Contents

ADC Design overview............................................................................................................................. 2 Design Requirement ........................................................................................................................... 2 ADC system requirement............................................................................................................... 2 Conceptual framework ......................................................................................................................... 2 Subsystem requirements and architectural design ....................................................................... 4 Mathematical model of the ADCS Sensor unit ............................................................................... 4 Sun sensor model: ............................................................................................................................ 4 Magnetometers model: ................................................................................................................. 8 Sensor Hardware design ........................................................................................................................ 9 Sun sensor Hardware design: ....................................................................................................... 9 Magnetometers ............................................................................................................................... 9 1.2.1 1.2.2 1.2.3 1.2.4 1.2.5 1.2.6 4.1 Magnetic torque rods/coils ........................................... Error! Bookmark not defined. Reaction wheels ................................................................ Error! Bookmark not defined. Control moment gyroscopes ........................................ Error! Bookmark not defined. Thrusters................................................................................ Error! Bookmark not defined. Nutation dampers............................................................. Error! Bookmark not defined. Discussion ............................................................................ Error! Bookmark not defined.

Architecture summary ............................................................. Error! Bookmark not defined.

Bibliography............................................................................................................................................... 9

ADCS Design overview

This section will present the ADC subsystem design of the ethio-sat design project. The design project was performed over a period of three weeks using the resource available on websites. The attitude determination and control subsystem stabilizes the vehicle and orients it in desired direction during the mission despite the external disturbance torques acting on it .This requires that the vehicle determine its attitude ,using sensors and control it ,using actuators. The ADCS is often tightly coupled to other subsystem on board, especially the propulsion and navigation function. The ADC subsystem design goal is to model the orbital dynamics of the satellite and specify the subsystem requirements.

Design Requirement
ADC system requirement The ADCS must be fully operational without the aid of the ground base control. The ADCS must maintain the antenna beam pointing towards the earth The spacecraft must be stabilized The ADCS system should have system redundancy such that there are no single point failures The ADCS should have a ground override capability The spacecraft must have a cross link antenna pointing accuracy which requires a spacecraft attitude knowledge requirement. The attitude dynamics and control subsystem must have a positional knowledge requirement

Conceptual framework
For the purpose of setting design methodology for our satellite ADC subsystem the postgraduate thesis report of K.Bushch Danny, at Naval postgraduate school is reviewed .This particular work is chosen because it is easily available on the web and the design resembles to our project in many aspects. The attitude determination and control subsystem (ADCS ) stabilizes the vehicle and orients it in desired direction during the mission despite the external disturbance torques acting on it .This requires that the vehicle determine its attitude ,using sensors and `

control it ,using actuators. The ADCS is often tightly coupled to other subsystems on board, especially the propulsion and navigation functions. [1] The first step in designing the attitude dynamics and control subsystem is to define the control modes. Each control mode is related to the different phases of the spacecraft life. The sensor and actuator requirements for each control mode may vary drastically .As a result the designer of the ADCS must ensure the requirement of each control mode are satisfied while at the same time producing as simple and reliable a subsystem as possible. [1] Next a thorough understanding of the system level requirements is required .These requirements usually originate from the other spacecraft subsystems and flow down to the ADCS designer. For example the payload designer in this design specified the UHF antenna must maintain pointing accuracy of 0.1 .Then the system engineer and structures designer determined the UHF antenna would be fixed to the spacecraft. This can then is translated into a spacecraft attitude control accuracy of 0.1 along the roll and pitch axes. [1] Then based on mission requirements and inputs from other subsystems, a decision has to be made on the type of spacecraft control to be used. For example a spin stabilized spacecraft may be most suitable for some missions while a three axis control momentum wheel system may be best for others. When the type of spacecraft control is determined an understanding of the type of sensors and actuators should be developed .this not actually selection the components ,but instead performing trade studies for determining which types of sensor and actuator are best suited for the space craft mission. An example might be determining whether to use a star sensor or earth sensor. [1] The next step in the design process is to quantify the disturbance environment .There are generally four external disturbances to consider: gravity Gradient, solar pressure, Aerodynamic pressure and Geomagnetic field disturbances. These disturbances should be estimated so that appropriate actuators and sensors can be selected to counteract their effects. [1] With information from the analysis discussed above a selection of ADCS components was performed .The components of the ADCS include sensors, actuators and control processor.

Subsystem requirements and architectural design

An open-loop Attitude Determination and Control System (ADCS) is chosen to keep the spin axis normal to the orbit plane, maintain the spin rate, and generate a limb reference pulse for the instruments. A magnetometer and V-slit sun sensor are used for attitude determination. After determining the attitude and spin rate errors on the ground, stored commands are sent to the spacecraft, which are then issued when the magnetic field is at the proper angle to control the attitude and spin rate using precession and spin torque rods.

TT&C

Ground System command Primary Attitude

Crosslink Antenna Reaction Reaction wheels wheels

Sun Sensor Magnetometer

Position, Backup Attitude and Angular velocity

Torque Commands

Central Processor

GPS Inertial Reference Unit

Torque Commands

Magnetic Torque rods

Angular Velocity acceleration and Attitude

Torque Commands

Thrusters

Figure 4: 1 ADCS subsystem block diagram

Mathematical model of the ADCS Sensor unit

Sun sensor model:
V-Slit sensors V-Slit sun sensor used for spinning spacecraft normally contains two plane field (PF) sensors making an angle with respect to each other .Each PF sensor has a planar field of view (FOV) .Thus the projection of the FOV onto the celestial sphere is a segment of a great circle. The sensor provides an event pulse whenever the FOV crosses the sun .Therefore the sun angle , can be obtained

directly from the measurements of , the spin rate and t, the time interval between the two sun sighting events from the two PF sensors. [2] Nominal design: one of the PF sensors is parallel to the spacecraft spin axis and the other PF is inclined at an angel o to PF 1 as shown in fig 4.2 .The two sensor FOVs nominally intersect the spin equator at the same point .In fig 4.2 ,A is the spin axis and S is the sun .The great circle SB is the FOV of PF-1 when it sense the sun ,and the great circles AC and SC are the FOVs of PF-1 and PF-2 ,respectively ,when PF-2 sense the sun .The arc length t ,between B and C is the rotation angle between the two sun-sighting events where is the spin rate and t is the time interval .By a direction application of Napiers rules to the right spherical triangle SBC ,we obtain

Misalignment consideration Three kinds of sensor misalignment are possible. A separation misalignment is an error in the angular separation such that . An elevation misalignment occurs when PF-1 is not parallel to the spacecraft spin axis but rather makes an angle, ,with the spin axis ,as shown in fig 4.3 .Note that the grate circle SB no longer passes through A but rather makes an angle with great circle AB, o is still the angle between the two PF sensors ;therefore SC makes an angle o+ with AC. The arc length, , between B and D is the angular shift of the sun sighting events due to the elevation misalignment, .By applying relation the same relation as the previous one

By eliminating and assumption of small we may keep only the first order terms in and result in

An azimuth misalignment occurs when the two FOV intersections with the spin equator are separated by an angle in the spin plane, as shown in fig 4.4 due to the azimuth misalignment, , the actual rotation angle

between the two sun-sighting events is BD rather than BC. With only the azimuth misalignment we have

Generalized model for all the three misalignment is given by

Figure 4: 2 V-Slit Sun Sensor Nominal Geometry [2]

Figure 4: 3 V-Slit Sun sensor Geometry with Elevation misalignment [2]

Figure 4: 4 V-Slit sun sensor Geometry with Azimuth Misalignment [2]

Magnetometers model:
Magnetometers are widely used as spacecraft attitude sensors for a variety of reasons: they are vector sensors providing both the direction and magnitude of magnetic field; they are reliable, lightweight and have low power requirements. Magnetometers consist of two parts: a magnetic sensor and an electronics unit that transforms the sensor measurement in to usable format. Induction type magnetometers are based on faradays law of magnetic inductance. Faradays law is the observation that an electromotive force (EMF) E is induced in a conducting coil placed in time varying magnetic flux. [2]

Figure 4: 5

Germanized magnetometer block diagram

The induction magnetometer which is selected for our design is search coil magnetometer, a solenoid coil of N turns surrounds a ferromagnetic core with magnetic permeability m , and cross sectional area A .The EMF induced in the coil when placed in a magnetic field produces a voltage ,V, given by [2]

Where B is the field component along the solenoid axis .the output voltage is clearly time dempendent and can be rewritten for a coil rotating at fixed frequency about an inertially fixed axis normal to a constant field Bo as

The Search coil magnetometer will provide precise phase information for our spacecraft design.

Sensor Hardware design

Sun sensor Hardware design:

Magnetometers

Bibliography
[1] D. K.Busch, "Design of an attitude Dynamics and control subsystem for a MEO satellite," Naval Postgraduate school , Montery CA, Decemeber 1997. [2] B. W. Young, "Design and Specification of an Attitude Control System for the DANDE Mission," University of Colorado at Boulder, Colorado, 2008. [3] S. A. G. a. N. A. Schmiegel, "FalconSAT-3 and the Space Environment," American Institute of Aeronautics and Astronautics , Orlando,Florida, 04 January 2010 - 07 January 2010.