VISVESVARAYA TECHNOLOGICAL UNIVERSITY

JnanaSangama, Belgaum-590008, Karnataka, India.

K. L. E. Dr. M. S. SHESHGIRI COLLEGE OF ENGINEERING AND

TECHNOLOGY

INTERNSHIP PROJECT REPORT

ON
“SINGLE WHEEL REACTION MECHANISM”
AT
SERVO CONTROLS

Survey No.683, Industrial Estate, Udyambag, Belagavi, Karnataka 590008

DEPARTMENT OF ELECTRONICS AND

COMMNUNICATION ENGINEERING

Student Name:

UNDER THE GUIDANCE OF

“Pradeepkumar Chikkamath”

INTERSHIP H.O.D
CO-ORDINATOR EC DEPARTMENT
INTRODUCTION:

The single-wheel reaction mechanism is a vital component employed

in the attitude control systems of satellites and spacecraft. In the vast
expanse of space, where there is no air to provide aerodynamic stability,
these mechanisms play a crucial role in maintaining the correct orientation
and direction of satellites. This mechanism consists of a single large wheel
or flywheel that is carefully controlled to manage the satellite's angular
momentum.

At its core, the single-wheel reaction mechanism adheres to the

fundamental principle of conservation of angular momentum. When the
satellite needs to change its orientation or adjust its position, the reaction
wheel comes into action. By varying the speed and direction of the wheel's
rotation, the satellite can exert equal and opposite torque, counteracting
any unwanted motion. This elegant and efficient system enables precise
control over the satellite's attitude without the need for fuel-consuming
thrusters.

In this exploration, we will delve deeper into the inner workings of this
remarkable technology. We will uncover the principles governing its
operation, its critical role in satellite missions, and the challenges involved
in its implementation. By understanding the single-wheel reaction
mechanism, we gain insight into the mastery of spacecraft control that
allows us to explore and communicate with the far reaches of the
cosmos.
LITERATURE REVIEW:
Title
A Single-Wheel,
Gyroscopically
Stabilized Robot.
H. Benjamin Brown, Jr.
and Yangsheng Xu
the Robotics Institute
Carnegie Mellon
University Pittsburgh, PA
15213, USA
Single axis stabilization of
a fast-rotating satellite in
the orbital frame using
magnetorquers and a rotor
M. Yu. Ovchinnikov, V.I.
Penkov, D.S. Roldugin∗ ,
S.S. Tkachev
Methodology
The robot, called Gyrover,
is a single-wheel vehicle
with an internal gyroscope
that provides mechanical
stabilization and steering
capability. This
configuration conveys
significant advantages over
multi-wheel, statically
stable vehicles, including
good dynamic stability and
insensitivity to attitude
disturbances; high
maneuverability; lour
rolling resistance; ability
to recover from falls; and
amphibious capability.
Magnetorquers provide the
necessary constant rotation
rate and slow reorientation
of the spin axis in the
inertial space [1–3]. This
stabilization mode is
utilized in important
scientific and engineering
tasks, although only one
axis attitude is available.
Conclusion
Gyrover provides a unique
concept of dynamically
stable robots for
locomotion on rough
terrain, and a rich array of
research issues on sensing,
control, and dynamics. We
are currently working on
these issues in improving
its control performance and
demonstrating its
feasibility in a variety of
applications.
Angular motion of a fast-
rotating satellite with a
rotor is considered.
Magnetorquers are used to
provide the stabilization of
the spin axis along the
orbital velocity on a
circular orbit. Stability
analysis is performed.
High-Performance Spacecraft Attitude Control
Reaction Wheel Systems (ACSs) use
Optimization for Fine- Inertial Measurement
Pointing Space Platforms Units, along with other
sensor data inputs (Star
Tracker, Sun Sensor, Fine
Martin D. Hasha Guidance Sensor (FGS),
etc.) to Command and Data
Handling or Line-Of-Sight
Computer control
algorithms to command
inertia wheel counter-
torque outputs in a
traditional 3-axis
momentum-management
scheme
A RWA IV jitter
optimization treatise,
focused on an ultra-fine-
pointing spacecraft
utilizing state-of-the-art
RWA IV
balancing/measurements
along with system
engineering aggregated
efforts, is documented. Key
findings, methodologies,
overviews, and intertwined
details for lower-level
elements within HST’s
designtest-analysis
evolution.
FIELD TRIP TO "SHRI. DEEPAK
DHADOTI SATELLITE LAB":

On 18th august 2023, we visited shri Deepak Dhadoti Satellite lab

located at Motichand Lengade Bharatesh Polytechnic, Belagavi. There was
a nano satellite where we understood the working of it, got to know
about the components that were used in manufacturing it. The satellite
was costing around 25 lakh rupees. It was in the working mode which
could be controlled by “COSMOS” software. This satellite can be taken
into low- earth orbit that is about 400km range. The command given
from the software is handle by us where we can decide the speed of the
rotator of the reaction wheel. As the rotation of the wheel is clock wise
the satellite moves in opposite direction i.e., anticlockwise, similarly
visa versa.
SCOPE OF WORK:
The scope of work for a single wheel reaction mechanism on a satellite
typically includes the design, analysis, and testing of the mechanism to
achieve specific mission objectives. Here are some key aspects to
consider:

1. Mission Objectives: Clearly define the mission objectives that the

reaction wheel mechanism should achieve. This could include
attitude control, stability, or pointing accuracy.

2. Design: Develop the design for the single wheel reaction

mechanism, including the specifications for the reaction wheel itself, its
mounting structure, and any associated sensors or control electronics.

3. Analysis: Perform detailed engineering analysis to ensure that the

reaction wheel can provide the required torque and angular
momentum to meet the mission objectives. This may involve
structural analysis, dynamic simulations, and control system analysis.

4. Material Selection: Select appropriate materials for the construction

of the reaction wheel and its components, considering factors such as
weight, durability, and thermal properties.

5. Manufacturing and Testing: Fabricate the reaction wheel and

associated components, then conduct rigorous testing to validate
their performance in a space environment. This includes vibration
testing, thermal testing, and functional testing.
6. Integration: Integrate the reaction wheel mechanism into the
satellite, ensuring proper alignment and connections with other satellite
systems.

7. Control System Development: Develop the control algorithms and

software necessary to operate the reaction wheel, including feedback
control loops for attitude stabilization.

8. Safety and Redundancy: Implement safety mechanisms and

redundancy to ensure the satellite's stability and functionality even in
the event of a reaction wheel failure.

9. Calibration and Tuning: Calibrate and tune the reaction wheel

and control system to optimize performance and minimize
disturbances.

10. Documentation: Maintain comprehensive documentation

throughout the design, development, and testing phases. This is
critical for mission success and future reference.

11. Mission Operations: Provide support for mission

operations, including monitoring and adjusting the reaction
wheel during the satellite's operational phase.

12. Post-Mission Analysis: After the mission, analyze the performance

of the reaction wheel mechanism to gather insights for future missions
and improvements.
METHODOLOGY:
BLOCK DIAGRAM:

PIN DIAGRAM:
COMPONENTS REQURIED:
• Arduino Uno
• Motor driver
• DC motor
• Bluetooth module
• Battery
• Gyroscope
• Jumper wires
• Reaction Wheel

PROCEDURE:
Implementing a reaction wheel mechanism for a satellite using Arduino,
a Bluetooth module, and a gyroscope involves several steps. Here's a high-
level overview of the process:

1. Design of Reaction Wheel System:

This includes selecting or building the reaction wheel, motor, and
mounting structure. Ensure the reaction wheel can be controlled by a
motor connected to the Arduino.

2. Connect Hardware:
Connect the gyroscope sensor to the Arduino. Typically, this involves
connecting SDA, SCL, VCC, and GND pins.
Connect the Bluetooth module to the Arduino for wireless
communication.

3. Write Arduino Code:

Develop Arduino code to read data from the gyroscope sensor to
measure the satellite's angular velocity. Write code to control the motor
connected to the reaction wheel. Implement a control algorithm to adjust
the reaction wheel's speed based on the gyroscope readings to control the
satellite's orientation.

4. Integration with Satellite Hardware:

Integrate the reaction wheel system with the rest of the satellite's
hardware and software components.

5. Implement Bluetooth Communication:

Write code to establish communication between the Arduino and a
mobile device or computer via Bluetooth. Create a user interface (e.g., a
mobile app) to send control commands to the Arduino, allowing remote
control of the satellite's orientation.

6. Power Supply and Energy Management:

Plan for the power supply of the satellite and manage energy
consumption to ensure continuous operation.
7. Testing and Calibration:
Test the reaction wheel mechanism in a controlled environment to
ensure it responds correctly to gyroscope readings and Bluetooth
commands. Calibrate the gyroscope to remove biases and improve
accuracy.

8. Safety Measures:
Implement safety measures to prevent the satellite from exceeding its
operational limits and ensure it can return to a safe state if an issue
occurs.

FORMULA USED FOR PID OPERATION:

Ms x As = MR x AR

 Ms = Mass of the satellite

 As = Angular momentum of satellite
 MR = Mass of the reaction wheel
 AR = Angular momentum of reaction wheel
CONCLUSION:
Creating a single-wheel reaction mechanism for use in a satellite,
incorporating an Arduino Uno, Bluetooth module, and gyroscope,
represents a significant leap in satellite technology and control systems.
This project demonstrates the potential for enhancing satellite
maneuverability and agility in space missions. Here is a detailed
conclusion:

The integration of an Arduino Uno, Bluetooth module, and gyroscope into

a single-wheel reaction mechanism for satellite applications signifies a
groundbreaking advancement in satellite technology. This innovative
project has showcased the fusion of hardware and software components
to revolutionize the way satellites operate and navigate in space.

The Bluetooth module plays a crucial role in this system by enabling

real- time communication with the satellite from mission control on
Earth. This feature allows for remote control, monitoring, and the
potential for reprogramming or fine-tuning the satellite's behavior during
its mission. It enhances the adaptability and versatility of the satellite,
making it well- suited for a wide range of applications, including
scientific research, Earth observation, and deep-space exploration.

The gyroscope, integrated into the mechanism, offers precise control

over the satellite's orientation and stability. In the harsh environment of
space, where microgravity and other forces can affect a satellite's
trajectory, the gyroscope ensures that the satellite can maintain its
intended position and execute maneuvers accurately.
The Arduino Uno serves as the core of the system, orchestrating the
interactions between the gyroscope, Bluetooth module, and the satellite's
propulsion system. Its adaptability and programmability make it an ideal
choice for space applications, allowing for customization of control
algorithms and mission-specific programming.

In conclusion, the single-wheel reaction mechanism project for satellites,

featuring an Arduino Uno, Bluetooth module, and gyroscope, represents
a significant milestone in satellite technology. It has the potential to
redefine the capabilities of satellites, enabling them to perform complex
maneuvers, adapt to changing mission requirements, and improve
overall mission success rates. As space exploration and satellite missions
continue to evolve, this technology promises to play a pivotal role in
advancing our understanding of the cosmos and expanding our
capabilities in space.

REFERENCE: