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3-Axis Control of A University Satellite For Attitude Acquisition Departing From Unfavorable Initial Conditions
3-Axis Control of A University Satellite For Attitude Acquisition Departing From Unfavorable Initial Conditions
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Some of the authors of this publication are also working on these related projects:
Navigation, Mapping, Tracking and Attitude Determination for Micro Aerial Vehicles using Inertial Sensors and Cameras View project
Formation Control of Multirotor Aerial Vehicles using Decentralized MPC View project
All content following this page was uploaded by Jacques Waldmann on 13 August 2014.
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Depto. Sistemas e Controle, Divisão de Engenharia Eletrônica
Instituto Tecnológico de Aeronáutica – Praça Marechal Eduardo Gomes, 50 – Vila das Acácias
CEP 12228-900 – São José dos Campos, SP, Brasil
ABSTRACT 0.1˚. Satellite oscillations about the wheel axis have been
within an acceptable margin. The duration of the maneuvers
3-axis control of a university satellite for attitude in relation to the capacity of the batteries on board have
acquisition departing from unfavorable initial conditions confirmed the feasibility of the dual-spin configuration. The
The design of a low cost university satellite ITASAT resulting performance and complexity have been compared
seeks to meet launch constraints as a secondary, piggyback with those of the rigid-body spin stabilization to select an
payload. The dual-spin configuration has been investigated appropriate configuration for the satellite mission.
to determine the performance of the autonomous Attitude
Control System (SCA) when the satellite separates from KEYWORDS: Artificial satellite, attitude control, extended
the launch vehicle in an unfavorable initial condition prior Kalman filter, magnetometer, torque coils, momentum wheel.
to attitude acquisition. The dual-spinner is controlled in
three axes to acquire and maintain a single face pointing RESUMO
to the Sun by means of a momentum wheel whose rotation
axis is orthogonal to that face, and a triad of air-core A concepção de um satélite universitário de baixo custo
coil magnetotorquers that provide gyroscopic stiffness and busca atender as restrições de seu lançamento como carga
control torques to maneuver and point the solar panel to útil secundária. A configuração girostato foi investigada para
the Sun. The SCA starts actuation as from separation, avaliar o desempenho do Sistema de Controle de Atitude
and operates in closed loop with estimates of the satellite (SCA) autônomo durante a aquisição de atitude quando o
attitude and angular velocity. These estimates are computed satélite se separa do veículo lançador em uma condição
by an extended Kalman filter (FKE) that processes vector inicial desfavorável. A configuração girostato é controlada
measurements of the Sun direction and the geomagnetic em três eixos e busca manter voltada para o Sol a única
field provided by Sun sensors and a triaxial magnetometer. face com o painel solar. Uma roda de momentum, cujo
Starting from unfavorable initial conditions, approximately eixo de rotação é ortogonal àquela face, provê rigidez
1.5 day has been required to yield a pointing error under giroscópica para, em conjunto com três bobinas de torque
10˚, and less than two days to maintain the error below com núcleo de ar, gerar torques para controle de atitude em
Artigo submetido em 12/12/2010 (Id.: 1232)
três eixos. O SCA inicia sua ação a partir da separação,
Revisado em 11/02/2011, 23/05/2011 operando em malha fechada com a estimação da atitude e
Aceito sob recomendação do Editor Associado Prof. Daniel Coutinho
b
ω = I−1
A [(Is ω) × ω + (Iw Ωw ) × ω + T − uw ] (1)
b h b
i
Ωw = I−1
w −IwB ω +uw (2)
Iw1 0 0
Iw = IwA + IwB ; IwA = 0 Iw2 0 ;
0 0 0
hHref , Hi
Eap = cos−1 (8)
kHref k · kHk