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NASA NTRS2005

Small Body GN&C Research Report: A Guidance and Control Technique for Small-Body Proximity Operations with Guaranteed Guidance Resolvability and Required Thruster Silent Time

The guidance and control (G&C) algorithms for enabling small-body proximity operations are developed by using a model predictive control approach along with a convexification of the governing dynamics, control constraints, and trajectory/state constraints. The open-loop guidance is solved ahead of time or in a resolvable, real-time manner through the use of PWG (Pseudo Way-point Generation), a technique developed in this research. The PWG scheme ensures required thruster silent times during trajectory maneuvers. The feedback control is implemented to track the PWG trajectories in a manner that guarantees the resolvability for the open-loop problem, enabling the ability to update the G&C in a model-predictive manner. The schemes incorporate gravity models and thruster ring times into discrete dynamics that are solved as a optimal control problem to minimize fuel consumption or thruster energy expenditure. The optimal control problem is cast as an LMI (Linear Matrix Inequality) and then solved through Semi-Definite Programming techniques in a computationally efficient manner that provides convergence and constraint guarantees.

guidance and control (G&C)↗

NASA NTRS2008

Operational Characteristics of a Low-Energy FARAD Thruster

Data from a 100 J per pulse electrodeless accelerator employing pulsed RF-preionization are presented to gain insight into the accelerator's operating characteristics. The data suggest that the propellant distribution is highly unoptimized, with most of the gas inaccessible to the discharge and the remainder mostly concentrated at the inner radius of the coil. The pulsed RF-preionization discharge produces a visible plasma, but like the gas distribution it mostly appears concentrated at the inner radius of the thruster. Magnetic field probes in the discharge point to a current sheet that is not magnetically impermeable. These data also exhibit signs of nonrepeatability, and time-integrated discharge photography shows signs of spatial nonuniformity in both the radial and azimuthal directions. Terminal voltage measurements on the two capacitor banks of the thruster do not exhibit the asymmetric nature (in time) typically associated with an efficient pulsed plasma accelerator. Based on the experimental evidence, the poor performance of the thruster is thought to be due to insufficient preionization, which at these low discharge energy levels severely limits the ability of the main current pulse to couple with and effectively accelerate the propellant.

Polzin, Kurt A.↗

NASA NTRS2008

Operational Characteristics and Plasma Measurements in a Low-Energy FARAD Thruster

Pulsed inductive plasma accelerators are spacecraft propulsion devices in which energy is stored in a capacitor and then discharged through an inductive coil. The device is electrodeless, inducing a plasma current sheet in propellant located near the face of the coil. The propellant is accelerated and expelled at a high exhaust velocity (order of 10 km/s) through the interaction of the plasma current with an induced magnetic field. The Faraday Accelerator with RF-Assisted Discharge (FARAD) thruster is a type of pulsed inductive plasma accelerator in which the plasma is preionized by a mechanism separate from that used to form the current sheet and accelerate the gas. Employing a separate preionization mechanism in this manner allows for the formation of an inductive current sheet at much lower discharge energies and voltages than those found in previous pulsed inductive accelerators like the Pulsed Inductive Thruster (PIT). In this paper, we present measurements aimed at quantifying the thruster's overall operational characteristics and providing additional insight into the nature of operation. Measurements of the terminal current and voltage characteristics during the pulse help quantify the output of the pulsed power train driving the acceleration coil. A fast ionization gauge is used to measure the evolution of the neutral gas distribution in the accelerator prior to a pulse. The preionization process is diagnosed by monitoring light emission from the gas using a photodiode, and a time-resolved global view of the evolving, accelerating current sheet is obtained using a fast-framing camera. Local plasma and field measurements are obtained using an array of intrusive probes. The local induced magnetic field and azimuthal current density are measured using B-dot probes and mini-Rogowski coils, respectively. Direct probing of the number density and electron temperature is performed using a triple probe.

Polzin, K. A.↗

NASA NTRS2009

Estimating Thruster Impulses From IMU and Doppler Data

A computer program implements a thrust impulse measurement (TIM) filter, which processes data on changes in velocity and attitude of a spacecraft to estimate the small impulsive forces and torques exerted by the thrusters of the spacecraft reaction control system (RCS). The velocity-change data are obtained from line-of-sight-velocity data from Doppler measurements made from the Earth. The attitude-change data are the telemetered from an inertial measurement unit (IMU) aboard the spacecraft. The TIM filter estimates the threeaxis thrust vector for each RCS thruster, thereby enabling reduction of cumulative navigation error attributable to inaccurate prediction of thrust vectors. The filter has been augmented with a simple mathematical model to compensate for large temperature fluctuations in the spacecraft thruster catalyst bed in order to estimate thrust more accurately at deadbanding cold-firing levels. Also, rigorous consider-covariance estimation is applied in the TIM to account for the expected uncertainty in the moment of inertia and the location of the center of gravity of the spacecraft. The TIM filter was built with, and depends upon, a sigma-point consider-filter algorithm implemented in a Python-language computer program.

Lisano, Michael E.↗

NASA NTRS2009

Discharge Oscillations in a Permanent Magnet Cylindrical Hall-Effect Thruster

Measurements of the discharge current in a cylindrical Hall thruster are presented to quantify plasma oscillations and instabilities without introducing an intrusive probe into the plasma. The time-varying component of the discharge current is measured using a current monitor that possesses a wide frequency bandwidth and the signal is Fourier transformed to yield the frequency spectra present, allowing for the identification of plasma oscillations. The data show that the discharge current oscillations become generally greater in amplitude and complexity as the voltage is increased, and are reduced in severity with increasing flow rate. The breathing mode ionization instability is identified, with frequency as a function of discharge voltage not increasing with discharge voltage as has been observed in some traditional Hall thruster geometries, but instead following a scaling similar to a large-amplitude, nonlinear oscillation mode recently predicted in for annular Hall thrusters. A transition from lower amplitude oscillations to large relative fluctuations in the oscillating discharge current is observed at low flow rates and is suppressed as the mass flow rate is increased. A second set of peaks in the frequency spectra are observed at the highest propellant flow rate tested. Possible mechanisms that might give rise to these peaks include ionization instabilities and interactions between various oscillatory modes.

Polzin, K. A.↗

NASA NTRS2010

Gimballing Spacecraft Thruster

A gimballing spacecraft reaction-control-system thruster was developed that consists of a small hydrogen/oxygen-burning rocket engine integrated with a Canfield joint. (Named after its inventor, a Canfield joint is a special gimbal mount that is strong and stable yet allows a wide range of motion.) One especially notable aspect of the design of this thruster is integration, into both the stationary legs and the moving arms of the Canfield joint, of the passages through which the hydrogen and oxygen flow to the engine. The thruster was assembled and subjected to tests in which the engine was successfully fired both with and without motion in the Canfield joint.

Pickens, Tim↗

NASA NTRS2010

Effect of a Second, Parallel Capacitor on the Performance of a Pulse Inductive Plasma Thruster

Pulsed inductive plasma accelerators are electrodeless space propulsion devices where a capacitor is charged to an initial voltage and is then discharged through an inductive coil that couples energy into the propellant, ionizing and accelerating it to produce thrust. A model that employs a set of circuit equations (as illustrated in Fig. 1a) coupled to a one-dimensional momentum equation has been previously used by Lovberg and Dailey [1] and Polzin et al. [2-4] to model the plasma acceleration process in pulsed inductive thrusters. In this paper an extra capacitor, inductor, and resistor are added to the system in the manner illustrated in the schematic shown in Fig. 1b. If the second capacitor has a smaller value than the initially charged capacitor, it can serve to increase the current rise rate through the inductive coil. Increasing the current rise rate should serve to better ionize the propellant. The equation of motion is solved to find the effect of an increased current rise rate on the acceleration process. We examine the tradeoffs between enhancing the breakdown process (increasing current rise rate) and altering the plasma acceleration process. These results provide insight into the performance of modified circuits in an inductive thruster, revealing how this design permutation can affect an inductive thruster's performance.

Polzin, Kurt A.↗

NASA NTRS2010

Hybrid-PIC Computer Simulation of the Plasma and Erosion Processes in Hall Thrusters

HPHall software simulates and tracks the time-dependent evolution of the plasma and erosion processes in the discharge chamber and near-field plume of Hall thrusters. HPHall is an axisymmetric solver that employs a hybrid fluid/particle-in-cell (Hybrid-PIC) numerical approach. HPHall, originally developed by MIT in 1998, was upgraded to HPHall-2 by the Polytechnic University of Madrid in 2006. The Jet Propulsion Laboratory has continued the development of HPHall-2 through upgrades to the physical models employed in the code, and the addition of entirely new ones. Primary among these are the inclusion of a three-region electron mobility model that more accurately depicts the cross-field electron transport, and the development of an erosion sub-model that allows for the tracking of the erosion of the discharge chamber wall. The code is being developed to provide NASA science missions with a predictive tool of Hall thruster performance and lifetime that can be used to validate Hall thrusters for missions.

Hofer, Richard R.↗

NASA NTRS2000

Factors Contributing to Pilot Valve Fuel Seal Extrusion in Orbiter PRCS Thrusters

Extrusion of the polytetrafluoroethylene (PTFE) pilot seal used in the monomethylhydrazine (fuel) valve of the Orbiter Primary Reaction Control System (PRCS) thrusters has been implicated in numerous on-orbit thruster failures and on-ground valve failures. Two extrusion mechanisms have been proposed, one or both may be occurring. The first mechanism is attributed to thermal expansion mismatch between adjacent PTFE and metal parts used in the fuel valve, and is referred to as thermal extrusion. The second mechanism is attributed to nitrogen tetroxide (oxidizer) leakage from the adjacent oxidizer valve on the same thruster during ground turnaround, and is referred to as oxidizer-induced extrusion. Model calculations of PTFE pilot seal in an exact pilot valve configuration show that extrusion can be caused by differential thermal expansion, without the intervening influence of oxidizer. Experimental data on semitrapped PTFE and TFM (modified PTFE) specimens simulating a fuel pilot valve configuration show that thermal extrusion 1) is incremental and irreversible, 2) increases with the size of the thermal excursion, 3) decreases with successive thermal cycling, and 4) is accompanied by gap formation. Both PTFE and TFM exhibit a higher affinity for oxidizer than fuel. The property changes associated with oxidizer uptake may explain why oxidizer seals do not exhibit extrusion. Impression replicas of fuel pilot seals removed from the Orbiter fleet show two types of extrusion: extrusion of the entire seal (loaded extrusion), or extrusion of non-sealing surface (unloaded extrusion). Both extrusion types may arise from differences in service history, rather than in failure mechanism. The plausibility oxidizer-induced extrusion was evaluated. Preliminary calculations suggest that enough energy, heat, or gas may be liberated under certain operational scenarios to cause catastrophic extrusion. However, given the lack of supporting data, conclusions implicating oxidizer leakage as a factor in extrusion must be made with caution.

Waller, J.M.↗

NASA NTRS2008

PT-1 Plasmoid Thruster Capable of Multi-Mode Operation

This slide presentation reviews the concept of a Plasmoid Thruster that is capable of operating in several different modes. A plasmoid is a compact plasma structure with an integral magnetic field, that may be categorized according to the relative strength of the poloidal and toroidal magnetic fields. A plasmoid thruster would operate by repetitively producing plasmoids that are accelerated to high velocity. The process is inductive, and the magnetic structure of the plasmoid suppresses thermal and mass losses, and improves detachment of the exhaust. The Drive and Bias circuits, the gas distribution, the pre-ionization stage, and the operation sequence are detailed. The advantages of the Plasmoid thruster and the research and technology required for development of this form of propulsion is reviewed.

Miller, Robert↗

NASA NTRS2011

Advanced Development of a Compact 5-15 lbf Lox/Methane Thruster for an Integrated Reaction Control and Main Engine Propulsion System

This paper describes the advanced development and testing of a compact 5 to 15 lbf LOX/LCH4 thruster for a pressure-fed integrated main engine and RCS propulsion system to be used on a spacecraft "vertical" test bed (VTB). The ability of the RCS thruster and the main engine to operate off the same propellant supply in zero-g reduces mass and improves mission flexibility. This compact RCS engine incorporates several features to dramatically reduce mass and parts count, to ease manufacturing, and to maintain acceptable performance given that specific impulse (Isp) is not the driver. For example, radial injection holes placed on the chamber body for easier drilling, and high temperature Haynes 230 were selected for the chamber over other more expensive options. The valve inlets are rotatable before welding allowing different orientations for vehicle integration. In addition, the engine design effort selected a coil-on-plug ignition system which integrates a relay and coil with the plug electrode, and moves some exciter electronics to avionics driver board. The engine injector design has small dribble volumes to target minimum pulse widths of 20 msec. and an efficient minimum impulse bit of less than 0.05 lbf-sec. The propellants, oxygen and methane, were chosen because together they are a non-toxic, Mars-forward, high density, space storable, and high performance propellant combination that is capable of pressure-fed and pump-fed configurations and integration with life support and power subsystems. This paper will present the results of the advanced development testing to date of the RCS thruster and the integration with a vehicle propulsion system.

Hurlbert, Eric A.↗

NASA NTRS2006

Miniature Electrostatic Ion Thruster With Magnet

A miniature electrostatic ion thruster is proposed that, with one exception, would be based on the same principles as those of the device described in the previous article, "Miniature Bipolar Electrostatic Ion Thruster". The exceptional feature of this thruster would be that, in addition to using electric fields for linear acceleration of ions and electrons, it would use a magnetic field to rotationally accelerate slow electrons into the ion stream to neutralize the ions.

Hartley, Frank T.↗

NASA NTRS2012

Plasma Potential and Langmuir Probe Measurements in the Near-field Plume of the NASA 300M Hall Thruster

In order to aid in the design of high-power Hall thrusters and provide experimental validation for existing modeling efforts, plasma potential and Langmuir probe measurements were performed in the near-field plume of the NASA 300M Hall thruster. A probe array consisting of a Faraday probe, Langmuir probe, and emissive probe was used to interrogate the plume from approximately 0.1 - 2.0 DT,m downstream of the thruster exit plane at four operating conditions: 300 V, 400 V, and 500 V at 20 kW as well as 300 V at 10 kW. Results show that the acceleration zone and high-temperature region were contained within 0.3 DT,m from the exit plane at all operating conditions. Isothermal lines were shown to strongly follow magnetic field lines in the nearfield, with maximum temperatures ranging from 19 - 27 eV. The electron temperature spatial distribution created large drops in measured floating potentials in front of the magnetic pole surfaces where the plasma density was small, which suggests strong sheaths at these surfaces. The data taken have provided valuable information for future design and modeling validation, and complements ongoing internal measurement efforts on the NASA 300 M.

Herman, Daniel A↗

NASA NTRS2012

The Multiple Use Plug Hybrid for NanoSats (MUPHyN) Miniature Thruster

The Multiple Use Plug Hybrid (for) Nanosats is a prototype thruster is being developed to fill a niche application for NanoSat-scale spacecraft propulsion. When fully developed, the MUPHyN thruster will provide an effective and low-risk propulsive capability that could enable multiple NanoSats to be independently re-positioned after deployment from a parent launch vehicle. Because the environmentally benign, chemically-stable propellants are mixed only within the combustion chamber after ignition and the flow rate of the fuel is determined by a pyrolysis mechanism that is nearly independent of pressure or fuel grain defects, the system is inherently safe and can be piggy-backed near a secondary payload with little or no overall mission risk increase to the primary payload. The MUPHyN thruster uses safe-handling and inexpensive nitrous oxide (N2O) and acrylonitrile-butadiene-styrene (ABS) as propellants. Fused Deposition Modeling (FDM), a direct digital manufacturing process, is used to fabricate short-form-factor solid fuel grains with multiple helical combustion ports from ABS thermoplastic. This manufacturing process allows for the rapid development and manufacture of complex fuel grain geometries that are not possible to extrude or cast using conventional methods. This technology enables the construction of fuel grains with length-to-diameter ratios appropriate for incorporation into CubeSats while maintaining high surface areas and regression rates that allow the system to maintain a near optimal oxidizer to fuel ratio. The MUPHyN system provides attitude control torques by using secondary-injection thrust vectoring on a truncated aerospike nozzle. This configuration allows large impulse delta V burns and small impulse attitude control firings to be performed with the same system. To ensure survivability during extend duration burns, the MUPHyN incorporates a novel regenerative cooling design where the N2O oxidizer flows through a cooling path embedded in the aerospike nozzle before being injected into the combustion chamber near the nozzle base.

Eilers, Shannon D.↗

NASA NTRS2013

Single and Multi-Pulse Low-Energy Conical Theta Pinch Inductive Pulsed Plasma Thruster Performance

Impulse bits produced by conical theta-pinch inductive pulsed plasma thrusters possessing cone angles of 20deg, 38deg, and 60deg, were quantified for 500J/pulse operation by direct measurement using a hanging-pendulum thrust stand. All three cone angles were tested in single-pulse mode, with the 38deg model producing the highest impulse bits at roughly 1 mN-s operating on both argon and xenon propellants. A capacitor charging system, assembled to support repetitively-pulsed thruster operation, permitted testing of the 38deg thruster at a repetition-rate of 5 Hz at power levels of 0.9, 1.6, and 2.5 kW. The average thrust measured during multiple-pulse operation exceeded the value obtained when the single-pulse impulse bit is multiplied by the repetition rate.

Hallock, A. K.↗

NASA NTRS2013

Simulated Beam Extraction Performance Characterization of a 50-cm Ion Thruster Discharge

A 50 cm ion thruster is being developed to operate at >65 percent total efficiency at 11 kW, 2700 s Isp and over 25 kW, 4500 s Isp at a total efficiency of >75 percent. The engine is being developed to address the need for a multimode system that can provide a range of thrust-to- power to service national and commercial near-earth onboard propulsion needs such as station-keeping and orbit transfer. Operating characteristics of the 50 cm ion thruster were measured under simulated beam extraction. The discharge current distribution at the various magnet rings was measured over a range of operating conditions. The relationship between the anode current distribution and the resulting plasma uniformity and ion flux measured at the thruster exit plane is discussed. The thermal envelope will also be investigated through the monitoring of magnet temperatures over the range of discharge powers investigated. Discharge losses as a function of propellant utilization was also characterized at multiple simulated beam currents. Bulk plasma conditions such as electron temperature and electron density near engine centerline was measured over a range of operating conditions using an internal Langmuir probe. Sensitivity of discharge performance to chamber length is also discussed. This data acquired from this discharge study will be used in the refinement of a throttle table in anticipation for eventual beam extraction testing.

Foster, John E.↗

NASA NTRS2013

Magnetically-conformed, Variable Area Discharge Chamber for Hall Thruster, and Method

The invention is a Hall thruster that incorporates a discharge chamber having a variable area channel including an ionization zone, a transition region, and an acceleration zone. The variable area channel is wider through the acceleration zone than through the ionization zone. An anode is located in a vicinity of the ionization zone and a cathode is located in a vicinity of the acceleration zone. The Hall thruster includes a magnetic circuit which is capable of forming a local magnetic field having a curvature within the transition region of the variable area channel whereby the transition region conforms to the curvature of the local magnetic field. The Hall thruster optimizes the ionization and acceleration efficiencies by the combined effects of the variable area channel and magnetic conformity.

Hofer, Richard R.↗

NASA NTRS2013

Inductive Pulsed Plasma Thruster Development and Testing at NASA-MSFC

THE inductive pulsed plasma thruster (IPPT) is an electrodeless space propulsion device where a capacitor is charged to an initial voltage and then discharged producing a high current pulse through a coil. The field produced by this pulse ionizes propellant, inductively driving current in a plasma located near the face of the coil. Once the plasma is formed it can be accelerated and expelled at a high exhaust velocity by the electromagnetic Lorentz body force arising from the interaction of the induced plasma current and the magnetic field produced by the current in the coil. In the present work, we present a summary of the IPPT research and development conducted at NASA's Marshall Space Flight Center (MSFC). As a higher-power, still relatively low readiness level system, there are many issues associated with the eventual deployment and use of the IPPT as a primary propulsion system on spacecraft that remain to be addressed. The present program aimed to fabricate and test hardware to explore how these issues could be addressed. The following specific areas were addressed within the program and will be discussed within this paper. a) Conical theta-pinch IPPT geometry thruster configuration. b) Repetition-rate multi-kW thruster pulsing. c) Long-lifetime pulsed gas valve. d) Fast pulsed gas valve driver and controller. e) High-voltage, repetitive capacitor charging power processing unit. During the course of testing, a number of specific tests were conducted, including several that, to our knowledge, have either never been previously conducted (such as multi-KW repetition-rate operation) or have not been performed since the early 1990s (direct IPPT thrust measurements).2 Conical theta-pinch IPPT thrust stand measurements are presented in Fig. 1 while various time-integrated and time

Polzin, Kurt A.↗