Annexes

Universitat Politècnica De Catalunya.
Barcelona
Tech - UPC
Escola Superior d’Enginyeries Industrial, Aeroespacial i

Audiovisual de Terrassa
MODELING, SIZING AND SIMULATION OF THE

POWER SUBSYSTEM OF CUBESATS WITH
MATLAB/SIMULINK
Final Degree Project
Document: Annexes
Author:
Gonzálvez Tamarit, Iván
Director: Gago Barrio, Javier

Co-director: Gonzalez Diez, David
Spring 2022
Universitat politècnica de Catalunya- Barcelona Tech- UPC
Final degree project

Bibliography
1
2 Final degree project

Appendices
3
Appendix A
Run the simulation in a new

computer
If this program is to be used in a new computer, it is necessary to take into account the
following considerations to make it work without problems.
• First of all, the Matlab version used to develop this project is MATLAB R2021b, so
if the user wants to use a different version, should take this into account to avoid
unexpected warnings and errors.
• To make the battery pack work, it is necessary to download the Simscape and Sim-
scape Electrical toolboxes.
• To make the CubeSat vehicle work, it is necessary the Aerospace Blockset and
Aerospace Toolbox
• The visualizer must be configured following the steps that will be exposed below.
Configuration of the visualizer
1. Open the Simulink project PowerSimulator 2022, right click into the block Simulink
3D Animation, and click in Open in new tab
2. Right click in the block VR sink 1 >properties>Open Block: VR SINK1. This will
give an error, and open a new window.
5
3. In Source File, select the path by opening the folder SCENARIO, and selecting the
file scenario final
4. In Virtual World Tree>objects>children choose the variables that appear in the VR

sink 1. It is important to select the same variables, in the same order.
5. Repeat the step 2. This time it should not appear any error, and a new window will
be opend.
6. File>Open in editor>Objects>Children>Earth>Children>Appearence>Texture> im-

ageTexture. Here, change the URL by the path of the Earth’s texture in folder
scenario earth.jpg.
7. Repeat the second step, and select file>relaod.

Appendix B
Important aspects of the visualizer
The visualizer requires lots of inputs that locate and orientate the Sun, the Earth, the
CubeSat, the solar panels, and the antenna in the space. Some of this variables are
computed by the Simulink project, as were included in the template, but the ones regarding
the position and orientation of the solar cells are computed in a self-made Matlab script.
This script is named SolarCellsVR whose inputs are the angles α and β, the faces that
have associated a solar cell, and a scale factor related to the size of the CubeSat’s face.
If the user wants to edit this script, it is important to know that the coordinates system
used by Matlab is not the same as the one used by the Visualizer. In the following table,
the equivalences of the axis is exposed:
Matlab Visualizer
x x
y z
z -y
Table B.1: Visualizer coordinate system
Three different translations are performed in that script. The first one, to locate each
the solar panel in its face, the second one to avoid that a part of the solar panel goes inside
the CubeSat’s frame when the solar panel rotates, and the third one to move the solar
panels to the extremes of the faces in the 1DOF and symmetric configurations.
Regarding the rotations, it is computed by means of rotation matrices, and the function
vrrotmat2vec converts the rotation matrix into the format that is required by the visualizer
to rotate the objects.
7

Appendix C
Matlab Scripts
C.1 Script 0.1: Machine learning-GetData
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
2 % TFG Ivan Gonzalvez Tamarit: Solar Panel Orientation
3 % SCRIPT 0.1: Machine learning−GetData
4
5 % Director: Javier Gago

6 % Co−director: David Gonzalez
7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
8 clc, clear, clear all
9
10 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
11 % 1. INPUTS
12 % User definition of the different solver's inputs
13 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
14
15 N=500; %Number of iterations

16 Tmin=−100; %Minimum temperature
17 Tmax=100; %Maximum temperature
18 Irrad min=10; %Minimum irradiance
19 Irrad max=1700; %Maximum irradiance
20
21
22 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
23 % 2. OBTAIN THE DATA
24 % Simulate the "MPPT simul" and save the results for different
9
25 % combinations of temperature and irradiance

26 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
27
28 %Create random values of temperature and irradiance

29 T vec=Tmin+(Tmax−Tmin).*rand(N,1);
30 Irrad vec=Irrad min+(Irrad max−Irrad min).*rand(N,1);
31
32 %Run simulations
33 cont=0;
34 for i=1:N
35 cont=cont+1;
36 Temperature=T vec(i);
37 Irradiance=Irrad vec(i);
38 tic
39 out=sim('MPPT simul.slx');
40 toc
41 I(cont)=out.current(end);
42 V(cont)=out.voltage(end);
43 T(cont)=Temperature;
44 Irrad(cont)=Irradiance;
45 cont
46 end
47
48 %Generate DATA matrix

49 DATA=[V',T',Irrad'];
50 save('DATA MPPT','DATA','I');
C.2 Script 0.2: Machine learning-Regularization
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % SCRIPT 0.2: Machine learning−Regularization
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
8 clc, clear, clear all, warning('off','all');
9
10 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
11 % 1. INPUTS

12 % User definition of the different inputs

13 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
14 deg=4; %Maximum degree of the polynomial basis ...
proposed
15 splitting reg=5000; %Number of random spits for regulatization
16 splitting=5000; %Number of splits after regularization
17 lambda =logspace(−30,5,50); %Define the vector of lambda
18 smoothy=1; %How many times the MSE curve will be smoothed
19
20 %% ...
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21 % 2. LOAD DATA
22 % Load the data that will be used to train/test the machine
23 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
24
25 load('DATA MPPT');
26 Y=DATA(:,1);
27 X=DATA(:,[2,3]);
28
29 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
30 % 3. PROPOSE A BASIS
31 % Propose the basis to fit the data (polynomial, exponential...)
32 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
33
34 %X1ˆ1,X2ˆ1,X1ˆ2,X2ˆ2...X1ˆdeg,X2ˆdeg
35 X=[ones(size(X,1),1),X];
36 for i=2:deg
37 X=[X,X(:,[2,3]).î];
38 end
39
40 %X1*X2, X1*X2ˆ2...X1*X2ˆdeg
41 %X1ˆ2*X2, X1ˆ2*X2ˆ2... X1ˆ2*X2ˆdeg
42 %......................X1ˆdeg*X2ˆdeg
43
44
45 for i=1:deg
46 for j=1:deg
47 X=[X,X(:,2).î.*X(:,3).ˆj];
48 end
49 end
50
51

52 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
53 % 4. REGULARIZATION
54 % Compute the optimum value of lambda for regularization
55 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
56
57
58 for cont=1:length(lambda )
59 lambda=lambda (cont);
60 for k=1:splitting reg
61
62 % Random splitting
63 p = randperm(size(X,1)); %Choose random ...
numbers
64 aux1=p(1:round(0.8*length(DATA))); %Train indices
65 aux2=p(round(0.8*length(DATA))+1:end); %Test indices
66
67 %Train and test vectors

68 Xtrain=X(p(aux1),:);
69 Ytrain=Y(p(aux1),:);
70 Xtest=X(p(aux2),:);
71 Ytest=Y(p(aux2),:);
72
73 %Solve the minimization problem

74 w=[Xtrain'*Xtrain+lambda*eye(size(Xtrain,2))]\(Xtrain'*Ytrain);
75
76 %Compute the errors

77 for i=1:size(Xtest,1)
78 error test(i)=abs(Ytest(i)−Xtest(i,:)*w);
79 end
80 for i=1:size(Xtrain,1)
81 error train(i)=abs(Ytrain(i)−Xtrain(i,:)*w);
82 end
83
84 MSE test(k)=1/size(Xtest,1)*sum((error test).ˆ2); %MSE test

85 MSE train(k)=1/size(Xtrain,1)*sum((error train).ˆ2); %MSE train
86 end
87 MSE test mean(cont)=mean(MSE test); %Compute the mean MSE test
88 MSE train mean(cont)=mean(MSE train); %Compute the mean MSE train
89 var test(cont)=var(MSE test,1); %Variance of the MSE test
90 var train(cont)=var(MSE train,1); %Variance of the MSE train
91 disp([cont,length(lambda )]) %Display the iteration
92 end
93

94
95 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
96 % 5. PLOT MSE and VARIANCE
97 % Plot the MSE with its mean and its variance. Also a smoothed curve
98 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
99
100 %Compute a smoother curve for the MSE

101 MSE test smooth=MSE test mean;
102 for i=1:smoothy
103 MSE test smooth=smooth(MSE test smooth);
104 end
105
106 %Plot the MSE test curves with the variance

107 figure()
108 semilogx(lambda ,MSE test mean), hold on, grid on;
109 semilogx(lambda ,MSE test mean+sqrt(var test));
110 semilogx(lambda ,MSE test mean−sqrt(var test));
111
112 legend('MSE {test}','MSE {test}+\sigma','MSE {test}−\sigma')

113 xlabel('\lambda'), ylabel('MSE'), title('MSE {test} vs \lambda');
114
115 %Plot the MSE train curves with the variance

116 figure()
117 semilogx(lambda ,MSE train mean), hold on, grid on;
118 semilogx(lambda ,MSE train mean+sqrt(var train));
119 semilogx(lambda ,MSE train mean−sqrt(var train));
120
121 legend('MSE {train}','MSE {train}+\sigma','MSE {train}−\sigma')

122 xlabel('\lambda'), ylabel('MSE'), title('MSE {train} vs \lambda');
123
124 %Plot the smoothed MSE test curve

125 figure()
126 semilogx(lambda ,MSE test smooth), grid on;
127 xlabel('\lambda'),ylabel('Smoothed MSE {test}');
128 title('Smoothed MSE {test} vs \lambda');
129
130 %Plot the MSE test curve

131 figure()
132 semilogx(lambda ,MSE test mean), grid on;
133 xlabel('\lambda'),ylabel('MSE {test}');
134 title('MSE {test} vs \lambda');
135
136 %Find the optimum value of lambda

137 [min MSE test,index lambda]=min(MSE test smooth);

138 lambda opt=lambda (index lambda);
139
140
141 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
142 % 5. COMPUTE THE REGRESSION WITH OPTIMUM LAMBDA
143 % Use the most optimum lambda to coimpute the coefficients
144 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
145 clearvars −except lambda opt deg splitting DATA X Y;
146 lambda=lambda opt;
147 for k=1:splitting
148 % Random splitting
149 p = randperm(size(X,1)); %Choose random ...
numbers
152
153 %Train and test vectors

158
159 %Solve the minimization problem

160 w=[Xtrain'*Xtrain+lambda*eye(size(Xtrain,2))]\(Xtrain'*Ytrain);
161
162 %Compute the errors

163 for i=1:size(Xtest,1)
164 error test(i)=abs(Ytest(i)−Xtest(i,:)*w);
165 end
166 for i=1:size(Xtrain,1)
167 error train(i)=abs(Ytrain(i)−Xtrain(i,:)*w);
168 end
169
170 MSE test(k)=1/size(Xtest,1)*sum((error test).ˆ2); %MSE test

171 MSE train(k)=1/size(Xtrain,1)*sum((error train).ˆ2); %MSE train
172 end
173 var MSE test=var(MSE test,1); %Variance of the MSE test
174 MSE test mean=mean(MSE test); %Compute the mean MSE test
175 MSE train mean=mean(MSE train); %Compute the mean MSE train
176
177

178 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
179 % 6. PLOTS OF DATA AND REGRESSION
180 % Plot the MSE, data, resultant surface and other interesting results
181 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
182
183 %Plot the MSE, mean MSE and its variance for each split
184 figure();
185 scatter(1:length(MSE test),MSE test), hold on
186 yline(MSE test mean);
187 yline(MSE test mean+sqrt(var MSE test));
188 yline(MSE test mean−sqrt(var MSE test));
189 legend('MSE {test}','mean MSE {test}','MSE {test}+\sqrt(\sigma)',...
190 'MSE {test}−\sqrt(\sigma)'), title('MSE {test} vs splits'),
191 xlabel('Splits'),ylabel('MSE {test}')
192
193 %Plot the data (test and train)

194 figure()
195 scatter3(Xtrain(:,2),Xtrain(:,3),Ytrain(:)), hold on;
196 scatter3(Xtest(:,2),Xtest(:,3),Ytest(:),'+');
197
198 %Plot the resultant surface

199 x1=linspace(−100,100,300);
200 x2=linspace(min(X(:,3)),max(X(:,3)),300);
201
202 X plot(:,:,1)=meshgrid(ones(size(x1)));
203 X plot(:,:,2)=meshgrid(x1);
204 X plot(:,:,3)=meshgrid(x2)';
205
206 for i=2:deg

207 X plot(:,:,i*2)=meshgrid(x1.î);
208 X plot(:,:,i*2+1)=meshgrid(x2.î)';
209 end
210 cont=0;
211 for i=1:deg
212 for j=1:deg
213 cont=cont+1;
214 X plot(:,:,deg*2+1+cont)=X plot(:,:,i*2).* X plot(:,:,j*2+1);
215 end
216 end
217
218 h=zeros(size(X plot,1));

219 for i=1:size(X plot,3)
220 h=h+X plot(:,:,i).*w(i);

221 end
222
223 surf(x1,x2,h);
224 xlabel('Temperature [C]'), ylabel('Irradiance [W/mˆ2]'),...
225 zlabel('Voltage for the MPPT [V]'), shading interp,...
226 light, lighting gouraud, material dull;
227 title('Surface plot of the machine learning regression');
228 legend('Train Data','Test Data','Regression surface')
229 ylim([10 1400])
230 xlim([−80 80])
231
232
233 %Plot the error diagram

234 figure()
235 bar(1:length(error test),error test)
236 xlabel('x');
237 ylabel('Error')
238 title('Error bar diagram')
239
240 %Plot the values of w

241 figure()
242 bar(1:size(w,1),w)
243 xlabel('Degree');
244 ylabel('\omega')
245 title('Values of \omega')
C.3 Script 0.3: Machine learning-PostProcess
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % SCRIPT 0.3: Machine learning−PostProcess
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
8
9 clc, clear all, close all

10
11 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
12 % 1. INPUT AND LOAD DATA


14 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
15 splits=100; %Number of random splits for the MSE calculation
16 lambda=0.0215; %Optimum value of lambda (from the regularization script)
17 deg=4; %Degree of the polinomial basis of the own−made model
18
19 addpath('ToolboxModels')
20 load('DATA MPPT.mat');
21
22
23 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
24 % 2. PREVIOUS CALCULATIONS
25 % Previous calculations for the own−made model
26 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
27 Y=DATA(:,1);
28 X=DATA(:,[2,3]);
29
30 %Propose basis for the own−made model

31 X=[ones(size(X,1),1),X];
32 for i=2:deg
33 X=[X,X(:,[2,3]).î];
34 end
35
36 for i=1:deg
37 for j=1:deg
38 X=[X,X(:,2).î.*X(:,3).ˆj];
39 end
40 end
41
42 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
43 % 3. MSE for each model
44 % Compute the MSE for each model, mean value and variance
45 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
46 for i=1:splits
47
48 %Generate random splitting

49 p = randperm(size(DATA,1)); %Choose random numbers
52
53 %Train and test matrix

54 DATA train=DATA(p(aux1),:);

55 DATA test=DATA(p(aux2),:);
56
57 %Train the own−made model

62 trainedOwn=[Xtrain'*Xtrain+lambda*eye(size(Xtrain,2))]\(Xtrain'*Ytrain);
63
64 %Train each regression model

65 [trainedCoarseTree, ¬] = CoarseTree(DATA train);
66 [trainedOptimizableTree, ¬] = OptimizableTree(DATA train);
67
68 [trainedMatern52GPR, ¬] = Matern52GPR(DATA train);

69 [trainedOptimizableGPR, ¬] = OptimizableGPR(DATA train);
70
71 [trainedMediumGaussianSVM, ¬] = MediumGaussianSVM(DATA train);

72 [trainedOptimizableSVM, ¬] = OptimizableSVM(DATA train);
73
74
75 %Compute the Yfit for each test sample and each model
76 Yfit CoarseTree=trainedCoarseTree.predictFcn(DATA test(:,[2,3]));
77 Yfit OptimizableTree=trainedOptimizableTree.predictFcn(DATA test(:,[2,3]));
78
79 Yfit Matern52GPR=trainedMatern52GPR.predictFcn(DATA test(:,[2,3]));

80 Yfit OptimizableGPR=trainedOptimizableGPR.predictFcn(DATA test(:,[2,3]));
81
82 Yfit MediumGaussianSVM=trainedMediumGaussianSVM.predictFcn(DATA test(:,[2,3]));

83 Yfit OptimizableSVM=trainedOptimizableSVM.predictFcn(DATA test(:,[2,3]));
84
85 Yfit Own=Xtest*trainedOwn;
86
87 %Compute the MSE of each model

88 MSE CoarseTree(i)=1/length(Yfit CoarseTree)*...
89 sum((Yfit CoarseTree−DATA test(:,1)).ˆ2);
90 MSE OptimizableTree(i)=1/length(Yfit OptimizableTree)*...
91 sum((Yfit OptimizableTree−DATA test(:,1)).ˆ2);
92
93 MSE Matern52GPR(i)=1/length(Yfit Matern52GPR)*...

94 sum((Yfit Matern52GPR−DATA test(:,1)).ˆ2);
95 MSE OptimizableGPR(i)=1/length(Yfit OptimizableGPR)*...
96 sum((Yfit OptimizableGPR−DATA test(:,1)).ˆ2);
97
98 MSE MediumGaussianSVM(i)=1/length(Yfit MediumGaussianSVM)*...

99 sum((Yfit MediumGaussianSVM−DATA test(:,1)).ˆ2);

100 MSE OptimizableSVM(i)=1/length(Yfit OptimizableSVM)*...
101 sum((Yfit OptimizableSVM−DATA test(:,1)).ˆ2);
102
103 MSE Own(i)=1/length(Yfit Own)*...

104 sum((Yfit Own−Ytest).ˆ2);
105
106 disp(['Split: ', num2str(i), '/', num2str(splits)]);

107 end
108
109 %Compute the mean MSE of each model

110 MSE CoarseTree mean=mean(MSE CoarseTree);
111 MSE OptimizableTree mean=mean(MSE OptimizableTree);
112
113 MSE Matern52GPR mean=mean(MSE Matern52GPR);

114 MSE OptimizableGPR mean=mean(MSE OptimizableGPR);
115
116 MSE MediumGaussianSVM mean=mean(MSE MediumGaussianSVM);

117 MSE OptimizableSVM mean=mean(MSE OptimizableSVM);
118
119 MSE Own mean=mean(MSE Own);

120
121 %Compute the variance of the MSE of each model

122 MSE CoarseTree var=var(MSE CoarseTree);
123 MSE OptimizableTree var=var(MSE OptimizableTree);
124
125 MSE Matern52GPR var=var(MSE Matern52GPR);

126 MSE OptimizableGPR var=var(MSE OptimizableGPR);
127
128 MSE MediumGaussianSVM var=var(MSE MediumGaussianSVM);

129 MSE OptimizableSVM var=var(MSE OptimizableSVM);
130
131 MSE Own var=var(MSE Own);

132 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
133 % 4. PLOTS
134 % Plot the results to compare the different models
135 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
136
137 %Plot the MSE, mean MSE and its variance for each split
138
139 figure();
140 subplot(4,2,[1 2])
141 scatter(1:i,MSE Own), hold on

142 yline(MSE Own mean);

143 yline(MSE Own mean+sqrt(MSE Own var));
144 yline(MSE Own mean−sqrt(MSE Own var));
145 legend('MSE','mean MSE','MSE+\sigma','MSE−\sigma');
146 title('MSE for the own−made model')
147
148 subplot(4,2,3)
149 scatter(1:i,MSE CoarseTree), hold on
150 yline(MSE CoarseTree mean);
151 yline(MSE CoarseTree mean+sqrt(MSE CoarseTree var));
152 yline(MSE CoarseTree mean−sqrt(MSE CoarseTree var));
154 title('MSE for Coarse Tree model')
155
156 subplot(4,2,4)
157 scatter(1:i,MSE OptimizableTree), hold on
158 yline(MSE OptimizableTree mean);
159 yline(MSE OptimizableTree mean+sqrt(MSE OptimizableTree var));
160 yline(MSE OptimizableTree mean−sqrt(MSE OptimizableTree var));
162 title('MSE for Optimizable Tree model')
163
164 subplot(4,2,5)
165 scatter(1:i,MSE Matern52GPR), hold on
166 yline(MSE Matern52GPR mean);
167 yline(MSE Matern52GPR mean+sqrt(MSE Matern52GPR var));
168 yline(MSE Matern52GPR mean−sqrt(MSE Matern52GPR var));
170 title('MSE for Matern 5/2 GPR model')
171
172 subplot(4,2,6)
173 scatter(1:i,MSE OptimizableGPR), hold on
174 yline(MSE OptimizableGPR mean);
175 yline(MSE OptimizableGPR mean+sqrt(MSE OptimizableGPR var));
176 yline(MSE OptimizableGPR mean−sqrt(MSE OptimizableGPR var));
178 title('MSE for Optimizable GPR model')
179
180 subplot(4,2,7)
181 scatter(1:i,MSE MediumGaussianSVM), hold on
182 yline(MSE MediumGaussianSVM mean);
183 yline(MSE MediumGaussianSVM mean+sqrt(MSE MediumGaussianSVM var));
184 yline(MSE MediumGaussianSVM mean−sqrt(MSE MediumGaussianSVM var));

186 title('MSE for Medium Gaussian SVM model')

187
188 subplot(4,2,8)
189 scatter(1:i,MSE OptimizableSVM), hold on
190 yline(MSE OptimizableSVM mean);
191 yline(MSE OptimizableSVM mean+sqrt(MSE OptimizableSVM var));
192 yline(MSE OptimizableSVM mean−sqrt(MSE OptimizableSVM var));
194 title('MSE for Optimizable SVM model')
195
196 disp('MSE:')
197 disp(['Coarse Tree: ',num2str(MSE CoarseTree mean)])
198 disp(['Optimizable Tree: ',num2str(MSE OptimizableTree mean)])
199 disp(['Matern 5/2 GPR: ',num2str(MSE Matern52GPR mean)])
200 disp(['Optimizable GPR: ',num2str(MSE OptimizableGPR mean)])
201 disp(['Medium Gaussian SVM: ',num2str(MSE MediumGaussianSVM mean)])
202 disp(['Optimizable SVM: ',num2str(MSE OptimizableSVM mean)])
203 disp(['Own model: ',num2str(MSE Own mean)])
204 disp('−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−')
205
206 disp('Variance:')
207 disp(['Coarse Tree: ',num2str(MSE CoarseTree var)])
208 disp(['Optimizable Tree: ',num2str(MSE OptimizableTree var)])
209 disp(['Matern 5/2 GPR: ',num2str(MSE Matern52GPR var)])
210 disp(['Optimizable GPR: ',num2str(MSE OptimizableGPR var)])
211 disp(['Medium Gaussian SVM: ',num2str(MSE MediumGaussianSVM var)])
212 disp(['Optimizable SVM: ',num2str(MSE OptimizableSVM var)])
213 disp(['Own model: ',num2str(MSE Own var)])
214
215 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
216 % 5. SAVE THE RESULTS OF THE BEST REGRESSION MODEL
217 % Save the results of the chosen regression model to use it in the
218 % simulink project
219 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
220 save('ML Regression','trainedOwn')
C.4 Script 1.1: Input data
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

3 % SCRIPT 1.1: Input data

4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
9
10 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
11 % 1. ASTRODYNAMICS
12 % User definition of the different astrodynamics inputs
13 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
14 Re=6371000; % Earth Radius [m]
15 Rs=696000000; % Sun Radius [m]
16 mu=3.986044418e14; % Standard Earth's gravitational parameter
17
18 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
19 % 2. ATTITUDE CONTROL
20 % Variables related to the attitude control of the CubeSat
21 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
22 %Initial conditions
23 pitch=0; %Theta [deg]
24 yaw=0; %Phi [deg]
25 roll=0; %Psi [deg]
26 eulerangles=[roll pitch yaw]; %Initial Euler angles[deg]
27 bodyang=[0 0 0]; %Initial body angular rates [deg/s]
28
29 %Geometry
30 M = 1; %Mass [kg]
31 side = 0.1; %Side [m]
32 INERTIA = [M*sideˆ2/6 0 0;0 M*sideˆ2/6 0;0 0 M*sideˆ2/6]; %Inertia ...
[kg mˆ2]
33
34 %Magnetorquers
35 n=300; %Number of turns in the coil
36 Acoil=pi*(4e−03)ˆ2; %Coil section Area [mˆ2]
37
38 %Reaction Wheels
39 rpm RW initial = 0; %Initial angular speed [rpm]
40 rpm RW max = 10000; %Saturation angular speed [rpm]
41 w RW initial = rpm RW initial *2*pi/60;
42 w RW max = rpm RW max *2*pi/60;
43 mom sat RW = 1.5e−3; %Momentum saturation [N−m−s]

44 I RW = mom sat RW/w RW max; %Inertia of RW

45 beta RW = (400e−3−10e−3)/w RW max; %Friction losses of RW ...
[W/(rad/s)]
46 M dist = −6.35e−11*[1 1 1]; %Disturbance torque [N−m]
47 DistrMatr = eye(3); %Distribution matrix
48
49
50 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
51 % 3. SOLAR CELLS CHARACTERISTICS
52 % User definition of the different solar cells inputs
53 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
54 %General characteristics
55 irrad = 1367; %Irradiance [W/mˆ2]
56 celleff = 0.22; %Solar cell efficiency (approx)
57 ns = 4; %Solar cells per Cubesat's face
58 Asol = (10*20*(30.8−4*0.2)/5)*10ˆ(−6); %Solar cell area [mˆ2] (fram ...
datasheet)
59 DCeff = 0.9; %DC−DC converter efficiency
60 l=0.3; %Scale of the Solar Cells ...
(for the VR)
61
62 %Variables for thermal analysis of solar cells

63 epsilon cell=0.899; %Emittence of the solar cell
64 alpha cell=0.92; %Absorptance of the solar cell
65 epsilon back=0.88; %Emmitance of the back side of the solar ...
cell
66 alpha back=0.39; %Absorptance of the back side of solar cell
67
68 Cp cell=800.3; %Specific heat of the solar cell [J/KgK]

69 rho cell=2510; %Density of the solar cell [kg/mˆ3]
70 z direct=0.0015; %Length of the solar cell in z direction [m]
71
72 sigma=5.670*10ˆ(−8); %Stefan−Boltzmann constant [W/mˆ2*Kˆ4]

73 beta=0.35; %Albedo
74 Tearth=273−23; %Temperature of the Earth as a black body
75 irrad sun=1371; %Irradiance of the Earth
76 irrad earth=sigma*Tearthˆ4; %Irradiance of the Earth [W/mˆ2]
77
78 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
79 % 4. BATTERY CHARACTERISTICS
80 % User definition of the different battery inputs
81 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

82
83 Volt=3.2; %Nominal voltage (V)

84 Capac=1.5; %Rated capacity (Ah)
85 Initial charge=80; %Initial state−of−charge (%)
86 Respons time=1; %Battery response time (s)
87
88 %% ...
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89 % 5. NUMERICAL VARIABLES
90 % User definition of the different numerical inputs
91 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
92
93 tol=1e−12; %Error tolerance for mean anomaly

94 T SAMPLE=5; %Sample time of the simulation
95
96 %% ...
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97 % 6. SAVE
98 % Save the input data
99 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
100 save('InputData')
C.5 Script 1.2: Mission Profile Generator
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % SCRIPT 1.2: Mission Profile Generator
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
9
10 %% ...
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11 % 1. INPUTS
12 % User definition of the different inputs
13 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
14
15 load("InputData");
16

17 %Keplerian Orbital Elements

18 a= 6791000; %Semi−major axis (>0) [m]
19 e=0.00001; %Eccentricity (≥0)
20 Omega=32; %RAAN (0=<Omega<360) [deg]
21 i=70; %Inclination (0≤i<180)[deg]
22 omega=30; %Argument of periapsis (0≤omega<360) [deg]
23 theta 0=0; %Value of the true anomaly at t=0
24
25 %Simulation time (choose between number of orbits or absolute time)

26 sim Days=0; %InitialDays that will be simulated
27 sim Hours=7; %InitialHours that will be simulated
28 sim Minutes=45; %InitialMinutes that will be simulated
29 sim Seconds=10; %InitialSeconds that will be simulated
30
31 nT=1; %Number of orbits that will be simulated (zero to ...

ignore)
32 T=sqrt(4*piˆ2/mu*aˆ3); %Orbital period
33
34 %Power requirements
35 constant=2; %Constant well−functioning power [W]
36 attitude=1; %Constant attitude power [W]
37 link=20; %Power for sending information [W]
38 seconds link=5*60; %Time sending information [s]
39 times link=2; %Times per period that the satellite sends ...
information
40
41
42 %% ...
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44 % Calculation of the simulation's duration and others
45 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
46
47 %Duration of the simulation

48 if nT==0
49 tstop=sim initialSeconds+60*sim initialMinutes+...
50 60*60*sim initialHours+60*60*24*sim initialDays;
51 else
52 tstop=nT*T;
53 end
54 time=0:1:tstop;
55 periods=round(tstop/T);
56 length periods=round(length(time)/periods);
57

58 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
59 % 3. DATA GENERATOR
60 % Generate arrays with the power information
61 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
62
63 %Constant values of power generator

64 power constant=constant*ones(length(time),1);
65 power attitude=attitude*ones(length(time),1);
66
67 %Variable values of power generator

68 power link=zeros(length(time),1);
69
70 for i=0:times link−1

71 for j=1:periods
72 set period=(j−1)*length periods;
73 set link=round(i/times link*length periods)+1;
74 power link([set period+set link:set period+set link+seconds link],1)=link;
75 end
76 end
77
78 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
79 % 4. SAVE DATA
80 % Save the data generated
81 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
82 save('PowerProfile','power constant','power attitude','power link');
C.6 Script 2.1: Cell orientation optimization
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % SCRIPT 2.1: Cell orientation optimization
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
8 clc, clear all, close all, warning('off','all')
9
10 %% ...
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11 % 1. INPUT
13 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
14 addpath('MachineLearning'); %Add the path with the machine ...
leaening info
15 addpath('Functions'); %Add the path with the functions
16 load('InputData.mat'); %Load the input data
17 load('ML Regression.mat'); %Load the regression model for the MPPT
18
19 %Initial Date
20 initialYear=2025; %Year
21 initialMonth=6; %Month (number 1−12)
22 initialDay=5; %Day (number 1−31)
23 initialHour=3; %Hour (number 00−23)
24 initialMinute=7; %Minute (number 0−59)
25 initialSecond=23; %Second (number 0−59)
26

34

40

ignore)
42
43 %Optimization variables
44 alpha=[−90:5:90];
45 beta =[−90:5:90];
46
47 %Faces with solar panels

48 faces panels=[1,2,3,4,5,6];
49
50 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

52 % Compute some previous calculations for the simulation

53 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
54
55 %Sizing parameters
56 N batt=1; %Number of battery blocks (3p1s)
57 SF Panel1=1; %Sizing factor for the solar panel 1
63
64 % Solar cell orientation (VR)

65 alpha sc=zeros(1,6);
66 beta sc=zeros(1,6);
67 alpha 1dof=zeros(1,6);
68 beta 1dof=zeros(1,6);
69 alpha symmetry=zeros(1,6);
70 beta symmetry=zeros(1,6);
71 opt alpha=zeros(1,6);
72 opt beta=zeros(1,6);
73
74 %Orientation of the Solar Cells for the VR

75 [SolCellRot1, SolCellRot2, SolCellRot3, SolCellRot4, SolCellRot5,...
76 SolCellRot6, SolCellTrans1, SolCellTrans2, SolCellTrans3,...
77 SolCellTrans4, SolCellTrans5, SolCellTrans6, scale sc]=...
78 SolarCellsVR(l, beta sc, alpha sc, faces panels);
79
80 %Initial date of the simulation

81 initial date=datetime(initialYear,initialMonth,...
82 initialDay,initialHour,initialMinute,initialSecond); %Initial date
83 initialJulian=juliandate(initial date); %Initial Julian Date
84 epochJulian = initialJulian; %Epoch of ECI frame
86

88 if nT==0
89 tstop=sim Seconds+60*sim Minutes+...
90 60*60*sim Hours+60*60*24*sim Days;
91 else
92 tstop=nT*T;
93 end
94
95 %Set the power consumption to zero to make sure the simulation finishes

96 power constant=zeros(1,length(0:tstop));
97 power attitude=zeros(1,length(0:tstop));
98 power link=zeros(1,length(0:tstop));
99
100 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
101 % 3. RUN THE SIMULATION
102 % Solve the location and attitude at each instant with Simulink
103 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
104
105 %Run the simulation

106 out=sim('SIMULADOR 2021.slx');
107
108 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
109 % 4. SUN INCIDENCE IN EACH FACE AND POWER OBTAINED
110 % Compute how does the Sun incide in each face of the cubesat for
111 % different values of alpha and beta and the power absorved
112 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
113
114 %Load results from simulation

115 steps=length(out.t);
116 umbra =out.umbra condition;
117 for N=1:steps
118 R ECI BODY(:,:,N)=out.DCM eci2body(:,:,N); %DCM ECI−>BODY
119 R BODY ECI(:,:,N)=R ECI BODY(:,:,N)'; %DCM BODY−>ECI
120 unit s vec ECI(:,N)=out.sunECI(N,:)./...
121 norm(out.sunECI(N,:)); %Sun position in ECI frame
122 end
123
124 %Vector with the optimum power values

125 max total power=zeros(1,6);
126
127 %Compute the power obtained for each alpha+beta combination for each face
128 for ang1=1:length(alpha)
129 for ang2=1:length(beta )
130
131 %Components of the vectors defined by two angles

132 v1=sind(alpha(ang1))*cosd(beta (ang2));
133 v2=cosd(alpha(ang1))*cosd(beta (ang2));
134 v3=sind(beta (ang2));
135
136 for N=1:steps

137 if umbra (N)==0

138 power(i,N)=0; %If in umbra, the power absorved is zero

139 else
140 for i=faces panels
141 switch i %Unitary vectors of each solar panel in ECI
142 case 1
143 body ECI(:,N,1)=R BODY ECI(:,:,N)*[v2;v1;v3];
144 case 2
145 body ECI(:,N,2)=R BODY ECI(:,:,N)*[−v2;−v1;v3];
146 case 3
147 body ECI(:,N,3)=R BODY ECI(:,:,N)*[−v1;v2;v3];
148 case 4
149 body ECI(:,N,4)=R BODY ECI(:,:,N)*[v1;−v2;v3];
150 case 5
151 body ECI(:,N,5)=R BODY ECI(:,:,N)*[v3;−v1;v2];
152 case 6
153 body ECI(:,N,6)=R BODY ECI(:,:,N)*[v3;v1;−v2];
154 end
155 end
156
157 %Sun incidence for each face (6 faces)

158
159 %Face 1 −−> X direction

160 %Face 2 −−> −X direction
161 %Faces 3 −−> Y direction
162 %Faces 4 −−> −Y direction
163 %Faces 5 −−> Z direction
164 %Faces 6 −−> −Z direction
165

167 cosinus=dot(unit s vec ECI(:,N),...
168 body ECI(:,N,i)); %Cosinus solar cell−Sun postion
169
170 %if cos<0, the cell is not illuminated and is set ...
to 0
171 if (cosinus>0)
172 cosinus (i,N) = cosinus;
173 else
174 cosinus (i,N) = 0;
175 end
176
177 %Compute the power absoved by the face in each ...

timestep
178 power(i,N)=irrad*...
179 celleff*ns*Asol*...

180 cosinus (i,N);

181 end
182 end
183 end
184
185 %Total Sun power obtained by each face

187 total power(i)=sum(power(i,:));
188 end
189
190 %Save the most optimum orientation

192 if (total power(i)>max total power(i))
193 max total power(i)=total power(i);
194 opt alpha(i)=alpha(ang1);
195 opt beta(i)=beta (ang2);
196 end
197 end
198
199 %Save the power of each face vs alpha and beta for plotting
200 total power angles(ang1,ang2,:)=total power;
201 disp(['alpha=',num2str(alpha(ang1))]);
202 disp(['beta=',num2str(beta (ang2))]);
203 end
204 end
205
206 %Convert the total powers (sum of powers in each step) into mean powers
207 mean power angles=total power angles/steps;
208
209 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
210 % 5. POSTPROCESS FOR 1DOF ANALYSIS
211 % Compute the most opotimum angles assuming one variable angle and
212 % one angle fixed to zero
213 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
215 beta 1dof(i)=beta (...
216 find(mean power angles((length(mean power angles)+1)/2,:,i)==...
217 max(mean power angles((length(mean power angles)+1)/2,:,i))));
218 alpha 1dof(i)=alpha(...
219 find(mean power angles(:,(length(mean power angles)+1)/2,i)==...
220 max(mean power angles(:,(length(mean power angles)+1)/2,i))));
221 if mean power angles((length(mean power angles)+1)/2,...
222 find(beta ==beta 1dof(i)),i)...

223 >mean power angles(find(alpha==alpha 1dof(i)),...

224 (length(mean power angles)+1)/2,i)
225 alpha 1dof(i)=0;
226 else
227 beta 1dof(i)=0;
228 end
229 end
230
231 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
232 % 6. POSTPROCESS FOR SYMMETRY ANALYSIS
233 % Compute the most opotimum angles mantaining the symmetry of the
234 % CubeSat
235 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
236
237 for ang1=1:length(alpha)

238 power alpha(ang1)=...
239 sum(mean power angles(ang1,(length(mean power angles)+1)/2,[1:4]));
240 power alpha(ang1)=...
241 power alpha(ang1)+...
242 sum(mean power angles((length(mean power angles)+1)/2,...
243 (length(mean power angles)+1)/2,[5:6]));
244 end
245 for ang2=1:length(beta )
246 power beta(ang2)=...
247 sum(mean power angles((length(mean power angles)+1)/2,ang2,[1:4]));
248 power beta(ang2)=...
249 power beta(ang2)+...
250 sum(mean power angles((length(mean power angles)+1)/2,...
251 (length(mean power angles)+1)/2,[5:6]));
252 end
253 alpha max=alpha(find(power alpha==max(power alpha)));
254 alpha max=min(alpha max);
255 beta max=min(beta (find(power beta==max(power beta))));
256
257 if max(power alpha)>max(power beta)

258 alpha symmetry=[alpha max*ones(1,4), 0 0];
259 beta symmetry=zeros(1,6);
260 else
261 alpha symmetry=zeros(1,6);
262 beta symmetry=[beta max*ones(1,4), 0 0];
263 end
264
265

266 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
267 % 7. COMPUTE THE MEAN POWER PER ORBIT
268 % Compute the mean power per orbit for each type of configuration
269 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
270
271 %Vector with the optimum power values

272 max total power=zeros(1,6);
273 angles alpha=[zeros(1,6);opt alpha;alpha 1dof;alpha symmetry];
274 angles beta=[zeros(1,6);opt beta;beta 1dof;beta symmetry];
275
276
277 %Compute the power obtained for each alpha+beta combination for each face
278 for config=1:4
279 alpha2=angles alpha(config,:);
280 beta2=angles beta(config,:);
281
282 %Components of the vectors defined by two angles

283 v1(faces panels)=sind(alpha2(faces panels)).*cosd(beta2(faces panels));
284 v2(faces panels)=cosd(alpha2(faces panels)).*cosd(beta2(faces panels));
285 v3(faces panels)=sind(beta2(faces panels));
286
287 for N=1:steps

288 if umbra (N)==0
290 else
292 switch i %Unitary vectors of each solar panel in ECI
293 case 1
294 body ECI(:,N,1)=R BODY ECI(:,:,N)*...
295 [v2(i);v1(i);v3(i)];
296 case 2
298 [−v2(i);−v1(i);v3(i)];
299 case 3
301 [−v1(i);v2(i);v3(i)];
302 case 4
304 [v1(i);−v2(i);v3(i)];
305 case 5
307 [v3(i);−v1(i);v2(i)];
308 case 6


310 [v3(i);v1(i);−v2(i)];
311 end
312 end
313

317 body ECI(:,N,i)); %Cosinus solar cell−Sun postion
318
319 %if cos<0, the cell is not illuminated and is set to 0

320 if (cosinus>0)
322 else
324 end
325
326 %Compute the power absoved by the face in each timestep

329 cosinus (i,N);
330 end
331 end
332 total power N(config,N)=sum(power(:,N));
333 for j=1:round(tstop/T)
334 if N==j*round(steps/round(tstop/T))
335 mean power T(config,j)=mean(total power N...
336 (config,[N−round(steps/round(tstop/T))+1:N]));
337 end
338 end
339 if N==steps
340 mean power T(config,round(tstop/T))=mean(total power N...
341 (config,[N−round(steps/round(tstop/T))+1:N]));
342 end
343 end
344 mean power(config)=mean(total power N(config,:));
345 end
346
347 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
348 % 8. PLOTS OF THE OPTIMIZATION ANALYSIS (2DOF)
349 % Plot the results obtained with the analysis with two degrees of ...
freedom
350 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

351
352 %3D plot of the power obtained by each face vs alpha & beta
353 figure()
355 subplot(2,3,i);
356 surf(beta ,alpha,mean power angles(:,:,i));
357 xlabel('\beta [deg]'), ylabel('\alpha [deg]'),...
358 zlabel('Mean power [W]'), shading interp,...
359 light, lighting gouraud, material dull;
360 switch i
361 case 1
362 title('Optimization analysis FACE 1');
363 case 2
365 case 3
367 case 4
369 case 5
371 case 6
373 end
374 end
375 sgtitle('Optimization of the solar cells orientation')
376
377
378 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
379 % 9. PLOTS OF THE OPTIMIZATION ANALYSIS (1DOF)
380 % Plot the results obtained with the analysis with 1 degree of freedom
381 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
382
383 figure()
385 subplot(2,3,i);
386 plot(beta ,...
387 mean power angles((length(mean power angles)+1)/2,:,i)), hold on;
388 plot(alpha,...
389 mean power angles(:,(length(mean power angles)+1)/2,i)), grid on
390 xlabel('angle [deg]'),...
391 ylabel('Mean power [W]'), shading interp,...
392 light, lighting gouraud, material dull,
393 legend('\alpha=0ˆ\circ', '\beta=0ˆ\circ')

394 switch i
395 case 1
397 case 2
399 case 3
401 case 4
403 case 5
405 case 6
407 end
408 end
409 sgtitle('Optimization of the solar cells orientation with 1DOF')
410
411 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
412 % 10. PLOTS OF THE OPTIMIZATION ANALYSIS (SYMMETRY)
413 % Plot the results obtained with the analysis with 1 degree of freedom
414 % and keeping the symmetry
415 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
416 figure()
417 plot(beta ,power beta), hold on, grid on
418 plot(alpha,power alpha),
419 xlabel('Angle [deg]'), ylabel('Total mean power [W]'),
420 legend('\alpha=0ˆ\circ', '\beta=0ˆ\circ')
421 title('Optimization analysis keeping the symmetry')
422
423 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
424 % 11. PLOTS OF THE OPTIMIZATION ANALYSIS (Mean power vs T per ...
period)
425 % Plot the mean power per period for each configuration
426 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
427
428 figure()
429 if round(tstop/T)̸=1
430 for i=1:4
431 plot(1:round(tstop/T),mean power T(i,:)), hold on
432 end
433 xlabel('Period (T)')
434 ylabel('Mean power per period [W]')

435 legend('Standard configuraition', 'Optimum 2DOF configuration',...

436 'Optimum 1DOF configuration','Symmetric configuration')
437 title('Evolution of the mean power per period')
438 else
439 for i=1:4
440 plot(1:steps*T SAMPLE,ones(1,steps*T SAMPLE)* mean power T(i,:)),
441 hold on;
442 end
443 ylabel('Mean power [W]')
444 title('Mean power of each configuration')
445 end
446 grid on
447
448 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
449 % 12. PLOTS OF THE OPTIMIZATION ANALYSIS (Power vs time)
450 % Plot the evolution of the power obtained against time for each
451 % configuration
452 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
453
454 figure()
455 for i=1:4
456 plot(1:T SAMPLE:tstop,total power N(i,:)), hold on
457 end
458 grid on
459 legend('Standard configuraition', 'Optimum 2DOF configuration',...
460 'Optimum 1DOF configuration','Symmetric configuration'),
461 ylabel('Power obtained [W]')
462 xlabel('Time')
463 title('Evolution of power with time')
464
465 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
466 % 13. SAVE RESULTS AND VARIABLES EXPLANATION
467 % Save the simulation results for the post−process
468 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
469 disp('−−−−−−Optimum angles−−−−−−')
470
471 disp('First configuration (2DOF):')

472 disp(['Optimum alpha: ', num2str(opt alpha)])
473 disp(['Optimum beta: ', num2str(opt beta)])
474 disp(' ')
475 disp('Second configuration (1DOF):')
476 disp(['Optimum alpha: ', num2str(alpha 1dof)])

477 disp(['Optimum beta: ', num2str(beta 1dof)])

478 disp(' ')
479 disp('Third configuration (Symmetry):')
480 disp(['Optimum alpha: ', num2str(alpha symmetry)])
481 disp(['Optimum beta: ', num2str(beta symmetry)])
482 disp(' ')
483 disp('−−−−−Mean power per configuration−−−−−−')
484
485 disp(['First configuration (2DOF): ', num2str(mean power(2)),'W'])

486 disp(['Second configuration (1DOF): ', num2str(mean power(3)),'W'])
487 disp(['Third configuration (Symmetry): ', num2str(mean power(4)),'W'])
488 disp(['Standard configuration: ', num2str(mean power(1)),'W'])
489
490
491 save('optimization.mat','opt alpha','opt beta','max total power',...

492 'alpha 1dof','beta 1dof','alpha symmetry','beta symmetry');
C.7 Script 2.2: Main Simulink simulation
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % SCRIPT 2.2: Main Simulink simulation
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
8 clc, clear all, warning('off','all')
9
10
11 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
12 % 1. INPUT
14 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
15 load('InputData.mat');
16 load('ML Regression.mat');
17 load('optimization.mat')
18 load('PowerProfile.mat');
19
20 %Initial Date


27

35

ignore)
42
43 % Solar cell orientation

44 faces panels=[1,2,3,4,5,6]; %Faces with solar panels
45 alpha sc=alpha 1dof; %Main options: opt alpha, alpha 1dof, alpha symmetry
46 beta sc=beta 1dof; %Main options: opt beta, beta 1dof, beta symmetry
47
56
57 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
58 % 2. Previous calculations
60 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
61



67

74

76 if nT==0
79 else
80 tstop=nT*T;
81 end
82
83 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
84 % 3. Simulation of the mission
85 % Solve the state of the battery at each instant with Simulink
86 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
87

90
91 %Load results
92 t=out.t;
93 Vbat=out.Vbat;
94 SOCbat=out.SOCbat;
95 solar power N=out.solar power;
96 power discharge=out.P discharge;
97
98
99 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
100 % 4. PLOT BATTERY DETAILS
101 % Plot the state of the battery computed during the simulation
102 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
103 figure()
104 subplot(1,3,1)
105 plot(linspace(1,max(t)*2/3,length(t)*2/3)/T,...

106 Vbat(1:length(linspace(1,max(t)*2/3,length(t)*2/3)/T))), grid on

107 xlabel('Period'),ylabel('Battery voltage [V]'),title('Battery Voltage')
108
109 subplot(1,3,2)
111 SOCbat(1:length(linspace(1,max(t)*2/3,length(t)*2/3)/T))), grid on
112 xlabel('Period'),ylabel('Battery state of charge [%]'),...
113 title('Battery State of Charge')
114
115 subplot(1,3,3)
117 solar power N(1:length(linspace(1,max(t)*2/3,...
118 length(t)*2/3)/T))), grid on, hold on
119 plot(linspace(1,max(t)*2/3,length(t)*2/3)/T...
120 ,power discharge(1:length(linspace(1,max(t)*2/3,...
121 length(t)*2/3)/T))), grid on
122 xlabel('Period'),ylabel('Power [W]'),...
123 title('Power obtained vs required'),...
124 legend('Power absorbed','Power required')
125
126 sgtitle('Power subsystem simulation results')

127 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
128 % 5. SAVE RESULTS
130 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
131
132 save('results.mat','solar power N','t','Vbat','SOCbat');
C.8 Function: Location and orientation of solar cells

in the VR
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % FUNCTION: Location and orientation of solar cells in ...
the VR
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

9 function [SolCellRot1, SolCellRot2, SolCellRot3, SolCellRot4, ...

10 SolCellRot5,SolCellRot6, SolCellTrans1, SolCellTrans2,...
11 SolCellTrans3,SolCellTrans4, SolCellTrans5, SolCellTrans6, ...
scale sc]...
12 =SolarCellsVR(l, beta sc, alpha sc, faces panels)
13
14 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
15 % 1. FIRST TRANSLATION + ROTATION
16 % Transation and rotation of the soalr panels to the required ...
faces and
17 % with the required orientation
18 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
19
20
21 for n=1:6
22 switch n
23 case 1
24 theta=90;
25 R11=[cosd(−theta−beta sc(1)), −sind(−theta−beta sc(1)), 0;
26 sind(−theta−beta sc(1)), cosd(−theta−beta sc(1)), 0;
27 0,0,1];
28 R22=[cosd(−alpha sc(1)) 0 sind(−alpha sc(1));
29 0 1 0;
30 −sind(−alpha sc(1)) 0 cosd(−alpha sc(1))];
31 R=R22*R11;
32 SolCellRot1=vrrotmat2vec(R);
33 SolCellTrans1=[l/2,0,0]+[l/2*(abs(sind(alpha sc(1)/2))+...
34 abs(sind(beta sc(1)/2))),0,0]*1.1;
35
36 case 2
37 theta=90;
38 R11=[cosd(theta+beta sc(2)), −sind(theta+beta sc(2)), 0;
39 sind(theta+beta sc(2)), cosd(theta+beta sc(2)), 0;
40 0,0,1];
42 0 1 0;
44 R=R22*R11;
46 SolCellTrans2=[−l/2,0,0]+[−l/2*(abs(sind(alpha sc(2)/2))+...
47 abs(sind(beta sc(2)/2))),0,0]*1.1;
48

49 case 3
50 theta=90;
51 R11=[1, 0, 0;
52 0, cosd(theta+beta sc(3)), −sind(theta+beta sc(3));
53 0, sind(theta+beta sc(3)), cosd(theta+beta sc(3))];
55 0 1 0;
57 R=R22*R11;
59 SolCellTrans3=[0,0,l/2]+[0,0,l/2*(abs(sind(alpha sc(3)/2))+...
60 abs(sind(beta sc(3)/2)))]*1.1;
61
62 case 4
63 theta=90;
64 R11=[1, 0, 0;
65 0, cosd(−theta−beta sc(4)), −sind(−theta−beta sc(4));
66 0, sind(−theta−beta sc(4)), cosd(−theta−beta sc(4))];
68 0 1 0;
70 R=R22*R11;
72 SolCellTrans4=[0,0,−l/2]+[0,0,−l/2*(abs(sind(alpha sc(4)/2))+...
73 abs(sind(beta sc(4)/2)))]*1.1;
74
75 case 5
76 theta=180;
77 R11=[1, 0, 0;
78 0, cosd(theta+alpha sc(5)), −sind(theta+alpha sc(5));
79 0, sind(theta+alpha sc(5)), cosd(theta+alpha sc(5))];
80 R22=[cosd(beta sc(5)), −sind(beta sc(5)), 0;
81 sind(beta sc(5)), cosd(beta sc(5)), 0;
82 0,0,1];
83 R=R22*R11;
85 SolCellTrans5=[0,−l/2,0]+[0,−l/2*(abs(sind(alpha sc(5)/2))+...
86 abs(sind(beta sc(5)/2))),0]*1.1;
87
88 case 6
89 theta=0;
90 R11=[1, 0, 0;
91 0, cosd(theta+alpha sc(6)), −sind(theta+alpha sc(6));
92 0, sind(theta+alpha sc(6)), cosd(theta+alpha sc(6))];

93 R22=[cosd(−beta sc(6)), −sind(−beta sc(6)), 0;

94 sind(−beta sc(6)), cosd(−beta sc(6)), 0;
95 0,0,1];
96 R=R22*R11;
98 SolCellTrans6=[0, l/2, ...
0]+[0,l/2*(abs(sind(alpha sc(6)/2))+...
99 abs(sind(beta sc(6)/2))),0]*1.1;
100 end
101 end
102
103 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
104 % 2. PUT SOLAR PANELS IN THE SELECTED FACES
105 % Delete the solar panels of the faces where no solar panels are ...
included
106 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
107
108 for i=1:6

109 found=any(faces panels==i);
110 if found
111 scale sc(i)=0.75;
112 else
113 scale sc(i)=0;
114 end
115 end
116 scale sc=scale sc';
117
118 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
119 % 3. SECOND TRANSLATION
120 % Translation to situate the panel in the extremes of the faces in the
121 % 1DOF and symmetric configurations
122 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
123
124 for i=1:6

125 switch i
126 case 1
127 if alpha sc(i)==0 && beta sc(i)>0
128 SolCellTrans1=SolCellTrans1−[0,l/2,0]*(1−cosd(beta sc(i)));
129 elseif alpha sc(i)==0 && beta sc(i)<0
130 SolCellTrans1=SolCellTrans1+[0,l/2,0]*(1−cosd(beta sc(i)));
131 end
132 if beta sc(i)==0 && alpha sc(i)>0

133 SolCellTrans1=SolCellTrans1+[0,0,l/2]*(1−cosd(alpha sc(i)));

134 elseif beta sc(i)==0 && alpha sc(i)<0
135 SolCellTrans1=SolCellTrans1−[0,0,l/2]*(1−cosd(alpha sc(i)));
136 end
137
138
139 case 2
144 end
149 end
150
151 case 3
156 end
158 SolCellTrans3=SolCellTrans3−[l/2,0,0]*(1−cosd(alpha sc(i)));
160 SolCellTrans3=SolCellTrans3+[l/2,0,0]*(1−cosd(alpha sc(i)));
161 end
162
163
164 case 4
169 end
171 SolCellTrans4=SolCellTrans4+[l/2,0,0]*(1−cosd(alpha sc(i)));
173 SolCellTrans4=SolCellTrans4−[l/2,0,0]*(1−cosd(alpha sc(i)));
174 end
175
176

177 case 5
179 SolCellTrans5=SolCellTrans5+[l/2,0,0]*(1−cosd(beta sc(i)));
181 SolCellTrans5=SolCellTrans5−[l/2,0,0]*(1−cosd(beta sc(i)));
182 end
187 end
188
189
190 case 6
192 SolCellTrans6=SolCellTrans6+[l/2,0,0]*(1−cosd(beta sc(i)));
194 SolCellTrans6=SolCellTrans6−[l/2,0,0]*(1−cosd(beta sc(i)));
195 end
200 end
201 end
202 end
C.9 Extra Script: Matlab simulation of the standard

configuration
1 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
3 % EXTRA SCRIPT: Matlab simulation of the standard configuration
4

7 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
8 clc, clear all, close all
9
10

11 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
12 % 1. INPUT
14 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
15 load('InputData.mat');
16 load('ML Regression.mat');
17 load('optimization.mat')
18 load('PowerProfile.mat');
19
20
21 %Initial Date
28

36

38 sim initialDays=0; %initialDays that will be simulated
39 sim initialHours=7; %initialHours that will be simulated
40 sim initialMinutes=45; %initialMinutes that will be simulated
41 sim initialSeconds=10; %initialSeconds that will be simulated
ignore)
43
44 % Solar cell orientation

45 alpha sc=opt alpha;
46 beta sc=opt beta;
47 faces panels=[1,2,3,4,5,6]; %Faces with solar panels
48
49
50 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
51 % 2. Previous calculations


53 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
54
63

69

76

78 if nT==0
81 else
82 tstop=nT*T;
83 end
84
85 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
86 % 3. Simulation of the attitude
87 % Solve the attitude at each instant with simulink
88 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
89

92
93 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−

94 % 4. TRUE ANOMALY
95 % Solve the true anomaly at each instant of time
96 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
97
98 %Steps of the simulation

99 steps=length(out.t);
100
101 %Compute t(0) when theta(0)!=0

102 E=2*atan(sqrt((1−e)/(1+e))*tand(theta 0/2));
103 M=E−e*sin(E);
104 n=sqrt(mu/aˆ3);
105 t0=M/n;
106
107 v time=out.t;
108 theta eval=zeros(1,steps);
109 E=0;
110
111 theta eval(1)=theta 0*pi/180;

112 for N=2:steps
113 t=v time(N)+t0;
114 error=1;
115 M=n*t;
116 while(error>tol)
117 E p=E−(E−e*sin(E)−M)/(1−e*cos(E));
118 error=abs(E p−E);
119 E=E p;
120 end
121 theta eval(N)=2*atan(sqrt((1+e)/(1−e))*tan(E/2));
122 if (theta eval(N)−theta eval(N−1))<0
123 theta eval(N)=theta eval(N)+2*pi;
124 end
125 if (theta eval(N)>2*pi)
126 theta eval(N)=theta eval(N)−2*pi;
127 end
128 end
129
130 theta eval=theta eval*180/pi;

131
132 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
133 % 5. SATELLITE IN UMBRA?
134 % Compute when the satellite is in umbra
135 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
136

137 for N=1:steps

138
139 theta=theta eval(N);

140
141 %Compute date

142 initialSecond N=v time(N);
143 instant(N)=initial date+seconds(initialSecond N);
144
145 %Compute Sun vector (s vec)

146 JD=juliandate(instant(N)); %Julian date
147 n=JD−2451545; %Reduced Julian date
148
149 L=280.459+0.98564736*n; %Mean longitude of ...

the Sun
150 M=357.529+0.98560023*n; %Mean anomaly of the Sun
151
152 epsilon=23.439−3.56*10ˆ(−7)*n; %Ecliptic obliquity

153 lambda=L+1.915*sind(M)+0.02*sind(2*M); %Ecliptic longitude
154
155 %Sun vector in ECI frame

156 unit s vec ECI(1,N)=cosd(lambda);
157 unit s vec ECI(2,N)=cosd(epsilon)*sind(lambda);
158 unit s vec ECI(3,N)=sind(epsilon)*sind(lambda);
159
160 %Distance Sun−Earth

161 d es=(1.00014 − 0.01671*cosd(M)−...
162 0.00014*cosd(2*M))*149600e3*1000; %Distance Earth−Sun
163
164 s vec ECI(N,:)=d es * unit s vec ECI(:,N); %Vector Earth−Sun ECI

165
166 %Compute position and velocity of the satellite in PQW

167 p=a*(1−eˆ2);
168 h=sqrt(p*mu);
169
170 vector r PQW=hˆ2/mu*(1/(1+e*cosd(theta)))*...

171 [cosd(theta);sind(theta);0]; %Position (PQW frame)
172
173 vector v PQW=mu/h*[−sind(theta);...

174 e+cosd(theta);0]; %Velocity (PQW frame)
175
176
177 %Matrix change base to ECI

178 R1=[cosd(Omega), −sind(Omega), 0;
179 sind(Omega), cosd(Omega), 0;

180 0 0 1];
181 R2=[1,0,0;
182 0, cosd(i), −sind(i);
183 0, sind(i), cosd(i)];
184 R3=[cosd(omega), −sind(omega), 0;
185 sind(omega), cosd(omega), 0;
186 0, 0, 1];
187
188
189 %Position in ECI

190 r=norm(vector r PQW);
191 vector X ECI(:,N)=R1*R2*R3*...
192 [r*cosd(theta); r*sind(theta);0]; %Position of the satellite ...
in ECI
193
194 %Velocity in ECI

195 vector V ECI=R1*R2*R3*mu/h*...
196 [−sind(theta);e+cosd(theta);0]; %Velocity of the satellite ...
in ECI
197
198
199 %Compute if is in umbra or not (see "memoria TFG Ivan Gonzalvez")

200 d ue=(d es *Re)/(Rs−Re);
201 alpha u=asind(Re/d ue);
202 umbraVertexECI=−unit s vec ECI(:,N)* d ue;
203 d usECI=vector X ECI(:,N)−umbraVertexECI;
204 d us=norm(d usECI);
205 cosTheta(N)=(rˆ2−d ueˆ2−d usˆ2)/(−2* d ue * d us);
206 theta u(N)=acosd(cosTheta(N));
207
208 if (r<d ue && alpha u>abs(theta u(N))...

209 && s vec ECI(N,:)* vector X ECI(:,N)<0)
210 umbra(N)=0; %Is not illuminated
211 else
212 umbra(N)=1; %Is illuminated
213 end
214 end
215
216 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
217 % 6. PLOT OF THE UMBRA ANALYSIS
218 % Plot when the satellite is in illuminated (1) or in umbra (0)
219 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
220

221 figure();
222 plot(v time,umbra), hold on;
223
224 plot(v time,reshape(out.umbra condition,[1,length(v time)])),...

225 xlabel('Time'), ylabel('0−−> Umbra, 1−−> Illuminated'),...
226 title('Umbra analysis'), legend('Matlab','Simulink');
227
228 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
229 % 7. SUN INCIDENCE IN EACH FACE
230 % Compute how does the Sun incide in each face of the cubesat
231 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
232
233 for N=1:steps

234 R ECI BODY(:,:,N)=out.DCM eci2body(:,:,N); %DCM ECI−>BODY
235 R BODY ECI(:,:,N)=R ECI BODY(:,:,N)'; %DCM BODY−>ECI
236
237 %Unitary vectors normal to each face in ECI

238 body ECI X(:,N,1)=R BODY ECI(:,:,N)*[1;0;0];
239 body ECI Y(:,N,2)=R BODY ECI(:,:,N)*[0;1;0];
240 body ECI Z(:,N,3)=R BODY ECI(:,:,N)*[0;0;1];
241 end
242

244 %Face 1 −−> X direction
245 %Face 2 −−> −X direction
246 %Faces 3 −−> Y direction
247 %Faces 4 −−> −Y direction
248 %Faces 5 −−> Z direction
249 %Faces 6 −−> −Z direction
250
251 for N=1:steps

252 if umbra(N)==0
254 else
255 body ECI(:,N,1)=R BODY ECI(:,:,N)*[1;0;0];
258
259 %Angle between each face and the Sun vector

260 for i=1:2:5
262 body ECI(:,N,i)); %Cosinus face−Sun vector
263 if (cosinus>0)


265 cosinus (i+1,N) = 0;
266 else
268 cosinus (i+1,N) = abs(cosinus);
269 end
270 end
271
272 %Power obtained by each face

273 power([1:6],N)=0;
277 cosinus (i,N); %Power obtained by the face "i"
278 end
279 end
280 solar power N(N)=sum(power(:,N)); %Total power obtained at each step
281 end
282
283 %Total power obtained by each face

285 power i(i)=sum(power(i,:));
286 end
287
288 %Total power obtained

289 total sun power=sum(solar power N);
290
291 %Power required for the attitude control

292 attitude current=out.attitude current;
293
294 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
295 % 8. PLOT OF THE SUN INCIDENCE IN EACH FACE
296 %Plot of the the cosinus of the angle Sun−face when the face is ...
illuminated
297 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
298
299 figure()
300 for i=1:6
301 plot(v time,power(i,:)), hold on;
302 end
303 legend('X front','X back','Y front','Y back','Z front','Z back'),...
304 xlabel('Time'), ylabel('Power per face');
305

306 figure()
307 plot(v time,solar power N), hold on;
308 xlabel('Time'), ylabel('Power absorved');
309
310 %% ...
−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
311 % 9. SAVE RESULTS
313 %−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−−
314 save('results.mat','solar power N','theta eval','v time',...
315 'attitude current','vector X ECI','Re','instant');

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Universitat Politècnica De Catalunya.

Escola Superior d’Enginyeries Industrial, Aeroespacial i

MODELING, SIZING AND SIMULATION OF THE

Final Degree Project

Gonzálvez Tamarit, Iván

Director: Gago Barrio, Javier

Final degree project

2 Final degree project

Run the simulation in a new

Configuration of the visualizer

4. In Virtual World Tree>objects>children choose the variables that appear in the VR

6. File>Open in editor>Objects>Children>Earth>Children>Appearence>Texture> im-

7. Repeat the second step, and select file>relaod.

6 Final degree project

Important aspects of the visualizer

Table B.1: Visualizer coordinate system

8 Final degree project

C.1 Script 0.1: Machine learning-GetData

5 % Director: Javier Gago

15 N=500; %Number of iterations

25 % combinations of temperature and irradiance

28 %Create random values of temperature and irradiance

48 %Generate DATA matrix

C.2 Script 0.2: Machine learning-Regularization

5 % Director: Javier Gago

10 Final degree project

12 % User definition of the different inputs

11 Final degree project

67 %Train and test vectors

73 %Solve the minimization problem

76 %Compute the errors

84 MSE test(k)=1/size(Xtest,1)*sum((error test).ˆ2); %MSE test

12 Final degree project

100 %Compute a smoother curve for the MSE

106 %Plot the MSE test curves with the variance

112 legend('MSE {test}','MSE {test}+\sigma','MSE {test}−\sigma')

115 %Plot the MSE train curves with the variance

121 legend('MSE {train}','MSE {train}+\sigma','MSE {train}−\sigma')

124 %Plot the smoothed MSE test curve

130 %Plot the MSE test curve

136 %Find the optimum value of lambda

13 Final degree project

137 [min MSE test,index lambda]=min(MSE test smooth);

153 %Train and test vectors

159 %Solve the minimization problem

162 %Compute the errors

170 MSE test(k)=1/size(Xtest,1)*sum((error test).ˆ2); %MSE test

14 Final degree project

193 %Plot the data (test and train)

198 %Plot the resultant surface

206 for i=2:deg

218 h=zeros(size(X plot,1));

15 Final degree project

233 %Plot the error diagram

240 %Plot the values of w

C.3 Script 0.3: Machine learning-PostProcess

5 % Director: Javier Gago

9 clc, clear all, close all

72 sigma=5.67010ˆ(−8); %Stefan−Boltzmann constant [W/mˆ2Kˆ4]