ATTITUDE DIGITAL CONTROL OF ARTIFICIAL SATELLITES

Adrielle de Carvalho Santana1 , Luiz de Siqueira Martins Filho1 , Gilberto Arantes Jr3
1

Universidade Federal do ABC, Rua Catequese, 242, Bairro Jardim, Santo Andr, S~o Paulo, Brasil, e a adrielle.santana@ufabc.edu.br 3 Center of Applied Space Technology and Microgravity, University of Bremen, Bremen, Alemanha, gilberto@zarm.uni-bremen.de
1.2. Motivation

This work deals with the implementation of a digital control approach for articial satellite attitude, using a Digital Signal Processor (DSP). In a rst step, the controller design considers a continuous time system, aiming the adequacy of Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian Regulator (LQG) approaches to the kinematic and dynamic models of the satellite attitude, using simulation test on MATLAB/SIMULINK environment. The following step consists of the design of a digital version of the controller running in the DSP, while the satellite model stays being done in MATLAB/SIMULINK. The satellite model adopted in this works is based on the main characteristics of the Multi Mission Platform satellite (PMM), developed by the Brazilian Institute for Space Research (INPE). The presented results concern the initial tests of DSP input/output data synchronization, of communication between DSP and MATLAB/SIMULINK, and the analysis of software/hardware delays, using a test program, and also tests of the digital control performance in satellite attitude stabilization.
Abstract:

The current life is full of daily activities that use somehow, technological spatial resources. In telecommunications, meteorology, research of natural resources with remote sensing, in activities and earthy systems monitoring (agriculture, mining, environment, etc.), in the global positioning system to ships, planes and cars navigation. All these activities involves the use of articial sattelites. Recently a contract of 47.520 million of reais, was closed with the argentine company INVAP to the development of the Attitude Control and Data Handling subsystem (ACDH) of the Multi-Mission Platform (PMM), to be used on the earthy observation satellite Amaz^nia 1. This fact shows the requirement o of progress of this kind of technology in Brazil. The development and implementation of the atittude control system in a DSP is a realistic approximation what happens in an articial satellite project and is a contribution to a ADCH subsystem is developed in the future in Brazil.
1.3. Digital Control

tal control.

Keywords:

Articial satellites, Attitude control, Digi-

A digital control system can be basically represented by the scheme of the gure /refsistCont.

1. INTRODUCTION

1.1. Objective

The objective of this work is to design a attitude digital control system of articial satellites based in previous works wicht considered a continuous time system, aiming the implementation in a Digital Signal Processor (DSP).The The scheme of simulations covers the nonlinear plant of an articial satellite running in MATLAB/Simulink environment, in a computer, and the controller running in the DSP, to analyze the performance of the proposed controller.

Figure 1 { Digital control general scheme.

In this scheme, we can see the A/D conversion of the

error signal (r(t)-y(t) ), the conversion of the discrete signal in binary digits by the quantizer Q, the processing of the binary data by a digital processor, the D/A coversion of the processed signal, the reconstruction of the signal from the conversor using a hold circuit, the application of this signal in actuators that will act in the process to be controlled and the feedback of the analog signal measured in the process output. The dierence between this measured signal and the reference signal, generates the error signal to the A/D conversor.
2. ATTITUDE AN CONTROL SYSTEM IN OF MATARTIFICIAL SATELLITE

 ext =

that, to this work, can be rewrite as _ J! ib

b

! dh + !b ib dt b

hb

(4)

+ S !b ib

J! ib

= b + b d p

(5)

where J, is the satellite inertia matrix,  b represents all d the external disturbance torques that acts in the satellite and  b represents the control torques x ; y and z . p In this work will be consider just the gravity gradient torque, given in 6 as disturbance torque.
P
2  b = 3!0 R g

LAB/SIMULINK

2.1. Attitude Kinematics and Dynamic Modeling

(Jz Jy ) (Jx Jz ) 0

Q S

(6)

The reference systems used in this work are the orbital reference system, known by Local-Vertical-LocalHorizontal (LVLH) and the satellite reference system. The orbital reference system (x0 ; y0 ; z0 ) has origin in the mass center of the satellite, its z0 axis points to the center of the Earth, the y0 axis points in the orbit normal direction and the x0 axis is found using the right hand rule, lling the system. The body or satellite reference system (x; y; z ) has origin in the mass center of the satellite being its axis dened like being nominally aligned with the x0 ; y0 and z0 axis respectively [2, 5]. Considering the parameterization by Euler angles in a 3-2-1 rotation sequence, we have the rotation matrix given by the equation 1.
c c X cs + ssc Rx = R ss + csc
P

Substituing the torques and the kinematics equation given in 3, in the dynamic equation, and representing the dynamic equation obtained, in state space form we have
x _ y

= Ax + Bu = Cx + Du

(7)

2.2. Linear quadratic regulator project

(1) The atittude kinematics of an articial satellite is given by the time variation of the rotation matrix being represented by _ R(t) = S (! (t))R(t) (2)

s c cc + sss sc + css

sc S cc

s

The linear quadratic regulator (LQR) application is based in the linearization of dynamic systems, becouse the methodology is formulated to linear systems. The optimal control problem is to minimize a quadratic cost function and generate a gain matrix to feedback [8, 9]. The optimization problem consists in nding a linear control law as
u

= K(t)x

(8)

that minimize the quadratic cost function.

Jp

T T T x Qc x + u Rc u dt
0

(9)

This kinematics equation can be simplied considering that to small angles maneuvers, we can do sin, sin, sin , cos, cos and cos equal ; , , 1, 1 and 1 respectively, considering that the average value, by _ orbit, of the nonlinear terms ( _ , _ , ) are small if compared with the linear ones, and that the rates _ _ and  are small if compared with average orbital rate !0 . Thus the kinematics equation simplied is given by
P

The matrices Qc and Rc are the weighting in state vector and in control vector, respectively. The gain matrix K to the optimization problem is obtained solving the Riccati algebraic matrix equation to a time invariant system.
A P + PA

PBR1 BT P + Qc = 0 c
= R1 BT P

(10) (11)

So, the optimal gain is given by 11

K

2.3. Linear gaussian regulator project

!b ib

_  _ R  S + !0 R _

1


Q S

(3)

The atittude dynamic is given by the Euler equation to a rigid body. Considering the reference system xed to the body the dynamic equation is given by

Due to the noise presence, a ltering is needed for we obtain a reliable information about the measured states in the plant output.Thereunto, we adopt the project of a controller based in the linear gaussian regulator (LQG). The LQG problem can be placed as the calculation of a control law that maintain the system stable and minimize a quadratic errors criterion [9]. We consider in this

work the white noise presence in the observations. In the LQG problem we desire to minimize a cost function
Jp

2.4. Actuators modelling

T T T x Qf x + u Rf u dt
0

(12)

where Qf is the covariance matrix of the measure noise, and Rf is the covariance matrix of the dynamic noise. The solution of the LQG problem is given by the split of the main problem in two ones:

 

To dene the controller to the linear quadratic deterministic problem (LQR), found previously. To dene a Kalman-Bucy lter to obtaining a optimal approximation =hat=boldx of the states x.

The Kalman-Bucy equation is given by

_ x ^

= A^ + Bu + L(y C^) x x

(13)

The control signal controlled by, for exemple, a linear quadratic regulator, are continuous. They can be implemented by using actuators like reaction wheels and magnetic actuators to a continuous control command. However, during orbital operations, like detumble and pointing maneuvers, the required torques are usually righ to the reaction wheels provide the necessary torque to a fast attitude maneuver. So, on-o thrusters are used to this type of maneuver [11]. The Pulse-width Pulse-frequency (PWPF) modulator represents a possible option to the PMM thrusters control system due to its advantage over other kind of pulse modulators as on-o controllers. The modulator PWPF is designed to provide an output propulsion, proportional to the input command [19]. The modulator optimize the thrusters use by controlling each one making possible a ecient propellant use, a smooth control and increasing the equipment life cycle. Its structure is showed in the gure 3 [11].

where L is the Kalman lter gain, found by solving the Riccati algebraic matrix equation
A S + SA

SCR1 CT S + Qf = 0 f
L

(14)

Then the lter optimal gain is given by = R1 CT S f (15)

Figure 3 { PWPF modulator

Thereby is possible to obtain the open-loop transfer function of the controller LQG according [21].
Klqg G(s)

= K(sI A + BK + LC)1 LG(s)

(16)

where G(s) = C(s)(sI A)1 B is the transfer function of the satellite dynamics. The matrices Qc and Rc are found by adjustments from the values obtained by Bryson's rule [16] and Qf and Rf are found by adjustments and attempts. The complete control system built and tested in Simulink environment of MATLAB, is illustrated in the gure 2.

When the Schmitt trigger positive input is greater than Uon , the trigger input is Um . If the input falls below Uoff , the trigger output is 0. This response is re ected too to negative inputs. The error signal e(t) is the dierence between the Schimitt trigger output Uon and the system input r(t). This error is fed in a pre lter whose input f (t) feed the Schimitt trigger [11].
2.5. Analogic LQG control simulation

The gure 4 illustrates a analogic LQG control system simulation with the PWPF modulator, built in the Simulink environment of the software MATLAB, considering a initial displacement of 10 degrees between the three inertia principal axis of the satellite and zero as the reference.
3. REQUIREMENTS AND SCHEME OF THE DSP DIGITAL CONTROL SIMULATION

Figure 2 { LQG control system developed in MATLAB.

The gure 5 illustrates the scheme to a simulation of the digital attitude control of the articial satellite, by using a computer with the software MATLAB (satellite), and the DSP Blackf in537 installed in the kit ADSP-BF537-EZ-KIT from Analog Devices (digital controller). To analyse the project performance, is necessary to

the sync between the states that are coming from the sensors measure and the control torques that are going to the satellite, the delays in the A/D and D/A conversions, the data transfer rate available by the DSP-PC communication interface used, the data processing rate by the DSP, etc.
4. TEST PROGRAM

Figure 4 { Analogic LQG simulation

With the objective of develop a communication interface between the DSP and the PC (running MATLAB), we designed a test program. This program, in spite of be simpler than the digital LQG controller, leaves us to explore several aspects of the conection between the DSP and the MATLAB. This type of test is important becouse exemplies, even if in a simplied way, a important step of this work, that is the synchronized operation between two dierent and independent equipments/devices. The DSP used in this test is the Blackf in537, present in the kit ADSP-BF537-EZ-KIT from Analog Devices. The test program named pilsumdi.mdl is a program built in the Simulink environment from MATLAB software that is part of the exemple programs from MATLAB. The gure 6 illustrates this test program.

Figure 5 { Simulation scheme of the Digital controller and satellite .

discuss the main requirements that must be taken into account in the complete development of a attitude digital controller of articial satellites. A real time control system must have support to a good task management to compensate feedback delays and make the actuator to consider the data provided by the sensors that moment instead the past data. The control system must be, generally, fault tolerant to be consider reliable. The control system performance to each state variables must be the same in order to don't gage the correct interaction between each other. The control system must consume little energy because this resource is critical in space missions. As the satellite, the control system must be protected from radiation and support large temperature variations. The control system project must take into account the delays occurred in the A/D and D/A conversion, as well as the delays caused by the time spent in calculations and by the communication interface between sensors, actuators, process and controller. The control system must be independent from the main satellite CPU, especially the input/output devices [14] and have support to real time scaling. Obviously, given the extent of this requirements list, and the focus limitation of this work, only some of this requirements will be considered in our analysis. Nevertheless, with the control system studied in this work, will be possible to design and to analyze some fundamental factors present in space missions. Among these factors, stand out the delays inserted by the communication bus between the controller (in the DSP) and the satellite (in the PC),

Figure 6 { The test program.

This test program run the sum and the dierence of two random signal, integer with 32 bits, and provide the result over time. The strategy of joint simulation, named Processor-in-Loop (PIL) co-simulation and available in the MATLAB, is a technique that make possible to simulate, test and validate an algorithm to a controller in a system that involves a plant and a controller like the one of this work. The PIL block created in the co-simulation represents in the MATLAB the controller being running in the DSP. The step-by-step of the creation of the PIL block to this exemple can be found in the help of the package MATLAB in the topic Using Processor in-the-Loop. The gure 7 illustrates the complete test program after the PIL block creation. During the PIL co-simulation, the Simulink simulates the plant model by a sample interval and exports its output signal to the processor using the soft-

5. CONCLUSION

Figure 7 { O programa teste com bloco PIL.

ware VisualDSP++. When the processor platform receives the plant model signals, it run the PIL algorithm for a sample step and returns the output signal that was computed during this sample step to Simulink through VisualDSP++ interface. In this point the simulation cycle becomes cemplete and the plant model goes to next sample interval [15]. The gure 8 illustrates the output graphics of the sum performed by Simulink block (Simulink:SUM), the sum performed by DSP (DSP:SUM) through PIL block and the error between both outputs.

This work presents some steps of a project of a digital attitude controller of an articial satellite. In the present phase of development, a analogic controller like LQG is analysed and this shows interesting results in simulation tests, considering the linear control approach in a dynamic problem strongly non-linear. In another aspect dened by the project, the work shows the application of a thruster actuation strategy based on PWPF modulator, that brings advantages with reduction of propellant spent and adequation of an on-o actuator with a typical command of continuous magnitude variation, like the command generate by the controller. In terms of the controller implantation in a digital processing device, the work analyse the use of the compiler VisualDSP++, that makes possible the completion of DSP simulations not being necessary the DSP connection in the computer in most tests. A test wit the cosimulation of the controller in the DSP and the satellite attitude in the computer, using a tool available in MATLAB software, show that the connection DSP-PC was performed with success. To the connection between DSP and computer be possible, we chose a DSP with the capacity to meet this work demand, because Blackf in537 is one of the DSPs compatible with MATLAB.
5.1. Project next steps

Stand out the follow tasks to the conclusion of this project.

   

Organize the current control system in two subsystems: Plant and controller; Perform the controller discretization; Create the PIL block to the controller and perform the simulation with the plant subsystem in Simulink without dicretize it; Compare the obtained results with the ones from the controller running by Simulink and the controller being running by DSP.

ACKNOWLEDGMENTS

The authors thank the Federal University of ABC UFABC support, the professor Ivan Roberto Santana Casella (UFABC) and the professor Ricardo de Oliveira Duarte (UFMG).
REFERENCES

[1] Alan V. Oppenheim and Ronald W. Schafer and John R. Buck, \Discrete-Time Signal Processing," Prentice Hall, Edition 2, 1998.
Figure 8 { Sum performed by DSP, by Simulink and error between both.

[2] H. W. B. Wie and A. Arapostathis, \Quaternion Feedback Regulator for Spacecraft Eigen axis Rotations,"Journal of Guidance Control and Dynamics, Vol. 12, No. 3, pp. 375-380, 1989.

[3] James R. Wertz, \Spacecraft Attitude Determination and Control," D. Reideil Publishing Company, London, England, ISBN: 9027709599, 1978. [4] Gilberto Arantes-Jr, \Estudo Comparativo de Tcnicas de Controle de Atitude em 3 Eixos para e Satlites Articiais," Masters Thesis, Instituto e Nacional de Pesquisas Espaciais, S~o Jos dos a e Campos, S~o Paulo, Brasil, 2005. a [5] N. R. Moscati, \Projeto de um Sistema de Controle de Atitude (tr^s eixos) de Satlites Utilizando e e a Metodologia LQG/LTR," Masters Thesis, Instituto Nacional de Pesquisas Espaciais, S~o Jos a e dos Campos, S~o Paulo, Brasil, 1992. a [6] Marshall H. Kaplan, \Modern Spacecraft Dynamics and Control," John Wiley & Sons, ISBN: 0471457035, 1976.

tems: A Tutorial," Proceedings of the 5th Asian Control Conference, Grand Hyatt, Melbourne, Austrlia, a available: http://ascc2004.ee.mu.oz.au/proceedings/papers/P150.pdf, 2004. [15] The Mathworks, \Using Processor-in-the-Loop," MATLAB help, 1984-2009. [16] Arthur E. Bryson-Jr, \Control of Spacecraft and Aircraft," Princeton University Press, New Jersey, USA, ISBN: 0691087822, 1994. [17] M. Athans, \The Role and Rse of Stochastic Linear Quadratic Gaussian Problem in Control System Design," IEEE Transactions on Automatic Control, Vol. 16, pp. 529-552, 1971. [18] AEB, \National Space Activities Program PNAE 1998-2007," Technical Report, Ag^ncia Espacial e Brasileira - AEB, Brasilia, Brasil, 1998.

[7] Jo~o P. Hespanha, a \LQG/LQR Controller Design," Undergraduate Lecture [19] N. V. Buck, \Minimum Vibration Maneuvers Notes, University of California, Santa Using Input Shaping and Pulse-Width, PulseBarbara, California, USA, available: Frequency Modulated Thruster Control," Mashttp://www.ece.ucsb.edu/ roy/classnotes/147c/lqrlqgnotes.pdf, ters Thesis, Naval Postgraduate School, Mon2007. terey, California, USA, 1996. [8] Peter Dorato and Chaouki T. Abdallah and Vito [20] P. N. Paraskevopoulos, \Modern Control EngiCerone, \Linear Quadratic Control: an Introducneering," Marcel Dekker, New York, New York, tion," Prentice Hall, Englewood Clis, New JerUSA, ISBN: 0824789814, 2002. sey, USA, ISBN: 0-02-329962-2, 1998. [21] Gilberto Arantes-Jr and Adrielle C. Santana and [9] Jan Marian MacIejowski, \Multivariable FeedLuiz S. Martins-Filho, \Optimal On-O Reacback Design," Addison Wesley Publishing, New tion Thruster Attitude Control for the Brazilian York, USA, ISBN: 0-201-18243-2, 1989. Multi-Mission Platform Satellite," 8th Brazilian [10] Brian D. O. Anderson and John B. Moore, \OptiConference on Dynamics, Control and Applicamal Control - Linear Quadratic Method," Prentions, Vol. 8, pp. 1-10, 2009. tice Hall, Englewood Clis, New Jersey, USA, ISBN: 0136385605, 1990. [11] Gilberto Arantes-Jr, \Pulse-Width PulseFrequency Modulator For Attitude Control: Application to the Brazilian Multi-Mission Platform Spacecraft," Technical Report, Center of Applied Space Technology - ZARM, Universitt a Bremem, Bremem, Germany, 2008. [12] Stefan Klaus Wolter, \Processadores de Sinais Digitais-DSP," Class notes, Universidade Federal do Paran, Curitiba, Paran, Brasil, available: a a www.eletrica.ufpr.br/marcelo/TE810/012007/StefanDSP.pdf, 2009. [13] L. Xiao, A. Hassibi and J. P. Haw, \Control with Radom Communication Dalays via a Discrete-Time Jump System Approach," Proceedings of the American Control Conference, Chicago, Illinois, USA, ISBN:0-7803-5519-9, pp. 2199-2204, available: http://acl.mit.edu/papers/ACC2000.pdf, 2000. [14] Adrian Gambier, \Real Time Control Sys-