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NASA NTRS2024

Spacecraft Modeling, Attitude Determination, and Control: Quaternion-Based Approach

Spacecraft attitude determination and control is an important part of a spacecraft to achieve its designed mission. As of today, many spacecrafts have been successfully launched, and most of them have performed well as they were designed. Many research papers have been published to address the attitude determination and control design problems. Several text books are available for students to learn the technology and for engineers to use as references. The most popular spacecraft models for attitude determination algorithms and control design methods are the Euler angle models and the quaternion models . The Euler angle models have been proved very efficient as the linearized models are controllable, and all standard linear control system design methods are directly applicable. The drawbacks related to the Euler angle methods are (a) the designs based on linearized models may not globally stabilize the original nonlinear spacecraft, i.e., the design may not work when the attitude of the spacecraft is far away from the point where the linearization is performed; (b) the models depend on the rotational sequences, this can be error prone if several teams work on the same project and they use different rotational sequences; (c) for any rotational sequence, there is a singular point where the model is not applicable; and (d) since most attitude determination methods use quaternion to represent the spacecraft attitude, there is a need to transform quaternion into Euler angles. On the other hand, for quaternion models, people have found controllers that can globally stabilize nonlinear spacecraft systems; the models do not depend on rotational sequences and they have no singular point; and the quaternion is provided by attitude determination system and ready to use. The main problem with the quaternion model based control system design is that the linearized quaternion model is not controllable. Therefore, most published design methods heavily rely on Lyapunov functions for the nonlinear spacecraft system. But there is no systematic way to obtain a desired Lyapunov functions. Moreover, the Lyapunov function based designs focus on the closed-loop system stability but pay little attention to the closed-loop system performance. In a series of papers, the author proposed some reduced quaternion models which lead to some controllable linearized spacecraft models. Therefore, all standard linear system theory can be directly applied to analyze and design the spacecraft control systems. We showed that, in some cases, the designed control system is not only optimal for the linearized system, but also globally stabilize the original nonlinear system . Clearly, the reduced quaternion models do not depend on rotational sequences. Due to the special structure of the linearized spacecraft model, some most important design methods, such as LQR design and robust pole assignment design are very simple, enjoy the analytical solutions for some problems, have direct connection to the performance measures, such as settling time, rising time , and percentage of overshoot . All these features are attractive for high quality control system designs. The idea mentioned above is then extended to more spacecraft control problems using specific actuators such as magnetic torque bars and control momentum gyroscopes. These types of actuators may not provide exactly desired torques. Most existing methods use different conversions to get approximate solutions, meaning that these actuators may generate a torque close to but not equal to the desired one. Using the reduced quaternion models that incorporate the actuators into the system model, the control inputs are not torques but the operational parameters. The main benefit of this idea is that the control actions are not approximate but accurate. As all actuators have their operational limit, design with input constraints are also considered in this book by using recently developed interior-point optimization techniques. This book grows up from my research on the spacecraft attitude determination and control design methods in more than a decade which is focused on using reduced quaternion models because of their merits stated above. The book provides all necessary background materials on orbital dynamics, rotations and quaternion, frequently used reference frames, transformations between reference frames, space environment and disturbance torques, ephemeris astronomical vector calculations and measurement instruments, spacecraft control actuators and their models, so that the readers will get a global picture and can apply all these information into the spacecraft system modeling, attitude determination, and spacecraft control system designs, which is the main purpose of this book. This book is different from existing books in that we focus on quaternion based spacecraft control system designs and we consider only attitude control system design related problems, from spacecraft modeling, to attitude determination and estimation, to control system design method selection, to control algorithm development, and to the simulation of the control system designs. Moreover, this book addresses different attitude control tasks in the spacecraft life cycle, including spacecraft maneuver, orbit raising, attitude control, and rendezvous. Finally, this book emphasizes the state space design methods rather than the classical frequency design methods.

Attitude determination and control↗
NASA NTRS1985

Wet oxidation of a spacecraft model waste

Wet oxidation was used to oxidize a spacecraft model waste under different oxidation conditions. The variables studied were pressure, temperature, duration of oxidation, and the use of one homogeneous and three heterogeneous catalysts. Emphasis is placed on the final oxidation state of carbon and nitrogen since these are the two major components of the spacecraft model waste and two important plant nutrients.

Johnson, C. C.↗
NASA NTRS2008

Generic Spacecraft Model for Real-Time Simulation

Generic Spacecraft is the name of an evolving library of software that provides for simulation of a generic spacecraft that can orbit the Earth and land on the Moon (and, eventually, on Mars). This library is incorporated into the Langley Standard Realtime Simulation in C++ (LaSRS++) software framework. The generic-spacecraft simulation serves as a test bed for modeling spacecraft dynamics, propulsion, control systems, guidance, and displays. The Generic Spacecraft library supplements the LaSRS++ framework with an interface that facilitates the connection of new models into the LaSRS++ simulation by eliminating what would otherwise be the necessity of writing additional C++ classes to record data from the models and code to display values on graphical user interfaces (GUIs): The library includes routines for integrating new models into the LaSRS++ framework, identifying model inputs and outputs with full descriptions and units identified, recording data, and automatically generating graphical user interfaces (GUIs). The library is designed to be used in a manner similar to that of LaSRS++ software components for simulating vehicles other than the generic spacecraft. The user specifies (1) a spacecraft and individual models to be constructed and (2) connections between individual model inputs and outputs.

Kenney, Patrick S.↗
NASA NTRS1973

Analyses of flight model spacecraft performance during thermal-vacuum tests.

Malfunction data from the thermal-vacuum tests of 39 flight-model spacecraft have been analyzed. These data are compared to the data listed in the 1968 Technical Note, NASA TN D-4908, 'Time Required for an Adequate Thermal-Vacuum Test of Flight Model Spacecraft', by A. R. Timmins. The present analyses include the relationship of malfunctions to time and temperature of the test, malfunction rates, effect of retest data, and the probability of a malfunction in each of four thermal-vacuum environments. Data are presented that relate a thermal-vacuum test profile to the risk involved using that profile. The minimum thermal-vacuum test profile is verified, and no change is recommended for the present thermal-vacuum test profile for flight model spacecraft.

Timmins, A. R.↗
NASA NTRS2006

Deep Impact Sequence Planning Using Multi-Mission Adaptable Planning Tools With Integrated Spacecraft Models

The Deep Impact mission was ambitious and challenging. JPL's well proven, easily adaptable multi-mission sequence planning tools combined with integrated spacecraft subsystem models enabled a small operations team to develop, validate, and execute extremely complex sequence-based activities within very short development times. This paper focuses on the core planning tool used in the mission, APGEN. It shows how the multi-mission design and adaptability of APGEN made it possible to model spacecraft subsystems as well as ground assets throughout the lifecycle of the Deep Impact project, starting with models of initial, high-level mission objectives, and culminating in detailed predictions of spacecraft behavior during mission-critical activities.

Deep Impact Mission↗
NASA NTRS2006

Deep impact sequence planning using multi-mission adaptable planning tools with integrated spacecraft models

The Deep Impact mission was ambitious and challenging. JPL's well proven, easily adaptable multi-mission sequence planning tools combined with integrated spacecraft subsystem models enabled a small operations team to develop, validate, and execute extremely complex sequence-based activities within very short development times. This paper focuses on the core planning tool used in the mission, APGEN. It shows how the multi-mission design and adaptability of APGEN made it possible to model spacecraft subsystems as well as ground assets throughout the lifecycle of the Deep Impact project, starting with models of initial, high-level mission objectives, and culminating in detailed predictions of spacecraft behavior during mission-critical activities.

Seybold, Calina C.↗
NASA NTRS1973

Analyses of flight model spacecraft performance during thermal-vacuum tests

In 1968 a study of the thermal-vacuum test results from 11 flight model spacecraft was published in NASA Technical Note TN D-4908. A major interest then was the relationship of malfunctions to their times of occurrence in test. From that study conclusions were drawn with respect to the length of time required for an adequate thermal-vacuum test of flight model spacecraft. A serious limitation on the study was the small amount of documented data available. The purpose of the present report is to update and to extend the findings of that study. The test results of 39 spacecraft, compared with the test results of 11 spacecraft used in the earlier study, now provide a better basis for the analysis. The new data were developed for analysis in the same manner as for the 1968 report, in order to facilitate comparison of the two studies. However, the larger data base made additional types of analyses worthwhile, and the present results are a significant extension of the earlier work.

Heuser, R. E.↗
NASA NTRS1972

Analyses of flight model spacecraft performance during thermal-vacuum tests

Malfunction data from the thermal-vacuum tests of 39 flight-model spacecraft were analyzed. The results are interpreted in terms of the test variables, and in terms of the spacecraft performance. The malfunction data are correlated with the test time as a single variable, and also with the composite variable of time plus temperature. The improvement in spacecraft performance is examined by means of malfunction rates, malfunctions per spacecraft, and the probability of no failure related to test time. The minimum thermal-vacuum test profile required for Goddard Space Flight Center spacecraft is verified, and the probability of a defect remaining undetected is estimated.

Timmins, A. R.↗
NASA NTRS1973

Analyses of flight model spacecraft performance during thermal-vacuum tests

Malfunction data from the thermal-vacuum tests of 39 flight-model spacecraft have been analyzed. The results are interpreted in terms of the test variables and the spacecraft performance. The malfunction data are correlated with the test time as a single variable, and also with the composite variable of time plus temperature. The improvement in spacecraft performance is examined by means of malfunction rates, malfunctions per spacecraft, and the probability of no failure related to test time. The minimum thermal-vacuum test profile required for Goddard Space Flight Center spacecraft is verified, and the probability of a defect remaining undetected is estimated.

Timmins, A. R.↗
NASA NTRS1994

Galileo Spacecraft Modeling for Orbital Operations

The Galileo Jupiter orbital mission using the Low Gain Antenna (LGA) requires a higher degree of spacecraft state knowledge than was originally anticipated. Key elements of the revised design include onboard buffering of science and engineering data and extensive processing of data prior to downlink. In order to prevent loss of data resulting from overflow of the buffers and to allow efficient use of the spacecraft resources, ground based models of the spacecraft processes will be implemented. These models will be integral tools in the development of satellite encounter sequences and the cruise/playback sequences where recorded data is retrieved.

aerospace↗