2008/12/16

Platform for Attitude Control Experiment

p

Advisor
Jiun--Jih Miau1
Prof. Jiun Jyh--Ching Juang2
Prof. Jyh

Student
Hung-Lin Chiu1, Jung
Hung- Jung--Kuo Tu1, Shi-
Shi-Hua Wu2, Chiu-
Chiu-Teng Tsai2
Chen--Chi Chu1, Ying-
Chen Ying-Chin Chen1, Yach Tseng1 , Bill Chiu2
Department of Aeronautics and Astronautics 1
Department of Electrical Engineering 2
National Cheng Kung University, Taiwan, ROC
PACE CDR 1 07/14/2006

PACE Mission

The mission of the PACE project is to offer

students hand-
hand-on opportunities to experience
the whole development process of satellite
design, analysis, assembly, integration, test,
launch and operation
operation..
 Primary experiment
Perform three-axis stabilization of a pico-class satellite.
 Secondary experiment
Verify self-made MEMS sensors for space applications.
PACE CDR 2 07/14/2006

1
 2008/12/16

PACE Overview

A double cube design

Three
Three--axis stabilization requirement
Pointing accuracy 5o
--Pointing
--

Two CPU design

-- 8051-
8051-based: C&DH and ADCS

MEMS
S sensor demonstration
-- Coarse sun sensor
-- Temperature sensor

PACE CDR 3 07/14/2006

MEMS Sensor - (Temp. Sensor)

MEMS technology already developed
in Taiwan’s academic research many
years.. But it not be widespread
years
apply for space application.
application . So
PACEsat plans to test an newly-
newly -
developed MEMS Sensors to verify
self--made MEMS sensors for space
self
applications.
MEMS platinum resistor temperature
sensor has linear output and a
mV/°C .
sensitivity of 4.5 mV/°

The performance of
temperature sensor.
℃

PACE CDR 4 07/14/2006

2
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MEMS Sensor – (Coarse Sun Sensor)

• The present sensor was

developed from single
single––
crystalline
lli silicon
ili solar
l
cells.

• The sensors are place on the

out surfaces of four outside
outside--
walls and top-
top-wall
wall.. Attitude
information can be deduced
from the signal of the sensor
sensor..

Angle performance.
PACE CDR 5 07/14/2006

Launch Vehicle Candidate : Dnepr-

Dnepr-4

 Injection accuracy:
•for altitude.....................  4.0 km
•for inclination.................  2.4 ang. min.
•for the Right Ascension of the Ascending Node.
3.0 ang. min.
 Orbit inclination...51, 65, 98 degrees

 Operational loads:
•Axial quasi-static g-load...up to 7.5 g
•Lateral quasi-static g-load...up to 0.8 g
 Integral level of sound pressure...up to 140 dB
Source: http://www.kosmotras.ru/

PACE CDR 6 07/14/2006

3
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Orbit Simulation
Orbit Altitude=650km Sun Sync. Orbit, Inclination Angle= 97.99o
Orbit Period = 96.69 min. Mean Contact Duration 554.311sec
Simulate time period 1 - 5 Aug 2006

PACE CDR 7 07/14/2006

PACE SMS CDR

PACE CDR 8 07/14/2006

4
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System Configuration
Sun sensor C&DH & MEMS circuit
Solar cell Gyro
Kill switch ADCS
Battery X 4 EPS
Coil x 3 Wheel Y

Antenna TT&C
X
CW

PACE CDR 9 07/14/2006

PACE Configuration
Using CATIA software to design mechanism and simulate assembly.

PACE CDR 10 07/14/2006

5
 2008/12/16

Fixture Design
PCB Fixture PCB Fixture

Y
PCB holder
X

Z
PACE CDR Battery
11
Fixture 07/14/2006

Antenna Deployment

Deployment mechanism
Heating the Ni-Cr
Ni Cr resistance to melt
nylon wire and release the Antenna.

Before deployment

After deployment

PACE CDR 12 07/14/2006

6
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Body Surface Configuration

Solar Cell, Course Sun sensor & MEMS Temperature sensor

 Power supply,  Kill Switch

Remove before
flight switch
 OBMU Test Port
 Solar Cell

 Course
C S sensor
Sun

 Antenna
X
Y
Z
PACE CDR 13 07/14/2006

Mass Budget
Components Mass Estimate(g) Percentage Notes
Structure 503 25.15%
C&DH 30 1.50%
ADCS 52.8 2.64%
PCB 21.25
Magnetometer 3.75 + 4 TBD
Wheel driver 5 TBD
Gyro 18.8
EPS 415 20.75%
PCB 35
Solar Array 80 4×20 solar cells
Battery 200 50×4 batteries
Pwr Cntrl Circuit 50
Harness 50
TT&C 89.7 4.49%
PCB 24.25
Modem shell 26.95
Modem board 25.5
Other devices 13
CW 45.25 2.26%
PCB 24.25
Other devices 21
Magnetic coils 67.95 3.40% 22.65×3 coils
Momentum wheel 160 8.00%
Fixture 92 4.60%
TCS 100 5.00%
Payload 50 2.50%
Misc 50 2.50% Cable&connectors
PACE CDR Total Mass 1655.7 14 07/14/2006

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Moments of Inertia & CG

 Mass :1655.7g
 Moments of Inertia:
 Ix=0.008969
Ix=0 008969 kg-m2
 Iy=0.008201 kg-m2
 Iz= 0.004456 kg-m2
 Ix : Iy : Iz = 1:0.914:0.497
 Center of Gravity offset:
 X=1.029mm
 Y=4.674mm
Y=4 674mm
 Z=5.202mm

PACE CDR 15 07/14/2006

Structure Analysis
Stress & Dynamic Analysis
Lateral mode : 652 Hz >> 25Hz
Longitudinal
g mode : 1079Hz >> 40Hz
Yielding stress : 550MPa >> 30~40MPa

Finite element analysis.

PACE CDR 16 07/14/2006

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PACE TCS CDR

PACE CDR 17 07/14/2006

TCS Design
• Design philosophy
– Heat loss by conduction Thermal isolators
– Heat exchange by Radiation Thermal surface finishes

Satellite Orbit
Thermal Environment
Finite Satellite Configuration
Requirements Element
Analysis Orbital Heat Flux

Design by Trade-off

PACE CDR 18 07/14/2006

9
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TCS Design
• Analysis Parameter
- Orbit - Thermal Environment
• Orbit Altitude: 650 km Direct Solar Flux: 1367±4%
• Orbit Period: 96.69 min W/m2
• Inclination: 98o Albedo: 30±5% of Direct Solar
• Beta Angle: 0o ~90o Flux
Earth Infrared: 237±21 W/m2
Internal heat generation: 10W
• Temperature limit Deep space temperature: 3K
Limit (Co) Limit (Co)
Subsystem Margin
Low High Low High
ADCS -40 70 5 -35 65
C&DH -40 80 5 -35 75
EPS 0 45 5 5 40
TT&C -30 60 5 -25 55

MEMS Sensor -100 400 5 -95 395

PACE CDR 19 07/14/2006

TCS Analysis
• Orbital Heat Flux

Beta angle= 0o Beta angle= 90o

1000 +z 1600 -z
800 1200
600
800
400
200 400

0 0

0 10000 20000 30000 0 10000 20000 30000

W/m2)

1600 1600
+x -x
Heat Flux (W

1200 1200

800 800

400 400

0 0

0 10000 20000 30000 0 10000 20000 30000

160
140
+y 1600
-y
1200
120
100 800
80
400
60
40 0

PACE CDR
0 10000 20000 30000 0 10000 20000 30000
Time (sec) 20 Time (sec) 07/14/2006

10
 2008/12/16

Analysis Results

• Worst predicted temperature of each component

working in proper thermal environment

Under hot conditions Under cold conditions

PACE CDR 21 07/14/2006

PACE C&DH CDR

PACE CDR 22 07/14/2006

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Hardware Architecture

PACE CDR 23 07/14/2006

Debug Interface
10 Pin Connector
Silicon Laboratory IDE
+
PACE Ground Test
Software

DB9 Connector 14 Pin Connector

PACE CDR 24 07/14/2006

12
 2008/12/16

PCB Schematic & Layout

2
1
J3

3.3V Test Point

RT9161/A
SOT-23 1 Ohm
2
J1
5V 3 2 R1 1u 0.1u
2 Vin Vout

GND
2 2 C4 C5
1 1
PWR GND 220u 22u 22u 1 Ohm
C1 C2 U1 C3 2
1 1
1

R2 1u 0.1u
C6 C7
1 2
1
MEMS_SENS_CTRL_1
1 Ohm J4
GND Test Point 1u 0.1u
R3
C8 C9
MEMS_SENS_CTRL_2

4.7K
MEMS SENS CTRL 3
MEMS_SENS_CTRL_3
R4
1 2
3 4
5 6
7 8
9 10
11 12
13 14
J2

100
99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
External Tes t Port

1 75

ALE
RD
WR
VDD
DGND
DAC0
DAC1
P4.0
P4.1
P4.2
P4.3
P4.4

A8
A9
A10
A11
A12
A13
A14
A15
A0
A1
A2
A3
A4
2 TMS A5 74
3 TCK A6 73
4 TDI A7 72
5 TDO D0 71
6 /RST D1 70 1 32
R5 7 CP1- D2 69 2 A11 OE 31
100K 8 CP1+ D3 68 3 A9 A10 30
1K 9 CP0+ D4 67 4 A8 CE1 29
10 CP0- D5 66 5 A13 I/O7 28
2
11 AGND D6 65 6 WE I/O6 27
R6 AV+ D7 CE2 I/O5
0.1u 1u 12 64 7 26
C10 C11 13 VREF VDD 63 8 A15 I/O4 25
1 14 AGND DGND 62 9 Vcc I/O3 24
15 AV+ P0.0 61 10 A17 GND 23
16 VREFD P0.1 60 11 A16 I/O2 22
0.1u 1u 17 VREF0 P0.2 59 12 A14 I/O1 21
C12 C13 18 VREF1 P0.3 58 13 A12 I/O0 20
19 AIN0.0 P0.4 57 14 A7 A0 19
20 AIN0.1 P0.5 56 15 A6 A1 18
21 AIN0.2 P0.6 55 16 A5 A2 17
22 AIN0.3 P0.7 54 A4 A3

MONEN
23 AIN0.4 P3.0 53 IC62LV2568LL

XTAL1
XTAL2

DGND
MEMS_SENS_SIG_IN 24 AIN0.5 P3.1 52

VDD
P1.7
P1.6
P1.5
P1.4
P1.3
P1.2
P1.1
P1.0

P2.7
P2.6
P2.5
P2.4
P2.3
P2.2
P2.1
P2.0
P3.7
P3.6
P3.5
P3.4
AIN0.6 P3.2 U4
25 51
AIN0.7 P3.3
U2
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
C8051F020

22.1184Mhz
Xtal1

20p 20p
C14 C15

P1.6 Test Point P2.7 Test Point

J14(A) J14(B)
2 1 1
1 2 1 2
0.1uF 2 3 2 3
C16 3 4 3 4
1 4 4
19

5 5
5 6 5 6
16 15 6 7 6 7
Vcc

9 R1IN R1OUT 10 7 8 7 8
13 R2IN R2OUT 17 8 9 8 9
12 T1IN T1OUT 8 9 10 9 10
T2IN T2OUT 10 11 10 11
2
2 11 12 11 12
0.1uF 4 C1+ 12 13 12 13
C17 5 C1- 1 13 14 13 14
2
1 C2+ EN 14 15 14 15
0.1uF 6 20 15 16 15 16
C18 C2- SHUTDOWN 16 17 16 17
17 17
2 1 3 18 18
V+ 18 18
GND

1 7 19 19
0.1uF V- 19 20 19 20
C19 0.1uF 20 20
1 C20 SP3222EU
18

2 U3 Internal Connection A Internal Connection B

J14(A) J14(B)

PACE CDR 25 07/14/2006

PCB Schematic & Layout

PACE CDR 26 07/14/2006

13
 2008/12/16

Operation Mode Transition

PACE CDR 27 07/14/2006

Software Architecture

PACE CDR 28 07/14/2006

14
 2008/12/16

Memory Allocation

Configuration 4
Employed

Total Used External SRAM: 23KB

ADCS Data:
D t 9.375KB
9 375KB
MEMS Payload Reading: 11.71KB
Flight Software: 1.915KB

PACE CDR 29 07/14/2006

System Initial Sequence

PACE CDR 30 07/14/2006

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TeleCommand / Telemetry Allocation

• Telecommand Format
Header 1 Header 2 Data Type Length Data (Command) FCS FCS

0x55 0xAA (1 Byte) (1 Byte) (20 Byte (1 Byte) (1 Byte)

Maximum)

Data Types Length

0 - Upload Orbit Element 14 Bytes FCS: CRC16
1 - Execute 3 Axis Command 1 Byte
2 - OBC Time Upload 4 Bytes
Polynomial: 0x8005
3 - Forced On/Off Command 1 Byte I iti l 0x0000
Initial: 0 0000
4 - REQ (Search for Satellite During Contact) 1 Byte
5 - Frequency Tuning 2 Bytes
6 - Dump ADCS Data 1 Byte
7 - Dump MEMS Data 1 Byte
8 - End of Contact 1 Byte

PACE CDR 31 07/14/2006

TeleCommand / Telemetry Allocation

Octet
Flag
ASCII Binary
01111110 0x7E
Hex
Information Field
A1 B 10000100 0x84
A2 N 10011100 0x9C Data type Length Data
A3 0 01100000 0x60
A4 C 10000110 0x86
Data Type Length
A5 K 10010110 0x96
A6 U 10101010 0xAA 0 - Real Time SOH 29 Bytes
A7 SSID 01100010 0x62
1 - ADCS Buffer Data 16 Bytes
A8 B 10000100 0x84
A9 P 10100000 0xA0 2 - MEMS Temperature Buffer Data 21 Bytes
A10 0 01100000 0x60 3 - Received Orbit Element Data 14 Bytes
A11 A 10000010 0x82
A12 C 10000110 0x86
A13 E 10001010 0x8A
A14 SSID 01100011 0x63
Control U Frame 00000011 0x03
PID No Layer 3 11110000 0xF0
Info Information 8 * N bits .....
FCS H Byte HH
FCS L Byte LL
Flag 01111110 0x7E

PACE CDR 32 07/14/2006

16
 2008/12/16

CW Morse Code Format

Group 1: (18 Characters)
□□□□ PACE (Call-sign)
□ Group Number (The value will be 1 for group 1)
□ Current Operation Mode (indicate current operation mode)
Transmission Rate: 20WPM
□□ Switch Status (indicate component switch status on/off)
□□□□ Batteryy Temperature
p ((an integer
g value needs 4 characters in hex 0xABCD)) Table: 0-9, A-F, P
□□□□□□ Satellite Attitude Status

Group 2: (18 Characters)

□□□□ PACE (Call-sign)
□ Data Type Indicator (The value will be 2 for group 2)
□□□□ Battery Voltage (an integer value needs 4 characters in hex 0xABCD)
□□□□ Solar Cell Voltage (an integer value needs 4 characters in hex 0xABCD)
□□□□ Main Bus Voltage (an integer value needs 4 characters in hex 0xABCD)
□ TT&C Transceiver Power Status (A  OK B No Power)

Group 3: (18 Characters)

□□□□ PACE (Call-sign)
□ Data
D t Type
T Indicator
I di t (The
(Th value
l will
ill be
b 3 for
f group 3)
□□□□ Battery Current (an integer value needs 4 characters in hex 0xABCD)
□□□□ Solar Cell Current (an integer value needs 4 characters in hex 0xABCD)
□□□□ Main Bus Current (an integer value needs 4 characters in hex 0xABCD)
□ C&DH Reset Counter (use only 0-F to represent it, 16 times only)

Group 4: (18 Characters)

□□□□ PACE (Call-sign)
□ Data Type Indicator (The value will be 4 for group 4)
□□□□□□□□ C&DH Time ( Day : Hour : Min : Sec )
□□□□ Battery Capacity (an integer value needs 4 characters in hex 0xABCD)
□ Uplink-Command Accepted Number
PACE CDR 33 07/14/2006

Inter--Microcontroller Protocol
Inter
Communication Format
Header 1 Header 2 Information FCS FCS

0x55 0xAA (16 Byte) (1 Byte) (1 Byte)

• UART: Operated under Full-Duplex Mode

• Baud Rate: 11200Bps
• FCS: CRC16 Polynomial 0x8005 Init 0x0000

PACE CDR 34 07/14/2006

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Inter--Microcontroller Protocol
Inter
C&DH  ADCS
Byt Corresponding Corresponding
Description Byte Description
e Range Range
0 Sync character 0. Always 0x55.
0 Sync character 0. Always 0x55. Sync character 1. Always
1
0xAA.
2 Always 0x00.
0x00
1 Sync character 1. Always 0xAA.
3 Always 0x00.
Right ascension of the ascending node, uint16, 4 Always 0x00.
2
MSByte
(rad) 5 Always 0x00.
Right ascension of the ascending node, uint16,
3 6 Always 0x00.
LSByte
4 Inclination, uint16, MSByte 7 Always 0x00.
(rad)
5 Inclination, uint16, LSByte 8 Always 0x00.

6 Argument of Perigee, uint16, MSByte 9 Always 0x00.

(rad)
7 Argument of Perigee, uint16, LSByte 10 Always 0x00.

8 j axis,, uint16,, MSByte

Semi major y 11 Always 0x00.
400 – 1000 (Km)
9 Semi major axis, uint16, LSByte 12 Slave OBMU Day, uint8 0 - 255

10 Eccentricity, uint16, MSByte 13 Slave OBMU Hour, uint8 0 – 255

0–1
11 Eccentricity, uint16, LSByte 14 Slave OBMU Min, uint8 0 – 255

12 Epoch time Day, uint8 0 – 255 15 Slave OBMU Sec, uint8 0 – 255

13 Epoch time Hour, uint8 0 – 255 16 FCS (Check Sum)

14 Epoch time Min, uint8 0 – 255 17 FCS (Check Sum)

15 Epoch time Sec, uint8 0 – 255 Time Upload

16 FCS (Check Sum) Orbit Element Upload
PACE
17 CDR FCS (Check Sum) 35 07/14/2006

Inter--Microcontroller Protocol
Inter
ADCS  C&DH
Standby Mode 3-Axis Mode
Byt Correspondin Corresponding
Description Byte Description
e g Range Range
0 Sync character 0. Always 0x55. 0 Sync character 0. Always 0x55.
1 Sync character 1. Always 0xAA. 1 Sync character 1. Always 0xAA.
2 Slave OBMU Day, uint8 0 – 255 2 Slave OBMU Day, uint8 0 – 255
3 Slave OBMU Hour, uint8 0 – 255 3 Slave OBMU Hour, uint8 0 – 255
4 Slave OBMU Min, uint8 0 – 255 4 Slave OBMU Min, uint8 0 – 255
5 Slave OBMU Sec, uint8 0 – 255 5 Slave OBMU Sec, uint8 0 – 255
Magnetometer measurement in X axis, uint16, 6 Gyro measurement in X axis, sint16, MSByte -300 – 300
6
MSByte -2 – 2 (Gauss) (rad/sec)
7 Gyro measurement in X axis, sint16, LSByte
7 Magnetometer measurement in X axis, uint16, LSByte
8 Gyro measurement in Y axis, sint16, MSByte -300 – 300
Magnetometer measurement in Y axis, uint16, (rad/sec)
8 9 Gyro measurement in Y axis, sint16, LSByte
MSByte -2 – 2 (Gauss)
9 Magnetometer measurement in Y axis, uint16, LSByte 10 Gyro measurement in Z axis, sint16, MSByte -300 – 300
11 G
Gyro measurementt in
i Z axis,
i sint16,
i t16 LSB
LSByte
t (rad/sec)
10 Magnetometer measurement in Z axis, uint16, MSByte
-2 – 2 (Gauss) Next Gyro measurement in X axis, sint16,
11 Magnetometer measurement in Z axis, uint16, LSByte 12
MSByte -300 – 300
12 Magnetic coils on/off state state_1, uint8 (rad/sec)
Next Gyro measurement in X axis, sint16,
13
13 Magnetic coils on/off state state_2, uint8 LSByte
14 Magnetic coils on/off state state_3, uint8 Next Gyro measurement in Y axis, sint16,
14
MSByte -300 – 300
15 Magnetic coils on/off state state_4, uint8
Next Gyro measurement in Y axis, sint16, (rad/sec)
16 Magnetic coils on/off state state_5, uint8 15
LSByte
17 Magnetic coils on/off state state_6, uint8 Next Gyro measurement in Z axis, sint16,
16
MSByte
PACE
18
CDR FCS (Check Sum)
36 07/14/2006
-300 – 300
(rad/sec)
19 FCS (Check Sum) Next Gyro measurement in Z axis sint16

18
 2008/12/16

PACE EPS CDR

PACE CDR 37 07/14/2006

Specification

• 20 pieces of body mounted GaAs solar cells

• 4 Lithium-Ion rechargeable batteries (total 8800mAH)
• Power input range: 2.5V – 6V
• Maximum power of delivery: 7.5W
• Maximum charging current: 500mA
• Output Voltage: 5V and 12V
• O t t Current:
Output C t 500mA
500 A (5V) andd 110mA
110 A (12V)

PACE CDR 38 07/14/2006

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 2008/12/16

Specification
• Manufacturer: Emcore advanced triple junction GaAs solar cell.
• Surface area: 7.61cm x 3.72 cm /cell
• Mass: 86mg/cm²
• Bare cell efficiency: 27.5%
• Coverglass transmission loss: 2.5%
• Resultant efficiency: 26.8%
• Temperature Coefficient: 0.045 abs.%/°C
• Eff t off irradiation
Effect i di ti
– Remaining Power after 11015 e / cm 2  0.87
– Remaining Power after 5 1014 e / cm2  0.92

PACE CDR 39 07/14/2006

Batteries
• Manufacturer: Eone Lithium-ion rechargeable cell
• Size: Diameter: 18.24mm; Height: 65.05mm
• Weight: 46.7 g
• Capacity: 2.2Ah
• Nominal voltage: 3.7V
• End of charge voltage: 4.2V
• End of discharge voltage: 3.0V
• Operating temperature
– Charging: 0 ~ 45 degree C
– Discharging:-20 ~ 60 degree C
• Rated energy density:
– Volumetric: 490wh/l
– Gravimetric: 178Wh/kg

PACE CDR 40 07/14/2006

20
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Power Budget

PACE CDR 41 07/14/2006

Power Analysis
Solar Cell Area:
7.61cm x 3.72cm / cell
S l C
Solar Cell
ll Efficiency:
Effi i
26.8%
Temperature Coefficient:
-0.045% / degree C
Surface Temperature:
66 degree C
RAAN: 0 degree
Average Power : 3.325W
RAAN: 180 degree
Average Power: 2.535W
RAAN: 90 degree
PACE CDR Average Power: 2.05W 42 07/14/2006

21
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EPS Architecture
Momentum Wheel
12V
DRU

5V

C&DH Magnetometer
Solar Cells MEMS ADCS OBMU
Gyro
TT&C
CW
EPS Batteries

PACE CDR 43 07/14/2006

EPS Interfaces
V C&DH
I
DRU V Power
I Switch CW
DIO
Current 5V DC-DC Power
Converter Currentt
C
Sensing Switch
Sensing TT&C
DIO
Auto 5V DC-DC Power
Switch Converter Switch Gyro
DIO
Power
Switch ADCS_OBMU
DIO
Battery Battery Power
Charger Charger Switch Magnetometer
DIO
Power
Switch MEMS Sensor
Battery Battery DIO
Protector Protector 12V DC-DC Power
1-Wired®
Batteries Status Converter Switch
DIO M_Wheel

PACE CDR 44 07/14/2006

22
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EPS Layout

PACE CDR 45 07/14/2006

EPS Layout

PACE CDR 46 07/14/2006

23
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EPS Engineering Model

Current
Sensor 5V
Switch

5V
Converter
Auto Current
Switch Sensor
Battery
Charger
12V
5V Switch
Converter
Protector

12V
Battery Converter

PACE CDR 47 07/14/2006

PACE TT&C CDR

PACE CDR 48 07/14/2006

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Budget（Downlink
Link Budget（ ）
Downlink）
Item UHF Unit
Orbit Height 600 Km
G/S Height 0.031 Km
G/S Antenna Elevation Angle 10 degree
Max Distance Between G/S And C/S 1932 188398 Km
1932.188398
Frequency 430 MHz
Wave Length 0.697674419 m
Modulation Type Non-coherent FSK
BER required 1.00E-05
Bit Rate 1200 bps
Tx Power -3.01 dBW
On-Board Loss 0 dB
Tx Antenna Gain 2.15 dBi
S/C EIRP -0.86 dBW
Free Space Loss 150.8321307 dB
Atmospheric Loss -1.5 dB
Polarization Loss -0.3 dB
G/S Antenna Gain 13 dBi
Received Power -136.8921307 dBW
System Noise Temperature 30 dBK
G/T -17 dB
Predetection C/No 61.7078693 dBHz
H/W Implement Loss 3 dB
TM Data Rate 30.79181246 dBHZ
Eb/No Achieved 27.91605684 dB
Eb/No Required at G/S for BER<1E-5 21.63955657 dB
Link Margin 6.276500274 dB
Link Margin Required 6 dB
PACE CDR 49 07/14/2006

Budget（Uplink
Link Budget（ ）
Uplink）
Item UHF Unit
Orbit Height 600 Km
G/S Height 0.031 Km
G/S Antenna Elevation Angle 10 degree
Max Distance Between G/S And C/S 1932.188398 Km
Frequency 430 MHz
Wave Length 0.697674419 m
Modulation Type Non-coherent FSK
BER required 1.00E-05
Bit Rate 1200 bps
Tx Power 10 dBW 0.5W
On-Board Loss 0 dB
Tx Antenna Gain 13 dBi
S/C EIRP 23 dBW
Free Space Loss 150.8321307 dB
Atmospheric Loss -1.5 dB
Polarization Loss -0.3 dB
Rx Antenna Gain 2.15 dBi
Received Power -123.8821307 dBW
System Noise Temperature 30 dBK
G/T -27.85 dB
Predetection C/No 74.7178693 dBHz
H/W Implement Loss 3 dB
TM Data Rate 30.79181246 dBHZ
Eb/No Achieved 40.92605684 dB
Eb/No Required at G/S for BER<1E-5 21.63955657 dB
Link Margin 19.28650027 dB
PACE CDR 50 07/14/2006

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Budget（CW
Link Budget（ ）
CW）
Item UHF Unit
Orbit Height 600 Km
Max Distance Between G/S And C/S 1932 Km
Frequency 145 MHz
Wave Length 2.068965517 m
Modulation Type CW
Words Rate 15 WPM
Tx Power -10 dBW
On-Board Loss 3 dB
Tx Antenna Gain 2.15 dBi
S/C EIRP -10.85 dBW
Free Space
p Loss 141.3892747 dB
Atmospheric Loss 5 dB
G/S Antenna Gain 13 dBi
Pre-amplifier Gain 15 dB
Cable Loss 3 dB
Received Power -102.2392747 dBm
Receiver Sensitivity -122 dBm
Link Margin 19.76072533 dB
PACE CDR 51 07/14/2006

Specification (FM)
• Tranceiver：Yaesu VX-1R
• Frequency:431.875MHz(Tx/Rx)
• Baud Rate:1200bps
• Tx Power:27dBm(0.5W)
• Sensitivity:-126dBm
• DC Voltage:5V
• Power Consumption:2W(Tx)/0.5W(Rx)
• O
Operating
ti Temperature:-20℃~60℃
T t 20℃ 60℃
• Weight:100g（Transceiver） / 15g（Antenna） / 20g
（Modem）

PACE CDR 52 07/14/2006

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Circuit (FM)

Module

PCB Layout

PACE CDR 53 07/14/2006

（CW
Specification（
Specification ）
CW）

• Self-made CW transmitter
• RF PPower：0.1W
：0 1W
• DC Power Voltage：5V
• Power consumption : 0.2W
• Frequency : 145MHz
• Code : Morse Code
• Words Rate：15WPM
• CW Generator Circuit Weight：30g

PACE CDR 54 07/14/2006

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Circuit (CW)

Module

PCB Layout

PACE CDR 55 07/14/2006

Ground Station

• Using Tainan Ground

station at NCKU ASTRC
as Primary site
• Located at
– 22.56.17N / 120.16.38E
– Height 31 meters
• CAPABILITY
– HF/VHF/UHF 3 bands
– 9600 bps X.25 protocol on
/VHF/UHF

PACE CDR 56 07/14/2006

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Ground Station

PACE CDR 57 07/14/2006

Test (FM)

Free Space Loss BER Successful Link

Probability

40dB 0.000037 86%

80dB 0.000140 72%

120dB (The same as the 0 007600

0.007600 56%
condition in space)

PACE CDR 58 07/14/2006

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Test (FM)
ADCS


EPS

ADCS, C&DH,
TT&C, EPS Ground station
C&DH


TT&C


Downlink: AX.25
Uplink: Self-
Self-defined

Ground station

•Experiment demo

PACE CDR 59 07/14/2006

Test (CW)

Free Space Loss Successful decode

probability
40dB 97％

80dB 96％

110dB（The same as the 92%

condition in space）

PACE CDR 60 07/14/2006

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PACE ADCS CDR

PACE CDR 61 07/14/2006

Spacecraft Attitude

3-axis mode Standby mode

PACE CDR 62 07/14/2006

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 2008/12/16

Control Block Diagrams

Control
MW ctrl Momentum torques

Euler angles
g
Wheel
Attitude Disturbance
Control Laws Control torques
MC ctrl torques
Magnetic
Coordinates Coils
Transform
Spacecraft
Position (ECI axes)
Velocity (ECI axes) Sun angles Coarse Sun
Orbit Sensor
Angular rates
Propagation (body axes)
Kepler orbit elements Gyroscope
Time Update Earth’s magnetic field
(Body axes)
Ground Magnetometer
Station

PACE CDR 63 07/14/2006

Coils
• Coil turns : N = 250
• Coil area : A = 0.005544 m²
(0.077 x 0.072)
• Coil resistance : R = 31.7
31 7 Ω
• Coil current : I = 36.00 mA
• M = N × I × A = 0.05 Am²
• Power consumption : 0.18 W

5V

C il
Coil
Si9986 R1

SA OUTA
100
CPU DIO
GND INA

VDD INB
CPU DIO
SB OUTB

0 Update : Jul/04/2005

PACE CDR 64 07/14/2006

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Magnetometer
• Source : Honeywell
• Vin: 12V
• Supply current : 20 mA
• Range : -2 to 2 Gauss
• Operation Temperature : -40C to 80C
• Resolution : 40 uGauss
• Power consumption : 0.3 W (including
Set/Reset circuit) HMC2003
Xout 7
AN0
C10 Yout 14
MAX662A 20V AN1
1 C3 R1 R2 Zout 6
C1 C1+ C2- 4.7u AN2
2 0.22u 25k 25k VREF 8
0.22u C1- C2+ C6 C8 SR+ GND SR- V+ AREF
0
8
7 SHDN 1u 0.1u 17 9 1 10
D1 D2
NDS9952
7 GND Vout 1 21 2 C9 R4 Vp
1 NS PD 6
1N5819 1N5819 C11
0 0.1u 64k
C5 C7 4 PB PD 5 0.1u
5V 5 Vcc 1u 1u
2 NB ND 8
C2 2u 0 0
3 PS ND 7 0
0 0 0
0 R3
Q1
SET KN3904
10k
8051
0 Update : Aug/01/2005
RESET

PACE CDR 65 07/14/2006

Momentum Wheel
• Power supply：5 V
• Supply current(Max) : 110 mA
• Power consumption : 0.15 W
• Wheel Momentum : 0.02 Nms @3000rpm
@ p
• Wheel torque(Max) : 10-4 NmMax.
• Mass : 160 g
• Size : 46 dia. 82 height mm
• Operating Temperature : -40 ~ 71 oC
• Source : Motor : FAULHABER – 1525 009BRE
Designer : PACE group
Manufacturer : CSIST

PACE CDR 66 07/14/2006

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IMU Gyro
• Gyros
• Range : -300 to 300 deg/sec
• Resolution : 0.009 deg/sec
• Accelerometer
• Range : -10 to 10 g
• Resolution : 0.3 mg
• Specifications
• Vin : 4.4 – 8 V
• Power consumption : 0.65 W @5 V
• Weight : 18.8 g (without enclosure)
• Size : 38.1 × 34 × 20.3 mm (without
enclosure))
• Data output rate : >400 Hz
• Internal A/D sample rate : 1 KHz
• Interface : RS232 and/or CAN
• Operation temperature : -40C to 80C
• Source : Cloud Cap Technology
– Crista IMU sensor

PACE CDR 67 07/14/2006

ADCS Hardware
- Interface

Slave OBMU
C8051F020
DAC ADC
Momentum Wheel (12bit) (12bit) Magnetometer
DIO DIO

Coarse Sun Sensor ADC DIO Magnetic Coil 1

(8bit)

DIO Magnetic Coil 2

Gyro UART
DIO Magnetic Coil 3

PACE CDR 68 07/14/2006

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Attitude Control System

Control Hardware Control Purposes

mode
d l
laws
Magnetometer B-dot control Damp initial
Coarse sun angular rates
Standby
sensor
mode
Magnetic coil

Magnetometer Pitch control 3 axis

Coarse sun Momentum t bili ti
stabilization
sensor dumping control (pointing accuracy
3-axis Magnetic coil Pointing inside 5 degrees)
mode Momentum control
wheel
Gyro
PACE CDR 69 07/14/2006

Simulation Results(1)
• Initial → Standby

PACE CDR 70 07/14/2006

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Simulation Results(2)
• Initial → Standby

PACE CDR 71 07/14/2006

Simulation Results(3)
• The mode switch condition between standby
and 3-axis mode
– When the modulus of all earth’s magnetic field component
differentiations are less than 3E-7
3E 7 for 3000 seconds,
seconds the slave
OBMU pulls one wire high expecting to enter 3-axis mode.
– Else, PACE is still in the standby mode.

PACE CDR 72 07/14/2006

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Simulation Results(4)
• Initial → Standby → 3-axis mode
– After 5800 seconds : Standby → 3-axis
mode
• B
B-Dot
D t control,
t l pitch
it h control,
t l momentum
t
dumping control
– After 8700 seconds :
• Besides above these, adding pointing
control

PACE CDR 73 07/14/2006

Implementation(1)
- Specification -
• HWIL
– Host PC
• MATLAB simulation
• dSPACE card – ds1102
– TMS320C31, 60MHz
– 128K-32 bit words
– RTI, RTW
– 16-bit A/D(2), 12-bit A/D(2), 12bitD/A(4), DIO(16)
– 2 internal and 3 external interrupts
– PACE slave OBMU
• Cygnal
yg F020 MCU
– 22MHz
– 64K
– 10-bit A/D(8), 12-bit A/D(8), 12-bit D/A(2), DIO(56)
– 4 internal and 4 external interrupts

PACE CDR 74 07/14/2006

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Implementation(2)
- Configuration -
• SAT HWIL architecture

DIO
D/A

PACE CDR 75 07/14/2006

Implementation(3)
-Results
Results--
• Compare the difference between implementations and
simulations

PACE CDR 76 07/14/2006

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Downlink Data
-Standby Mode
Mode--
 Data type
Magnetometer measurement : 6 bytes ( Record period : 10 sec)
Magnetometer measurement in X axis : 2 bytes
Magnetometer measurement in Y axis : 2 bytes
Magnetometer measurement in Z axis : 2 bytes
Magnetic coils on/off state : 6 bytes (Record period : 1 sec)

PACE CDR 77 07/14/2006

ADCS PCB

Front Back

PACE CDR 78 07/14/2006

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ADCS PCB
-Circuit
Circuit--
RT9161/A 1 Ohm
2

3 2 R2 1u 0.1u
Vin Vout C16 C5
2 2

GND
1
220u 22u 22u 1 Ohm
C10 C12 U1 C14 2 Si9986 R6
1 1 1 8

1
R1 1u 0.1u SA OUTA
C15 C4 2 7 82
1 GND INA
3 6
0 VDD INB
1 Ohm
R3 1u 0.1u 4 5
C17 C6 SB OUTB
U6

4.7K
Port 3
R10
1 2
3 4
5 6 Si9986 R7
7 8 1 8
9 10 SA OUTA
82
JP3 2 7
G
GND INA
JTAG
3 6 coil
VDD INB

100
A14 B16

99
98
97
96
95
94
93
92
91
90
89
88
87
86
85
84
83
82
81
80
79
78
77
76
4 5 INA_1INB_3
1 75 SB OUTB B14 A16

ALE
DAC0
DAC1
P4.0
P4.1
P4.2
P4.3
P4.4

A8
A9
A10
A11
A12
A13
A14
A15
A0
A1
A2
A3
A4
RD
WR
VDD
DGND
2 TMS A5 74 U5 INB_1INA_3
3 TCK A6 73 A15 B15
4 TDI A7 72 0 INA_2INB_2
5 TDO D0 71
6 /RST D1 70
CP1- D2
Port 1
R5 7 69
100K 8 CP1+ D3 68
1K 9 CP0+ D4 67 Si9986 R8
10 CP0- D5 66 1 8
2
11 AGND D6 65 SA OUTA
0.1u R9 1u 12 AV+ D7 64 2 7 82
C18 C7 13 VREF VDD 63 GND INA
1 14 AGND DGND 62 3 6
15 AV+ P0.0 61 VDD INB
16 VREFD P0.1 60 4 5
0.1u 1u 17 VREF0 P0.2 59 SB OUTB
MAX675 C8 C19 18 VREF1 P0.3 58
1 8 19 AIN0.0 P0.4 57 U4
N.C. N.C. 20 AIN0.1 P0.5 56 0
2 7 MAX675 21 AIN0.2 P0.6 55
Vin N.C. 1 8 22 AIN0.3 P0.7 54
N.C. N.C. AIN0.4 P3.0

MONEN
3 6 23 53 Main CPU

XTAL1
XTAL2

DGND
TEMP Vout 2 7 24 AIN0.5 P3.1 52 A1

VDD
P1.7
P1.6
P1.5
P1.4
P1.3
P1.2
P1.1
P1.0

P2.7
P2.6
P2.5
P2.4
P2.3
P2.2
P2.1
P2.0
P3.7
P3.6
P3.5
P3.4
4 5 Vin N.C. 25 AIN0.6 P3.2 51 M_to_S
GND TRIM 3 6 AIN0.7 P3.3 B1
TEMP Vout S_to_M

26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
4 5 B2
GND TRIM M_Rx
C8051F020
0 A2
M_Tx
C8051F020
Port 1
Port 2 0
12V(MM)

5V(gyro)

5V(MW)

5V(Coil)

22.1184Mhz
GND

GND

GND

GND
N.C.

N.C.

20p X1 20p
C10
C1

C2

C3

C4

C5

C6

C7

C8

C9

C22 C23

0 0 0 0
HMC2003
1 20
SR- Zof f +
2 19
X ff-
Xof Z ff-
Zof
3 18
C33 Ztrim Xof f +
4 17
R11 R12 Xtrim SR+ C36
4.7u 5 16
MAX662 27k 27k Yof f - Yof f +
0.1u
1 8 C31 NDS9952 6 15 C37
C24 C1- SHDN 1 8 0 Zout Ytrim C34 SP3222EUCY
2 7 0.1u NS ND 7 14 2 19
C1+ GND Xout Y out C1+ VCC 1u
0.22u D1 D2 2 7 C38
NB ND 0.1u
C26 3 6 1 21 2 8 13 4 3
C2- Vout 3 6 Vref Vbias C1- V+ C39
1N5819 1N5819 PS PD 0.1u
0.22u 4 5 9 12 5 7
C2+ VCC C29 C30 4 5 C32 GND Vbridge C35 C2+ V-
PB PD 0.1u
C28 1u 1u 10 11 6 18
1u 0.1u C27 V+ Vsense C2- GND
0.1u
R14 0.1u 1
C25 2.2u /EN
0 0 62k 0
IMU
20
/SHUTDOWN 1
Q1 R13 0 14 16 6
0 0 N.C. R1IN 2
11 7
10k 0 N.C. 3
MMBT3904 13 17 8
T1IN T1OUT 4
Q2 R36 12 8 9
0 LM358 R33 T2IN T2OUT 5
Q3 8 1 560k 15
A17 R23 R21 Vcc 1OUT R1OUT
Vcc MMBT3904 R16 7 2 330k 10 9
0 2OUT 1IN- R2OUT R2IN RS232
B17 LM358 180k R22 R34 0
Ctrl 330k
MMBT3904 8 1 1k 6 3
A18 Vcc 1OUT R15 R19 2IN- 1IN+
GND 560k
7 2 560k 5 4
B18 R18 R17 2OUT 1IN- R24 2IN+ GND
GND 6 3 500 560k
A19 10k 1k 2IN- 1IN+ 20k R20 R35
None 5 4
2IN+ GND 330k 0
B19 330k
rpm R26
0 0 0
A20 0
GND 0 LM358 R38
0
B20 8 1 560k
GND R30 Vcc 1OUT
330k
7 2
R25 2OUT 1IN- R37
Port 1 330k
6 3
R28 2IN- 1IN+
0 560k
5 4 560k
2IN+ GND
560k R4

PACE CDR
R29

07/14/2006
0 330k Update : 2006/May/02
330k

79 0 0

Conclusion
• More accurate sun sensors are required to determinate the
attitude of PACE
• Fault tolerance mechanism is necessary to ensure the safety of
PACE
• Moment of inertia of the momentum wheel is over designed
• Incoming power is insufficient under some circumstances
• Maximum Peak Power Tracker should be applied on PACE
• Remote ground operation capability is developed in PACE
project
• Integrate MEMS technology into space application

PACE CDR 80 07/14/2006

40
 2008/12/16

Thanks for your attention!

PACE CDR 81 07/14/2006

41