ C 1'A2.v [ 0 . 3 6 6 6 2 5 - 0.011 189 cos2T] + 2o92X 2 +

+ ( e ) A~ [0.176 197 cos ~b - 0.313 443 cos (q~ - 2T) +

+ 0.311 873 cos (q5 + 2T)] +

+ (e) Ay2[0.173731 cos ~b + 0.325 999 c o s ( ~ b - 2 T ) -

-0.270446 cos (~b + 2T)] +

+ o92 [(0.092 650 Ay2 - 0.025 891 Az)
2
cos 2T +
+ 0.411 074 A r2 + 0.536 372 A~]
y, = - [0.002 22 A 4 + 0.084 909 A 2yA=2 - 0.025 667 A 4] sin 2T -
- [0.002 06 A~ + 0.003 204 A 2yA=z - 0.011 299 Ay4] sin 4 T
- ClAy'2 [0.333 37 sin2T] + 2o9zY2

-(e) A2 [0.152967 sin t# + 0.137400 sin ( q 5 - 2 T ) +

+ 0.207 667 sin (q5 + 2T)] -

-- (e) A y210.109 498 sin q~ + 0.144 553 sin (~b - 2T) +

+ 0.155 751 sin (~b + 2T)] -

- o92 [0.018 755 Ay2 + 0.088 820 A~] sin 2T
3 + 0.029 534 A3,A=] COS 2T +
z4 = [0.026 956 ArA =
+ [0.011 023 ArA z3 - 0.017 048 A3A=-[ cos a T +
+ 0.068 907 ArA=3 + 0.053 487 A 3yAz +
+ C'~AyAz[1.146 253 + 0.382084 cos 2T] + 2 o 9 2 z 2 -at-

+ ( e ) A r A = [0.179 916 cos t k - 0.314 118 9 cos ( ~ b - 2 T ) +

+ 0.356 259 cos (~b + 2T)] +

+ ArA= [o92 - 0.54097] [0.080537 cos2T - 0.724833], (37)
where
T=o9t + O (38)
(DxyO
03 - - (39)
1 + mo92
(_D2 --" 0.043 498 6 Ay2 - 0.144 790 5 A 2 (40)
C1, = 0.029054 97 A r2 + 0.007 241 95 A 2 . (41)
472 ROBERT W . F A R Q U H A R A N D AHMED A. KAMEL

,y

L2 X

/
Jr
T

CLASS I CLASS II

Z Z 1

/
/
r

L2 X L2 X
, b
v i
w,

Z Z

f ~

j Y

Y
L2 J Y

If I

Fig. 4. Large halo orbit (Au--45000 km).

 QUASI-PERIODIC ORBITS ABOUT THE TRANSLUNAR LIBRATION POINT 473

-IW r

Fig. 5. Large halo orbit relative to mean L2 point (Class I, Au--45000 km).

Traces of the fourth-order solution for a one-year period are illustrated in Figures
4 and 5. Notice that there are two families of this solution. The xy-projection is the
same for both families, but the other two projections are reflected on either side of the
xy-plane. In both cases, the resulting quasi-periodic orbits are aptly termed 'halo orbits'.

5. Concluding Remarks

Although this paper has only been concerned with orbits around the translunar libra-
tion point, the types of solutions obtained herein are really quite general. For instance,
it can be conjectured that the large halo orbit will exist around both the L1 and L2
collinear libration points for any value of the mass parameter, p (0<#~<0.5). This
seems likely because the frequency difference, cOxyo-~zo, will remain sufficiently small
for all values of # (Szebehely, 1967). Furthermore, it can be deduced from Equation
(33) that the minimum size of this halo orbit will be proportional to the square root
of the frequency difference.
References

Blaqui6re, A.: 1966, Nonlinear System Analysis, Academic Press, New York.
Farquhar, R. W.: 1970, 'The Control and Use of Libration-Point Satellites', NASA TR R-346.
Farquhar, R. W.: 1971, 'The Utilization of Halo Orbits in Advanced Lunar Operations', NASA
TN D-6365.
Farquhar, R. W.: 1972, Astronaut. Aeronaut. 10, No. 6.
Farquhar, R. W. and Kamel, A . A . : 'Satellite Stationkeeping in the Vicinity of the Translunar
Libration Point', (in preparation).
'Final Report for Lunar Libration Point Flight Dynamics Study', Contract NAS-5-11551, General
Electric Co., April 1969.
Moulton, F. R.: 1914, An Introduction to Celestial Mechanics, Macmillan, New York.
Szebehely, V.: 1967, Theory of Orbits: The Restricted Problem of Three Bodies, Academic Press,
New York.