1

PRATHAM
STUDENTSATELLITEINITIATIVE,IITBOMBAY


TITLE:


GROUPMEMBERS:




 

SUPERVISORS:





DATE: 





2


CONTENTS
1. ObjectivesofADCSandRequirementsCapture
1.1 Objectives
1.2 Requirementsfromothersubsystems
1.3 AttitudeDetermination
1.4 AttitudeControl
2. LiteratureSurvey
2.1Controlstrategiesemployedbyotherstudentsatellites
2.2Compilationoftheavailabledata
2.3 Initialchoiceofsensorsandactuators
3. ModelingtheSatelliteDynamics
3.1 FramesofReference
3.2 AttitudeDynamicsandKinematics
3.3 Disturbances
3.4 ControlTorques
3.5 ControlLaw
3.6 LinearisedEquations
4. Simulation
4.1 AttitudeDynamicsandKinematics
4.2 Modelingtheattitudedynamicsinabsenceofperturbations
4.3 ModelingtheEnvironmentalperturbations
4.4 Modelingthedynamicswiththeenvironmentalperturbations
5. OrbitalStateVectorEstimator
5.1 OrbitEstimationneed
5.2 OrbitalStateVectortoOrbitalElements
5.3 EstimationofpowerconsumptionofTorquers
6. Choiceofsensorsandactuators
6.1 Initialchoiceofsensorsandactuators
6.2 Simulationstovalidatethechoice



3


Chapter1

ObjectivesofADCSandRequirementsCapture

1.1Objectives:
PositiondeterminationTodeterminethepositionofthesatelliteinspace
Attitude Determination  To determine the attitude of the body frame* of the
satellitewithrespecttoorbitframe*
AttitudecontrolTobringthesatelliteintoearthpointingorientationafterejection
andtomaintainthisattitudethroughouttheperiodofoperation

1.2Requirementsfromothersubsystems:
PositionRequirement:
Onboard

Communication
TBD ( Less Stringent than
payload)
Controls
TBD(Less Stringent than
payload)
OnGround

Payload
1km

x Position requirements are required by the communication subsystem to
knowwhentobegindatatransmissionwhenoveragroundstation.
x Requirements of Control subsystem arise due to need for obtaining the
components of earths magnetic field in the earth fixed frame. This is
requiredforattitudedetermination.
x RequirementsofthePayloadsubsystemariseduetotheneedforcorrelating
thepositionofsatellitewiththemeasuredvalueofTEC.Thisdataisrequired
on ground for post processing of the TEC data. Hence, either must be
calculated on ground using an orbit estimator or must be transmitted to
groundfromthesatellite.

1.3Attitudedetermination:

Onboard


TBD
Controls
Roll
TBD
Pitch
TBD
Yaw

x This is required to achieve attitude control of the satellite. This will also be
essentialincaseofanemergencyduetoantennafailure.

4



1.4Attitudecontrol
Payload
Communication

YawStabilizationrequired
3deg cone about the nadir pointing
direction.Therearenorequirementsfor
jittercontrol


x

x



















Attitudecontrolisrequiredbythecommunicationsubsystemtoensurethat
propersignalreceptionfromthesatellite.Thisisnotastringentrequirement
andcanbefurtherrelaxedbydesigningamorecomplicatedgroundstation
Yawstabilizationisrequiredbythepayload.

5


Chapter2

LiteratureSurvey

2.1Controlstrategiesemployedbyotherstudentsatellites:
FirstBatchLaunchedonJune30,2003
CUTEIbyTokyoInstituteofTechnology,Japan
Deployment
TokyoPicosatelliteOrbitalDeployers(TPOD)
Mechanism:
Type:
Singlecubesat
Mission:
TestplatformbasedonCOTScomponents.
Deployablesolarcells,piezoelectricvibratinggyroscope(4pcs),
dualaxisaccelerometers(4pcs)andCMOScamerausedassun
sensor.Thecamerapicturescouldnotbetransmittedtothe
ground.
AODC:
Piezoelectricvibratinggyroscopetomeasureangularvelocity,dual
axisacelerometer(usedtocomparetogyros),andCMOSsun
sensor
Status:
Nominaloperations.
ThesatelliteisstilloperatingnominallyinmidJanuary2007(3
years,6monthsafterlaunch)
Link:
http://lss.mes.titech.ac.jp/ssp/cubesat/index_e.html
XIIVbyUniversityofTokyo,Japan
Deployment
TokyoPicosatelliteOrbitalDeployer(TPOD)
Mechanism:
Type:
Singlecubesat
Mission:
TestplatformbasedonCOTScomponents.
Includedacameratotakepicturesoftheearth.
AODC:
Permanentmagnetandhysteresisrods
Status:
Nominaloperations.
ThesatelliteisstilloperatingnominallyinmidJanuary2007(3
years,6monthsafterlaunch).
LatesttelemetryanalysisdatedSeptember20th,2007.
Links:
http://www.space.t.utokyo.ac.jp/cubesat/indexe.html
http://www.space.t.utokyo.ac.jp/gs/en/index.aspx
CanX1byUniversityofToronto,Canada
Deployment
PPODNLS1#1
Mechanism:
Type:
Singlecubesat
Mission:
Spacetestingkeytechnologiesforfuturemissions:LowcostCMOS
horizonsensorandstartracker,GPSreceiver.
AODC:
CMOShorizonsensorandstartracker,GPSreceiver,magnetometer,
andmagnetorquers

6


Status:
Radiocontactneverestablished
Link:
http://www.utiassfl.net/nanosatellites/CanX1/
DTUsatbyTechnicalUniversityofDenmark
Deployment
PPODNLS1#2
Mechanism:
Type:
Singlecubesat
Mission:
MEMSsunsensorsanda600mtetherusedtochangetheorbit.
AcolorCCDcameraandelectronemitterwerenotreadyontimefor
launch
AODC:
MEMSsunsensors,magnetometer,andmagnetorquers
Status:
Radiocontactneverestablished
Link:
http://dtusat1.dtusat.dtu.dk
AAUCubesatbylborgUniversity,Denmark
Deployment
PPODNLS1#3
Mechanism:
Type:
Singlecubesat
Mission:
ColorCMOScamera
AODC:
Sunsensors,magnetometer,andmagnetorquers
Status:
Theantennasshortcircuitedresultinginpoorcommunication
performancesoonlyweakbeaconsignalswerereceived.Alsosimple
twowaycommunicationwasestablished(pinging).
Batteriesslowlydiedbeginningafterslightlymorethanonemonthin
orbitduetopoorpackaging(punchpack).
Link:
http://www.cubesat.auc.dk
Lessons
http://www.studentspace.aau.dk/publications/AAUCubesatProject.pdf
Learned:

QuakeSatbyStanfordUniversityandQuakesatLLC,USA
Deployment
PPODNLS2
Mechanism:
Type:
TripleCubesat
Mission:
DetectELFradioemissionofseismicactivityduringearthquakes.
Haddeployablesolarpanels,andamagnetometermountedona60
cmboom.
Thes/cwasdesignedusingCOTScomponents.
AODC:
Permanentmagnetandhysteresisrods
Status:
Designedfor6months,itworkedflawlesslyuntilatleastJune6th,
2004(morethan11months).Othersource
(http://showcase.netins.net/web/wallio/CubeSat.htm)states
nominaloperationsinultimoDecember2006(3years,6months
afterlaunch),andbeaconheardonOctober7th,2007
Links:
http://www.quakefinder.com/quakesat.htmand
http://www.quakefinder.com/quakesatssite/index.htm
Lessons
http://www.quakefinder.com/fppt/lessons.htm
Learned:



7



SecondbatchlaunchedonOctober27,2005
NCube2byNorwegianUniversityofScienceandTechnology
Deployment
TokyoPicosatelliteOrbitalDeployer(TPOD)(deploymenttimenot
Mechanism:
known)
Type:
Singlecubesat
Mission:
SimilartoNCube1,thepayloadconsistsofanAutomatic
IdentificationSystem.AISisamandatorysystemonalllargerships,
whichtransmitsidentificationandpositiondatamessages.The
satellitewillredirectthesemessagesalongwithmessagesfrom
Norwegeanreindeercollars.
AODC:
Magnetometerandmagnetorquers
Status:
Radiocontactneverestablished
MayhavebeendeployedaroundDecember20th,2005,when
NORADbegantrackinganewsmallobjectmovingawayfromSSETI
Express.
Itisbelievedthatoutgassingcouldhaveallowedthelate
deployment,howevercontacthasstillnotbeenestablished
Link:
http://www.ncube.no/
UWE1byUniversityofWrzburg,Germany
Deployment
TokyoPicosatelliteOrbitalDeployer(TPOD)(deploymenttimenot
Mechanism:
known)
Type:
Singlecubesat
Mission:
Testingacommunicationprotocol,testofGaAscellsinspace,
runningmicroLinux
AODC:
Informationnotavailable
Status:
NominaloperationsuntilNovember17th,2005,whenitwaslast
heard.Sincethencontacthasbeenlostcompletely.
Link:
http://www7.informatik.uniwuerzburg.de/cubesat
XIVbyUniversityofTokyo,Japan
Deployment
TokyoPicosatelliteOrbitalDeployer(TPOD)(deploymenttimenot
Mechanism:
known)
Type:
Singlecubesat
Mission:
OriginalabackupforXIIV.Thefollowingchangeshavebeenadded:
TestofCIGSandGaAssolarcells,increasedresolutionofcameraand
anintroductionofrapidshootingmodeforestimatingattitude
motion.Amorsemessagetransmissionserviceforradioamateurs
hasbeenadded
AODC:
Permanentmagnet,librationdamper
Status:
Nominaloperations,firstimagereceivedNovember22nd,2005.
FromDecember2005,theimagesareshowingsomeproblems.
ThesatelliteisstilloperatingnominallyultimoNovember2007(2
yearsafterlaunch)
Links:
http://www.space.t.utokyo.ac.jp/cubesat/indexe.html
http://www.space.t.utokyo.ac.jp/gs/en/index.aspx

8



SinglecubesatlaunchedonDec16,2006
GeneSat1byCenterforRoboticExplorationandSpaceTechnologies,CA,USA
Deployment
PPOD
Mechanism:
Type:
Triplecubesat(4.6kg)
Mission:
PerformexperimentonE.Colibacteriainspace,firstcubesatto
carryabiologicalexperiment.
AODC:
Permanentmagnets,hysteresisrods
Status:
Nominaloperations.
96hourexperimentcompletedsuccesfullyonDecember22nd,
2006
Links:
http://www.crestnrp.org/genesat1/ (Excellentwebsite)
http://genesat1.engr.scu.edu/log/opslog.htm(Missionstatus)
http://directory.eoportal.org/pres_GeneSat1.html(Additional
information)

FourthBatchLaunchedonApril17,2007
CP4byCaliforniaPolytechnicInstitute,USA
Deployment
PPODA#1
Mechanism:
Type:
Singlecubesat
Mission:
SecondflightunitofCP2,whichwasdestroyedduringtheprevious
DNEPRlaunch
AODC:
SameasCP2
Status:
CP4hasbeenheardfromnumerousgroundstations,butisnot
respondingtotelecommands
Link:
http://polysat.calpoly.edu/ (GeneralCalPolyCubesatwebsite)
AeroCube2bytheAerospaceCorporation,USA
Deployment
PPODA#2
Mechanism:
Type:
Singlecubesat
Mission:
SimilartoAeroCube1,exceptaddedchargingsystemfortheLithium
batteries.Missionistotestacommunicationsystemandthesystem
busplusasuiteofCMOScamerasdonebyHarveyMuddCollege.
Thesatellitehasnodeployables.Insteadanomnidirectionalpatch
antennaisused.
AODC:
None
Status:
Solarupconverterfailedshortlyafterlaunch.Batteriesdead.
Link:
http://www.aero.org (thisisjustalinktothecompany.Nomission
informationavailable)
CSTB1(CubesatTestbed1)byTheBoeingCompany,USA
Deployment
PPODA#3
Mechanism:

9


Type:
Mission:

Singlecubesat
TestbedforcomponentsforfutureBoeingsmallsatmissions.
Redundantradios,deployableantenna,variousnondisclosedsensors
AODC:
Sunsensors,magnetometerandmagnetorquers
Status:
Nominaloperations
Links:
http://www.boeing.com(thisisjustalinktothecompany.Nomission
informationavailable)
http://www.boeing.com/news/frontiers/archive/2006/october/i_ids02.pdf
MASTbyTethersUnlimited,USA
Deployment
PPODC
Mechanism:
Type:
Triplecubesat(actually3tetheredcubesats)
Mission:
Tetherexperiment.~1millionUSDfortheentireprogram
AODC:
Unknown+GPS
Status:
Onlyhavecontacttooneofthetwomodules
Links:
http://www.tethers.com/Missions.html(Missioninfo)
http://www.tethers.com/MAST_Blog.html (Missionstatus)
CP3byCaliforniaPolytechnicInstitute,USA
Deployment
PPODB#1
Mechanism:
Type:
Singlecubesat
Mission:
Threeaxismagnetorquingexperiment
AODC:
Magnetometersandmagnetorquers
Status:
Radiocontactnotyetestablished
Link:
http://polysat.calpoly.edu/(GeneralCalPolyCubesatwebsite)
CAPE1byUniversityofLouisiana,USA
Deployment
PPODB#2
Mechanism:
Type:
Singlecubesat
Mission:
Camera(?)
AODC:
Permanentmagnetandhysteresisrods
Status:
Haspowersystemproblemsandissemioperational(battery
appearstobedead;currentlyonlyoperatesinthesun).
CWhasbeenreceivedbyseveralgroundstations.
9600bpsTMpacketshavenotbeenreceivedbyanystation
Links:
http://cape.louisiana.edu/
http://jonathanwagner.net/Lotsofpictures
Libertad1(Freedom1)byUniversityofSergioArboleda,Columbia
Deployment
PPODB#3
Mechanism:
Type:
Singlecubesat
Mission:
CameraandtransmissionofonestanzaoftheColombiannational
anthem.
Note:Poweredbyprimarybatteriesonly.Theywilllastforabout52
days.
ThisisthefirstColombiansatellite
AODC:
GPSreceiver,attitudedetermination/controlunknown

10


Status:
Links:

Nominaloperations
http://www.usergioarboleda.edu.co/proyecto_espacial/index.htm
(mostlyspanish)and
http://www.universia.net.co/galeriadecientificos/noticiasdelacienci
aencolombia/libertad1,primersatelitecolombiano4.html(spanish)


OtherStudentsatellitemissions(haveamajorcontributionfromstudents)
SEDSAT1(OSCAR33)byUniversityofHuntsville,AL,USA
Launch:
October24th,1998onaDelteIILVfromVandenberg,CA,USAintoa
1054x543km,lowEarthorbit(inclination=31.44)
36kgmicrosatellite,35x35x30cm3withseveralprotuberances
Type:
(antennasetc).
Mission:
Providemultispectralremotesensingwitharesolutionof200m
froman800kmorbit.
Dataprovidedtothepublicovertheinternet.
DemonstrateanewADCS.
Reprogrammabilityofsoftwarecomponents.
AODC:
Imageprocessing,AshTech12chGPSreceiver,andmagnetorquers
Status:
Problemswithreceiversmeantthattheimagingsystemwasnever
used.
Link:
http://www.seds.org/sedsat
SSETIExpressbymanyEuropeanuniversities,supportedbyESA
Launch:
October27th,2005onaKosmos3MLVfromPlesetsk,Russiaintoa
686x686,sunsynchronousorbit(inclination=98)withalocaltime
of10:30
Satellitebuildbystudentsfrom10Europeanuniversities,supported
Type:
byESA
Mission:
MEMSsunsensors(madeforDTUsat),colorcamera(madefor
AAUsat),propulsionsystem,Cubesatdeployment
AODC:
Sunsensors,magnetometer,semipassivemagneticstabilization
andacoldgaspayloadpropulsionsystem(Nitrogen)
Status:
Contactestablished
Problemswiththeexcesspowerdissipationsystemcauses
insufficientpowerforbatterycharging.
ThecauseseemstobeashortcircuitedMOSFET.Groundtestshave
shownthatitwillopencircuit(2ndfail)afterabout100cycles,
whichshouldhavehappendinthemiddleofNovember2005.
Contactlostwithin12hoursafterlaunch
Checkhttp://www.express.space.aau.dk/?language=en&page=news
formostuptodatestatus
Links:
http://www.esa.int/ssetiexpress
http://sseti.gte.tuwien.ac.at/express/mop/(followrelatedsitelinks
fromhere)
HITSATbyHokkaidoInstituteofTechnology,Japan
Launch:
LaunchedSeptember22nd,2006onaMV7fromUchinouraSpace

11


Center,Japanintoa600x250kmsunsynchronousorbit
(inclination98)
Type:
2.2kg,12inchcube
Mission:
Testofspacecraftbus
AODC:
Sunsensors,magnetometer,gyro,andmagnetorquers
Status:
Operational,problemswiththepowersubsystemintheendof
October2006,telemetryreceivedOctober21st,2007byHAM
Links:
http://www.hit.ac.jp/~satori/hitsat/indexe.html
http://www.dk3wn.info/sat/afu/sat_hitsat.shtml(German)
RAFT1andMARScombyUSNavalAcademySatelliteLab,USA
Launch:
ThesatellitesweredeployedfromtheSpaceShuttleDiscovery
duringSTS116missiononDecember21st,2006
Initialaltitudeof170to185km,resultinginalifetimeof75to200
days
Type:
Two5"cubes,3(MARScom)and4(RAFT1)kg
Mission:
Thesatelliteswillbethefirstoftheirsizewiththeabilitytobe
trackedbytheNavySpaceSurveillance(NSSS)radarfence.
Thesatelliteswillalsofunctionasamateurradiotransponders
AODC:
Permanentmagnet
Status:
RAFT1:NominalOperations
MARScom:Noinformationavailable
Links:
http://web.ew.usna.edu/~raft/index.htm
http://web.usna.navy.mil/~bruninga/raft.html
http://web.usna.navy.mil/~bruninga/anderaftops.html


2.2Compilationoftheavailabledata:
Table1:Sensors

Sr.No Sensor
1
2
3
4
5
6
7
8
9

Sun Sensors and Magnetometer

GPSreceiver
Magnetometer (only)
Sun Sensors, Magnetometer and Gyroscope
Gyroscope and Magnetometer
Sun sensor and by measuring input power of
solar panels
Piezoelectric vibrating gyroscope, dual axis
accelerometer, and CMOS sun sensor
CMOS
horizon
sensor,
star-tracker,
magnetometer; and GPS receiver
None

No.ofSatelliets
6
3
2
1
1
1
1
1
1

12

SunSensorsandMagnetometer
1

GPSreceiver

1
1

Magnetometer(only)
6

SunSensors,MagnetometerandGyroscope
GyroscopeandMagnetometer

Sunsensorandbymeasuringinputpowerof
solarpanels
Piezoelectricvibratinggyroscope,dualaxis
acelerometer,andCMOSsunsensor
CMOShorizonsensor,star
tracker,magnetometer;andGPSreceiver

1
2


Table2:Actuators

Sr.No. Actuator

No.ofSatelliets

1
2
3

9
6
1

Magnetorquers
Permanentmagnet
Permanent magnet, Libration damper

Magnetorquers, Momentum wheel, and Liquid

1
fuelledcoldgaspropulsionsystem(SF6)

4

Semi-passive magnetic stabilization and a Coldgas payload propulsion system (Nitrogen)

Magnetic based (coils) and momentum wheels
None

5
6
7

1
1
1

Magnetorquers

Permanentmagnet

1
1

Permanentmagnet,Librationdamper
9

Magnetorquers,Momentumwheel,andLiquid
fuelledcoldgaspropulsionsystem(SF6)
SemipassivemagneticstabilizationandaCold
gaspayloadpropulsionsystem(Nitrogen)
Magneticbased(coils)andmomentumwheels
6
None






13


2.3Initialchoiceofsensorsandactuators
Based on the literature survey we finalized upon the following sensors and
actuators:
PositionDetermination
GPS
AttitudeDetermination
Magnetometer+sunsensor
AttitudeControl
3axisMagnetorquer

Withtheseasthechoiceofsensorsandactuatorsweexpectedtoachievefollowing
accuracy
PositionDetermination
10m
AttitudeDetermination
0.5deg
AttitudeControl
1deg

Reference:http://mtech.dk/thomsen/space/cubesat.php

















14


Chapter3
ModelingtheSatelliteDynamics
3.1Framesofreference
3.1.aABriefDescription:

Abriefdescriptionoftheframesofreferenceusedinthesimulationisasgiven:


a) InertialFrame(I)
XFirstpointofAries
ZAxisofrotationofEarth
YZX
b) OrbitReferenceFrame(R)
XIntheplaneoforbitalongdirectionofmotion
ZTowardsEarth
YZX

c) BodyFrame
Alongtheprincipalbodyaxes


3.1.bConversionbetweenvariousframesofreference:
a) OrbitFrameandBodyFrame
areEuleranglesofbodywithrespecttoorbitframe


TBR = 


b) InertialFrameandOrbitFrame
Giventheorbitalelementswith
=Longitudeoftheascendingnode
i=Inclination
=Argumentofperiapsis

15

=Trueanomaly
Followingrotationsarerequired

=AX( )AZ( )AZ( )AX(i)AZ() 

TRI=


3.2AttitudeDynamicsandKinematics
1) GivenavectorAandframesB,I

=

+
  

angularvelocityofBwrt.I

2) Angularmomentum 



Fig.1:BodyandInertialframes

InthefigureabovepointOisthecenterofmassofthebodyandisalsotheoriginofthe
bodyframe
i,j,kbodyframeunitvectors
Thereforewehave
i=o+i
i|IB=o|IB+I|BB+
BIBiB

16


Wherei|IB=rateofchangeofRiwrt.inertialframeresolvedinbodyframeandsoon.
Thiscanalsobewrittenas
o+
i+
i=
BII 
i=0
Sincesatelliteisarigidbody,so
Angularmomentumofthebodyisgivenby
(=ii)


=
 
=

since =C.M.=0

Resolvinginbodyframe
=
where,
istheangularvelocityofBwrtIresolvedinBand

=


SimilarlywecanalsoderivetheexpressionforKineticenergyofthesatellite
EKE=ETranslational+ERotational

ETranslational= m 

ERotational=  


3)RateofchangeofAngularMomentum

=|I

IB=


|I= |B+


=
  
+


Ifprincipleaxescoincidewithbodyaxesthenweget
= + 

17


= + 
= + 
x,y,zare
scomponents.


AttitudeKinematics
Euleranglesaredefinedwrtreferenceframe(R)







   
Following321systemwegetthefollowingtransformationmatrix

TBR=


Relationbetween
and 

=AAA +AA+A 


 
 
 

=p+(q ) 
=q 
=(q ) 

Tofind


= 

18

=



=  
=

. 

Assumingacircularorbitweget
=

= 
=

)=0

. = (

. = (




)= = 

. =0

=[0 0]T

ThereforetheequationsofKinematicsare

= =+ 

= +


Where,


Solvingweget
= + (cossin
q= + 
r=  





19


3.3Disturbances
Gravitygradienttorqueisthemostdominantofthetorquesactingonthesatelliteandhenceforan
initialmodelingofthedisturbancesonlygravitygradienthasbeenmodeled
Gravitygradienttorque



Fig.1:GravityGradientTorque

=o+



 

Now,










Therefore,


Solvinginbodyframeandintegrating,weget

20



 

 

 

3.4ControlTorques
Magneticcontroltorque



m=magneticmoment
B=magneticfield
If ,  arethefieldvaluesinIthen

   

Also,

   

  

 

 


3.5ControlLaw
Thefollowingcontrollawsarebeingusedonthesatellite
NominalOperational



 


21

Detumbling

 

3.6LinearisedEquations
1) J
= + 
= + 
= + 

2) pqr
  
   
  


  
  
 

3) pqr
=p+(q ) 
=q 
=(q ) 

p+r
q
q 
Solvingequationsin(3)wegetapproximately,
p
q

Substitutinginequationsof(2)weget,
  

22

  
 
Substitutinginequationsof(1)weget,
= + 
= 
= + 

Linearizedequationofgravitygradienttorque




Linearisedequationformagnetictorque

 

 

 

 

Substitutingweget:
+ 
+ 
+ 
Since,wearelinearizingaboutzeroattitudeandzerocontrolmomentthereforetermswhichhavea
multiplicationofattitudeandmagneticmomentcanbeassumedtobezero.

 

HereBreferstoMagneticfieldresolvedinorbitframewith asitscomponents.
Substitutingthevalueofmagneticmomentfromtheexpressionofcontroltorquewegetandwriting
theminstatespaceformweget,

23









 

Thisisoftheform,







B=

Theseequationshavebeenderivedfromthefollowinglinearizedequations

 

24


Chapter4
Simulation
4.1SystemdynamicsandKinematics
Thefollowingsubsystemsmodelthedynamicsandthekinematicsofthesatellite.


Torqueto
ThismodelusesthetotaltorqueactingonthesystemandgivesusetheangularvelocityoftheBody
frameInertialframe.

Inputs
TotalTorque(inbodyframe);    torquesinbodyframe
Output

Angular velocity of Body frame w.r.t. Inertial frame resolved in Body Frame;

   
Parameters

Momentofinertia(Principal)=

Equations



 

to


This subsystem converts the angular velocity of the Body Frame w.r.t. Inertial Frame to angular
velocityoftheBodyFramew.r.t.Reference(Orbit)Frame.

25


Inputs
Angular velocity of Body Frame w.r.t. Inertial Frame resolved in Body Frame;

   
Attitude; 
Output

Angular velocity of Body Frame w.r.t. Orbit Frame resolved in Body Frame;

 
Parameters
Orbitalangularvelocity;o
Equations


= +  











26


4.2Modelingtheattitudedynamicsinabsenceofexternalperturbations
toAttitude

ThissubsystemfirstconvertstheangularvelocityoftheBodyFramew.r.t.Reference(Orbit)
Frametothetimerateoftheattitudewhichisthenintegratedtogettheattitude.

Inputs
Angular velocity of Body Frame w.r.t. Orbit Frame resolved in Body Frame;

 
Output
Attitude; 
Equations

 

27


ControlTorque
Thissubsystemmodelsthemagnetictorquers,givingthecontroltorque.


Inputs
Attitude; 
Output

ControlTorques;
   

Equations

 




 

28


ControlLaw
ThecontrollawcontrolsthesatellitebychangingmagneticmomentsoftheTorquers.The
first part of the control law is used for momentum dumping whereas the second part
appliesarestoringtorquegettingthesatellitetothedesiredorientation.


Inputs
Attitude; 
MagneticFieldinBodyFrame;BB=   
Output
TorquerMoments;m=   
Parameters






Dampingparameter;k=

StiffnessParameter;K=

29


Equation

 
  

 



MagneticFieldinBodyFrame
This subsystem gives the local magnetic field in the body coordinates. This is required to
calculatethemagneticmomentinthepreviousblock.


Using Matlabs World Magnetic Model 2005 model for Earths magnetic field we get
 in the NorthEast down (NED) coordinate system, which we need to convert it into
inertialcoordinateusingMatlabsDirectionCosineMatrixECEFtoNEDblock.

Two frame changes (being Inertial frame to Orbit frame and Orbit frame to Body Frame)
follow,givingmagneticfieldprojectedinbodyframe.


30


TheWorldMagneticModel2005taketheGeodeticLLA(Latitude,LongitudeandAltitude)
and Decimal Year; and gives the Local magnetic field in the NED (NorthEastDown) co
ordinatesystem.

4.3ModelingtheEnvironmentalperturbations
FollowingisthemodeloftheenvironmentoftheSatelliteorbit.

Gravitygradienttorques
Thissubsystemgivesusthegravitygradienttorquesactingonthesatellite.


Inputs
Attitude; 
Output

GravityGradientTorques;
   

Parameters

Momentofinertia(Principal)=

Orbitalangularvelocity,o
Equation

  

  

  

31


4.4 Modelingwiththeenvironmentalperturbationsappliedtothesystem
AerodynamicTorques
ThissubsystemgivesthetorquesactingonthesatelliteduetotherarifiedgasesintheLEO
(LowEarthOrbit).


Inputs
OrbitalStateVector;v=   ,r= 
Output

AerodynamicTorques;
   

Parameters
CoefficientofDrag;Cd
PositionofCenterofpressurew.r.t.Centerofmass;SCP

Equation
Using Matlabs NRLMSISE00, an empirical, global model of the Earth's atmosphere,
andwegetthelocalairdensity;.

 







32


Chapter5
OrbitalStateVectorEstimator
5.1OrbitEstimationneed
This subsystem estimates the orbital state vector which is required for estimating the
position and velocity of the satellite for other blocks such as Matlabs World Magnetic
Model2005,AerodynamicTorquesetc.


Output
OrbitalStateVector;v=   ,r= 
Parameters
Standardgravitationalparameter;=3.9860044181014
Equations

 
 



33


5.2OrbitalStateVectortoOrbitalElements
This subsystem converts the Orbital State Vector to the Orbital Elements required for the
conversionoftheInertialframetotheOrbitframe.

Inputs

OrbitalStateVector;v=   ,r= 
Output
OrbitalElements; 
Parameters
Standardgravitationalparameter;=3.9860044181014
Equations











34


5.3EstimationofpowerconsumptionofTorquers

ThissubsystemestimatesthepowerconsumedbytheTorquers.



Inputs
Angular velocity of Body Frame w.r.t. Inertial Frame resolved in Body Frame;

   

ControlTorques;
   
TorquerMoments;m=   
Output
PowerconsumedbytheTorquer;P
Parameters
ElectricalresistanceoftheTorquerCoils;R
LoopareaofTorquerCoil;AC
NumberofturnsintheTorquerCoil;NC
ElectricalEfficiencyoftheTorquer;
Equations
m=i.NC.AC

 








35


Chapter6
ChoiceofSensorsandActuators
6.1Initialchoiceofsensorsandactuators
1.SunSensor
a) DesignoftheSunpositionmodel
Framesofreference:



Fig.1:Framesofreference

1) InertialFrame(I)
XFirstpointofAries
ZAxisofrotationofEarth
YZX

2) OrbitReferenceFrame(R)
XIntheplaneoforbitalongdirectionofmotion
ZTowardsEarth
YPositivetoplaneoftheorbit

Calculations
On21Marchxaxesofbothframescoincide.
M=meananomaly
E=inclination

36


SunvectorinSO=

Totransform,
 
 





b) Given attitude of satellite, sun vector and position in ECI, to find the
intensityoflightoneachface



wherei=x,x,y,y,z,z

Letbesunvectorinbody;

 
I0=solarconstant

ThesunsensorSLSD71N8
Specificationscanbeseenindetailinthedatasheet.
BriefSpecs:
1)
2)
3)
4)
5)
6)

Shortcircuitcurrent:170A
Opencircuitvoltage:0.4V
Junctioncapacitance:100pF
Reversedarkcurrent:1.7A
Spectralsensitivity:0.55A/W
Acceptancehalfangle:60deg

2.Magnetometer
Section1:Introduction
A magnetometer measures the strength and/or direction of the magnetic field in its vicinity. We
haveplannedtousea3axismagnetometertomeasurethedirectionoftheEarthsmagneticfield
withrespecttothesatellite.Distortionsofthemagneticfieldmayoccurfromthesatellitestructure
andothersatellitecomponents,andthismustbetakenintoaccount.

37





Section2:HMR2300
2.1Processofselection:
2.1.1Comparison:

Output

HMC1001/1002
digital

HMC2003
analog

Sensitivity
FieldResolution
FieldRange
SpaceHeritage


3mV/V/Gauss
40Gauss


AAUsat

1V/Gauss
40Gauss


consideredby

HMR2300
Digital output(RS232
orRS485)

70Gauss


Cute1.7

2.1.2Conclusion:
DigitalOutputmakesthedatahandlingsimpler.TheprotocolRS232isalsoeasytoimplementfor
datacommunications.TheabovereasonsfavourtheuseofHMR2300andHMC1001/1002.
HMC2300hasabetterfieldresolutionascomparedtoHMC1001/1002.HMR2300hasbeenusedby
Cute 1.7 student satellite made by Tokyo Institute of Technology, Japan which was launched
successfullyrecently(28April2008).
Hence,thechoiceisHMR2300.

2.2GeneralDescription:
The Honeywell HMR2300 is a threeaxis smart digital magnetometer to detect the strength and
direction of the incident magnetic field. The three of Honeywells magnetoresistive sensors are
orientedinorthogonaldirectionstomeasuretheX,YandZvectorcomponentsofamagneticfield.
These sensor outputs are converted to 16bit digital values using an internal deltasigma A/D

38

converter.AnonboardEEPROMstoresthemagnetometersconfigurationforconsistentoperation.
ThedataoutputisserialfullduplexRS232orhalfduplexRS485with9600or19,200rates.



Fig:HMR2300

2.3Specifications:
Characteristics

Conditions

Min

Typ

Max

Units



PowerSupply:
SupplyVoltage
SupplyCurrent


Pin 9 referenced to pin 5 6.5

(Ground)
Vsupply=15V,withS/R=On 

15

Volts

27

35

mA


PCBOnly
PCB and NonFlanged
Enclosure
PCB
and
Flanged
Enclosure
Operating,

5to10Hzfor2Hours
10to2kHzfor30Minutes

28

94

98

10
2.0

grams


mm
g

+85
125

C
C

+2

gauss

Mechanical:
Weight

Vibration


Temperature:
Operating
Storage
 

Ambient
Ambient,Unbiased

40
55

MagneticField:
Range

Full Scale(FS), Total Field 2

39

Resolution
Accuracy

Applied
Applied Field to Change 67
Output
RSSofAllErrors@+25



.01

.52

micro
gauss
%FS







Fig:HMR2300casedimensions

AlltheotherspecificationscanbeseeninthedatasheetofHMR2300.

2.4DataCommunications:
TheuseofRS232ispreferredbytheOnBoardComputerSystemfordatacommunications.
A RS232 development kit version is available with HMR2300 that includes a windows compatible
demoprogram,interfacecable,ACadapter,andcarryingcase.
2.5ApplicationPrecautions:

40

1.Thepresenceofferrousmaterials,suchasnickel,ironsteel,andcobaltnearthemagnetometer
will create disturbances in the earths magnetic field that will distort the X, Y and Z field
measurements.So,itshouldbeavoided.
2.Thepresenceoftheearthsmagneticfieldmustbetakenintoaccount.
3. The variance of the earths magnetic field in different parts of the world must be taken into
accounttoo.
4.PermingeffectsontheHMR2300circuitboardneedtobeconsidered.IftheHMR2300isexposed
tofields greaterthan10 gauss, then the enclosure/circuitboards degaussed forhighestsensitivity
and resolution are recommended. (Degaussing wands are readily available from local electronics
toolsuppliersandareinexpensive.)


Actuators
Magnetorquer
Magnetorqueristheprimaryactiveactuatorforoursatellite.Threetorquersarerequired
forthreeaxisattitudecontrolofthesatellite.
HardwareDesign
2.1Theconceptofhardwaredesign:
Thedesignofthemagnetorquersisbasedontheassumptionthatallthreecoilshavesame
properties.Thismeansthatthemassofeachcoilisequaltoonethirdofthetotalmass.

2.2DesignConstraints(percoil):

Physicalconstraints:
MaximumDimensions

180*180mm
MaximumWeight 

50g
MaximumPower/Torquer 
1W
MaximumMag.Moment

0.666Am2*(SeeCalculationsinappendix)
Voltage



3.3V

Environmentalconditions: 
MinimumTemp


100C
MaxTemp 


100C
NormalTemp 


15C


Section3:NumericalAnalysis

3.1Formulaeused:

41



x
 


R=4L/ ;

A=ab;L=2n(a+b);

V=3.3V(asspecifiedbythePowerSystem)

W=(L )/4;

Where,















=Torque
P=power
R=resistance
n=numberofturns
i=current
m=magneticmoment
B=Earthsmagneticfield=3
T
d=diameterofwire
a=18cm
b=18cm(assumingasquaretorque)
=resistivityofwire
=densityofwire
=anglebetweenBandm
(AirCoretorque)
W=weightofthewire

3.2Calculations:
1.Magneticmoment:


 

 


2.Weight:


W=(L )/4;

W= nd2

42





3.Power:




Section4:Selectionofthecoilwire

4.1Variablestobeconsidered:

1.CoilMaterial
ForthedesignwewillbechoosingbetweenAlandCuwires.AdvantageofAlwiresislight
weightwhereasthatofCuwiresislowresistance.

2.Wirediameter
Wirediameterisextremelycriticalbecause:


Thereforethickerthewirediametermorewillbethemagneticmomentproduced.

3.No.ofTurns
EventhoughMagneticmomentisindependentofno.ofturnsitisanimportantfactorwhen
requirementsofweightandpowerneedtobesatisfied.


4.2ConstraintAnalysis:

 



 



 


m

ForCopper(AllSIunits)




43




Tosatisfy1




=
Tosatisfy2


Tosatisfy3



4.3ComparisonbetweenAlandCuascoilwirematerial:

Since torque will be operating at less than maximum power point for most of the operation cycle
thereforeweightistheprimarycriterionforoptimization.
Fromthiswegetthefollowingspecificationsforthetorque


Alwiretorque

Cuwiretorquer
Geometric





WireDiameter
4.78E01
mm

0.312
mm
No.ofturns
70


70

a
18
cm

18
cm
b
18
cm

18
cm






Power





Voltage
3.3
V

3.3
V
Current
0.294
A

0.294
A
Power(max)
0.9702
W

0.9702
W






Main
Specifications





MagneticMoment 6.68E01
Am2

0.668
Am2
Power(max)
0.972
W

0.972
W
Weight
24.4
g

34.3
g








Section5:Otherparameters
Otherparameterswhichweneedtoconsiderduringthedetaileddesignofthetorque:
5.1Temperaturevariationofthevariousparametersofthetorque.

44


5.2Timeconstantofthetorque.


Section6:CoilDriver
6.1Introduction:
ThecontrolleronPRATHAMrequiresthatthemagneticfieldgeneratedbythecoilshasto
bebothpositiveandnegative.Therebythecurrentthathastorunthroughthecoilshasto
bebothpositiveandnegative.Sincethereisonly3.3Vavailable(asquotedbythePower
Systems),thecoilswillbedrivenbyaHBridgeinordertomakebothpositiveandnegative
currentsthroughthecoils.
6.2Hbridge:
Inaccordancewithourrequirements,weneedanHbridgewith2pnpand2npntransistors.
TheHbridgeworksbyeitherturnontheQ1andQ3transistortogenerateapositivecurrent
orbyturningontheQ2andQ4transistortogenerateanegativecurrent.Thisisillustrated
inthefigurebelow.ThecoilisconnectedbetweenC1,C2andC3,C4ontheHbridge.




Fig:Hbridgebasicconfiguration


Themodelchosenasofnowisfortheobservationpurpose:
ZHB6718byZetex


6.3Shottkydiodes:

45


Diodes are placed at C1, C2 and C3,C4 on the Hbridge to either Vcc or Gnd, in order to
removepeakvoltagefromthecoils.ThepeakvoltagewillpassthroughtheHbridgethereby
damagingitifthediodeswerenotplacedontheHbridge.TheHbridgewillbedestroyedif
the spark voltage is applied for longer periods of time. The figure below shows how the
diodesareplacedinthecircuitry.






Fig:Hbridgewithshottkydiodes


6.4PulseWidthModulation:
To control the torque provided by the coils one must control the current flowing through
thecoils.PulseWidthModulation,PWM,isawelltestedmethodofcontrollingthecurrent
inaninductivecircuit.
Morestudyrequired!!!

Appendix
1.Calculationsformaximumtorquerequired:
MaxGGTorque:


Torque()=(3 /2 )[ ]sin2
=(3 /2 )[ ]

Here,
=GM=(6.67 (6 (S.I.units)


G=Gravitationalconstant;

M=MassoftheEarth;

46


m=massofsatellite;



=tipmassofGGBoom=0.250kg

l=lengthofoneside=0.30m

L=Lengthoftetherwire(BoomLength)=10m

R=Distanceofsatellitefromthecentreoftheearth=6400+670km

=7070km


2.Assumption:AssumingCUBICSATELLITE

 )(0.
 (S.I.units)
Othertorquesaresmaller



For=/2;B=3 T

Maxtorquerequired=1/3( )










47



























6.2Simulationstoverify/validatethechoice

48


SystemDynamics
Thefollowinggraphsshowthesimulationofsystemdynamicsofthesatelliteforthefollowing
inputs.

Case1


2.1.1






2.1.2


=0
=0
=0
p=0
q=0
r=0
Ix=0.1
Iy=0.1
Iz=0.1
Attitude

p,q,r.

49








50


ControlStrategies
Case2
WithoutGyro


=0
=0
=0
p=0.06
q=0.06
r=0.06
Ixa=.10
Iya=.10
Iza=.10
k1=1e+7
k2=1e+7
k3=1e+7
K1=5000
K2=5000
K3=5000
Tau=100


51

2.1.1

Attitude

52

2.1.2


























WithGyro

53

1.1.3
ErrorsduetoSunSensorandManetometer
Tau_Magnetometer=100
Tau_Sunsensor=100
Magnetometererror=
Sunsensorerror=5deg
Magnetometererror=0.52%error