9.2 Design of A Satellite's Attitude Control
9.2 Design of A Satellite's Attitude Control
9.2 Design of A Satellite's Attitude Control
2 Designof a Satellite's
Attitude Control 669
and parametervariations.If the performanceis not satisfactory.
return to Step 1 and repeat.
8. Build a prototypeand test it. If not satisfied,return to Step1 and
repeat.
9.2
F I G U R9E. 2
and its two-bodymodel
I agramof a satellite
*
I
l
,,
1
o2
/
---;
t
A.
" t r 4t
.'
/
tld.,-/
It,'W
)r4
L--ft
/
lnstrulnenl
Package
j:-r..-?
"'w@
,* lo
,,@
\ *:
i
!
il
i
1i'
670
Chapter 9
dynamicsofthesatelliteincludeparametersthatcanvary.Thecontrolmust
prespecifiedrange to be given
be satisfacto.yro, unf paru*et.i values in a
when the equationsare written'
S T E P 2 . s e l e c t a s e n s o 1 . I n o r d e r t o o r i e n t t h e s c i e n t i fpurpose
i c p a c kwe
age,itis
vehicle.For this
necessaryto measurethe attitude anglesof the
based on gathering an image of a
propose to use u *,".-ii""X.t, u 'y'Lt
focal plane of a telescope.This
specificstar and t"epirrf it centeredon the
(on the average)reading
sensor gives a relativeli noisy but very accurate
packagefrom the
proporrtnu I to 02, the ingle of Oeviationof the instrument
gyro
to give a clean
ToitabilizJthe control, we include a rate
;#;J;;;F.
would amplify
signal
reading of 0,, since a lead network on the star-tracker
gyro can stabilize large motions
the noise too much. Furthermore, the rate
beforethestartrackerhasacquiredthetargetstarimage.
in selectingthe actuator
STEP 3. selectan actuator.Major considerations
areprecision,reliability,weight,powerrequirements'andlifetime'Alternatives
jets' reaction wheelsor gyros' magnetic
for applying torque u," "Ja-gut
most power and are the least
torquers,and a gravitfgi"Ai"nt]fn" ittt ttuut the
can only transfermomentum'sojes
accurate.Reaction*t.!t, are precisebut
"dump" momentum from time to time
or magnetictorquers a,e teqt'ired to
of torque and are only suitablc
Magnetic torquerspr*ia" reiativelylow levels
gravity gradientalso providesa very
for somelow-altitude satellitemissions.A
placessevererestrictionson
small torque that limits the speedof responseand
we selectcold-gasjetr
the shapeof the satel^lit..roi prrrporer^ofthis mission,
as being fast and adequatelyaccurate'
STEP4.Makealinearmodel.Forthesatelliteweassumetwomassc$
connectedbyaspringwithtorqueconstantkandviscous.dampingconstant}
as shownin Fig. 9'2-Theequationsof motion are
J r d ,+ b @ ,- o r 1 +t l e t - o r ) : T ,
(e.l{
(e.lbl
With inertiasJ' : I ad
where f is the control torque on the main body'
J z : 0.1,the transferfunctionis
10bs* 10/<
1 l b s+ 1 l k ) '
If wechoose
x:l0z
0, 0r 6rf'
u' theequations
asthestatevector,then,usingEq.(9'1)andassuminET"=
9.2
671
1
o
k
-i;-, b
x:
0
k
i;
y:U
o l
b I
i; l**
l l
i;
0
b
0
-i;k
i;
(9.3a)
b l
-nJ
(e.3b)
0 0 0lx.
0 . 0 9< k < 0 . 4
Q.aa)
k
(e.4b)
[ o
.
x : l
Iol
o l
0.036|
I ,.* lo1,.
I
-o.oe1-0.0036l
lo.ont 0.0036
y:U
0 0 Olx.
(e.5a)
l0l
Lrl
(e.5b)
u(s,:
0.036(s
+ 25)
FGT 0o4s+ D
(e.6)
672
Chapter 9
Case Studies
Control-system Desigir: Principles and
9.3
FIGURE
Rootlocusof K6(s)
9.4
FIGURE
Open-loopBodeplot of K6(s) for K:05
l0
)<
u
d
0.1
0.01
0.1
I
o (rad/sec)
(a)
- 180'
-200"
-220"
-240"
-260"
-280'
- 300'
-320"
- 340'
- 360"
0.1
I
r,r(rad/sec)
(b)
Equations(3.42)tell us that fu
adequaterobustnessto toleratethesechanges.
met if the closedJooppoleshaw e
dynamic performance,p".inlutio"s_will.be
a closedJoopdamping ratio of 0'5; thcr
natural frequency"f 0.i;;7;;;and
of a,"=05 rad/secand e
coprrespond,o un op"nioop "'ottont'.frequency
thesedesigncriteria
meet
to
phasemargin of uUouipftn I SO..We will tiy
STEP5.Tryalead-lagorPlDcontroller..Theproportional-gainrootloctrr
9'3' and the Bgde-nlot. is given in
for the nominal punf-L a*wn in Fig'
q'+ thatlhis may be a difficult designproblem
Fig. 9.4. We can ,." t * rG'
"tonunt" is greater than thc
becausethe frequency oi tttl fightly damped
situation will
a",igrr poini UV only- a factor of 2' This
crossover-frequency
the phaselag of the plant at thc
require that the "o,op"ir?,1o" "un "orr."i for