Advances in aircraft and spacecraft science

Techno-Press (테크노프레스)
권호 표지
DOI QR코드

DOI QR Code

Attitude control in spacecraft orbit-raising using a reduced quaternion model

  • Yang, Yaguang (Division of Engineering, Office of Research, US Nuclear Regulatory Commission)
  • Received : 2014.01.18
  • Accepted : 2014.05.20
  • Published : 2014.10.25
⟨ Previous Next ⟩

Abstract

Orbit-raising is an important step to place spacecraft from parking orbits into working orbits. Attitude control system design is crucial in the success of orbit-raising. Several text books have discussed this design and focused mainly on the traditional methods based on single-input single-output (SISO) transfer function models. These models are not good representations for many orbit-raising control systems which have multiple thrusters and each thruster has impact on the attitude defined by all outputs. Only one published article is known to use a more suitable multi-input multi-output (MIMO) Euler angle model in spacecraft orbit-raising attitude control system design. In this paper, a quaternion based MIMO model for the orbit-raising attitude control system design is proposed. The advantages of using quaternion based model for orbit-raising control system designs are (a) there is no need for mathematical transformations because the attitude measurements are normally given by quaternion, (b) quaternion based model does not depend on rotational sequences, which reduces the chance of human errors, and (c) the singular point of reduced quaternion model is the farthest from the operational point where linearization is performed. We will show that performance of quaternion model based design will be as good as the performance of Euler angle model based design for orbit-raising problem.

Keywords

References

  1. Athans, M. and Falb, P.L. (1966), Optimal Control: An Introduction to the Theory and Its Applications, McGraw-Hill Inc., New York, USA.
  2. Boskovic, J., Li, S. and Mehra, R. (2001), "Robust adaptive variable structure control of spacecraft under control input saturation", J. Guid. Control Dyn., 24(1), 14-22. https://doi.org/10.2514/2.4704
  3. Bras, S., Rosa, P., Silvestre, C. and Oliverira, P. (2013), "Global attitude and gyro-bias estimation based on set-valued observers", Syst. Control Lett., 62(7), 937-942. https://doi.org/10.1016/j.sysconle.2013.06.008
  4. Chan, B., Park, Y., Roh, W. and Cho, G. (2010), "Attitude controller design and test of Korea Space Launch Vehicle-I", Int. J. Aeronaut. Space Sci., 11(2), 303-314.
  5. Chen, C., Shun, Y., Cheng, C., Liao, P. and Fang, Z. (2007), "MATLAB-based rapid controller development platform for control applications", Proc. IMechE Part C: J. Mech. Eng. Sci., 221(11), 1461-1473. https://doi.org/10.1243/09544062JMES754
  6. Dorf, R.C. and Bishop, R.H. (2008), Modern Control Systems, Pearson Prentice Hall, Upper Saddle River, NJ, USA.
  7. Grace, A., Laub, A.J., Little, J.N. and Thompson, C. (1990), Control system toolbox for use with MATLAB, User's Guide, The MathWorks Inc., South Natick, MA, USA.
  8. Kim, D., Park, S., Kim, J. and Choi, K. (2008), "Development of a hardware in the loop simulation for spacecraft attitude control using a momentum wheel", J. Astronaut. Space Sci., 25(2), 347-360. https://doi.org/10.5140/JASS.2008.25.4.347
  9. Kuipers, J.B. (1999), Quaternions and Rotation Sequences: A Primer with Applications to Orbits, Aerospace and Virtual Reality, Princeton University Press, Princeton, New Jersey, USA.
  10. Martin, P. and Salaun, E. (2010), "Design and implementation of a low-cost observer-based attitude and heading reference system", Control Eng. Prac., 18(7), 712-722. https://doi.org/10.1016/j.conengprac.2010.01.012
  11. Noll, R.B., Zvara, J. and Deyst, J.J. (1971), Spacecraft Attitude Control During Thrusting Maneuvers: Spacecraft Spin Stabilized Thrust Control, NASA space vehicle design criteria, NASA SP-8059.
  12. Paielli, R. and Bach, R. (1993), "Control with realization of linear error dynamics", J. Guid. Control Dyn., 16(1), 182-189. https://doi.org/10.2514/3.11444
  13. Sanyal, A., Lee, T., Leok, M. and McClamroch, N. (2008), "Global optimal attitude estimation using uncertainty ellipsoids", Syst. Control Lett., 57(3), 236-254. https://doi.org/10.1016/j.sysconle.2007.08.014
  14. Show, L.L., Juang, J.C. and Jan, Y.W. (2003), "An LMI-based nonlinear attitude approach", IEEE Tran. Control Syst. Tech., 11(1), 73-83. https://doi.org/10.1109/TCST.2002.806450
  15. Sidi, M. (1997), Spacecraft Dynamics and Control: A Practical Engineering Approach, Cambridge University Press, Cambridge, UK.
  16. Stoltz, P.M., Sivapiragasam, S. and Anthony, T. (1998), "Satellite orbit-raising using LQR control with fixed thrusters", Proceedings of the 21st Annual AAS Rocky Mountain Guidance and Control Conference, Brackenridge, CO, USA, February.
  17. Wallsgrove, R. and Akella, M. (2005), "Globally stabilizing saturated control in the presence of bounded unknown disturbances", J. Guid. Control Dyn., 28(5), 957-963. https://doi.org/10.2514/1.9980
  18. Wen, J. and Kreutz-Delgado, K. (1991), "The attitude control problem", IEEE Tran. Automat. Control, 36(10), 1148-1161. https://doi.org/10.1109/9.90228
  19. Wertz, J. (1978), Spacecraft Attitude Determination and Control, Kluwer Academic Publishers, Dordrecht, Holland.
  20. Wie, B. (1998), Vehicle Dynamics and Control, AIAA Education Series, Reston, VA, USA.
  21. Wie, B., Weiss, H. and Arapostathis, A. (1989), "Quaternion feedback regulator for spacecraft eigenaxis rotations", J. Guid. Control Dyn., 12(2), 375-380. https://doi.org/10.2514/3.20418
  22. Won, C. (1999), "Comparative study of various control methods for attitude control of a LEO satellite", Aerosp. Sci. Tech., 3(5), 323-333. https://doi.org/10.1016/S1270-9638(00)86968-0
  23. Yang, Y. (2010), "Quaternion based model for momentum biased nadir pointing spacecraft", Aerosp. Sci. Tech., 14(3), 199-202. https://doi.org/10.1016/j.ast.2009.12.006
  24. Yang, Y. (2012), "Analytic LQR design for spacecraft control system based on quaternion model", J. Aerosp. Eng., 25(3), 448-453. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000142
  25. Yang, Y. (2012a), "Spacecraft attitude determination and control: Quaternion based method", Ann. Rev. Control, 36(2), 198-219. https://doi.org/10.1016/j.arcontrol.2012.09.003
  26. Yang, Y. (2014), "Quaternion based LQR spacecraft control design is a robust pole assignment design", J. Aerosp. Eng., 27(1), 168-176. https://doi.org/10.1061/(ASCE)AS.1943-5525.0000232

Cited by

  1. Spacecraft Attitude and Reaction Wheel Desaturation Combined Control Method vol.53, pp.1, 2017, https://doi.org/10.1109/TAES.2017.2650158
  2. Coupled orbital and attitude control in spacecraft rendezvous and soft docking pp.2041-3025, 2018, https://doi.org/10.1177/0954410018792991