Control Systems

Lecture 01 Revision Case Study Attitude Control of a Satellite

Transfer Function of the Satellite

Attitude Control of a Satellite

The orientation of a communication
satellite in geo-stationary orbit must be
automatically controlled so that the
antenna always points to earth.
To turn the satellite, Thrusters are used
to apply a force, F, that will rotate the
satellite about the centre of gravity due
to the moment that is generated.
By adjusting F, the orientation can be
controlled.

By equating moments about the c. of g. the differential equation that models

the satellite is:
2

1
5000

1
s

dt 2

= d.F

where is the output angle, F is the input force, d is the distance the thrusters are from
the c. of g. (1m) and J is the moment of inertia (5000kg.m2)
Taking Laplace Transforms (assuming all initial conditions are zero)

Js 2(s) = d F(s)

c. of g.
Hence the transfer function is:

(s)
d
1
=
=
F(s) Js 2 5000s 2

d = 1m, and J = 5000kg.m2

F = 10N

Introduction of Feedback

1
s

To control any system it is essential that some form of feedback

is necessary
By feeding back the attitude angle, , and comparing it to a
desired angle, d, we can make the applied force, F, proportional
to the error.
d

+
-

+
-

Ked

1
5000

1
s

1
s

Ked
Error
detector

Ked = 10
Angular position,

F (N)

Each Thruster is:

D.A.Germany - Aerospace, Automotive & Design Engineering

1
5000

1
s

1
s

Control Systems
Lecture 01 Revision Case Study Attitude Control of a Satellite

Introduction of artificial damping

Proof of Simple Harmonic Motion

d

K ed

5000s 2 + K ed

n = 2 10 4 K ed
K2n = 2 10

1
s

Ked

1
5000s + K rg

1
s

Validation of model

0 .0002 K ed
s 2 + 0 .0002 K rg s + 0 .0002 K ed

Rate gyro

K ed
5000 s 2 + K rg s + K ed

K ed
(5000s + K rg ) s

1
s

The introduction of the inner loop is achieved by using a Rate Gyro to

measure angular velocity. Krg is the gain of the gyro.

rad/s

K =1
K2n = 2 10 4 K ed

=0
2n = 0

1
5000
Krg

n = 2 10 4 K ed

2 10 4 K ed
2 + + 4
s 0s 2 10 K ed

Ked

NB not in standard form!

K2n
2 + + 2
s 2 ns
n

rad/s

K ed

K =1

2n = 2 10 4 K rg

ymax = 1.12
tmax = 90sec

yss = 1

0.007K rg
K ed

If Ked = 10 and Krg = 250, n = 0.045rad/s and = 0.55

Validation of model from time response

y ss 1 .12 1
y
=
= 0 .12 (or 12%)
overshoot = max
y ss
1

n =

(ln overshoot )2

2 + (ln overshoot )2

t max 1 - 2

(-2.12 ) 2
9.87 + (-2.12 ) 2

3.142
90 1 0.56 2

= 0.56

= 0.042rad / s

Summary of Lecture 1
Use Laplace Transforms to find a transfer function from a
differential equation
Use block manipulation rules to join transfer function for different
subsystems together
Second order system performance is governed by the undamped
natural frequency, n and damping constant, .
No damping ( = 0) in a second order system implies simple
harmonic motion.
Using feedback can modify the performance of systems.

D.A.Germany - Aerospace, Automotive & Design Engineering