Three-axis Attitude Control with Two Reaction Wheels and Magnetic Torquer Bars

Roberts, Bryce; Kruk, J. W.; Ake, Thomas B.; Englar, T. S.; Class, Brian F.; Rovner, Daniel M.

doi:10.2514/6.2004-5245

Cited by 22 publications

(19 citation statements)

References 7 publications

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“…Hybrid controllers had been designed and implemented on spacecraft with only two working reaction wheels. After two wheel failures, the FUSE restored its three-axis attitude control functionality using a hybrid controller with magnetic torque bars and two reaction wheels [19]. A similar hybrid controller was implemented on the TIMED spacecraft [20].…”

Section: Recommended Practices For In-flight Management Of Reactmentioning

confidence: 99%

In-Flight Performance of Cassini Reaction Wheel Bearing Drag in 1997–2013

Lee

Wang

2015

Journal of Spacecraft and Rockets

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As the first spacecraft to achieve orbit at Saturn in 2004, Cassini has collected science data throughout its four year prime mission (2004)(2005)(2006)(2007)(2008) and has since been approved for a first and second extended mission through September 2017. Cassini uses reaction wheels to achieve the spacecraft pointing stability that is needed during imaging operations of several science instruments. The Cassini flight software makes in-flight estimates of reaction wheel bearing drag torque and made them available to the mission operations team. In trending these telemetry data (for the purpose of monitoring the long-term health of the reaction wheel bearings), anomalous drag torque signatures have been observed over the past 15 years. One of these anomalous drag conditions is bearing cage instability that appeared (and disappeared) spontaneously and unpredictably. Cage instability is an uncontrolled vibratory motion of the bearing cage that can produce high-impact forces internal to the bearing, which will cause intermittent and erratic torque transients. Characteristics of the observed cage instabilities and other drag torque "spikes" are described in this paper. In day-to-day operations, the reaction wheels' rates must be neither too high nor too low. To protect against operating the wheels in any undesirable conditions (such as prolonged low spin rate operations), a ground software tool named a reaction wheel bias optimization tool was developed for the management of the wheels. Flight experience on the use of this ground software tool, as well as other lessons learned on the management of Cassini reaction wheels, is given in this paper.Nomenclatures c = viscous coefficient of wheel bearing lubrication system, N · m · s∕rad Gω = function of wheel spin rate ω defined in Eq. (5) I RWA = moment of inertia of reaction wheel rotor, kg · m 2 K I = integrator gain of reaction wheel assembly drag torque estimator, kg · m 2 ∕s 2 K P = proportional gain of reaction wheel assembly drag torque estimator, kg · m 2 ∕s L −1 = inverse Laplace operator s = Laplace variable, rad∕s T D = Dahl drag torque of reaction wheel bearing system, N · m T Drag = total drag torque of reaction wheel bearing system, N · m ξ D = damping ratio of reaction wheel assembly drag torque estimator τ = time constant of wheel speed decay [see Eq. (4)], s Ω 0 = initial wheel spin rate of coast-down test, rad∕s ω = angular rate of the reaction wheel, rad∕s ω D = bandwidth of the reaction wheel assembly drag torque estimator, rad∕s

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Section: Recommended Practices For In-flight Management Of Reactmentioning

confidence: 99%

In-Flight Performance of Cassini Reaction Wheel Bearing Drag in 1997–2013

Lee

Wang

2015

Journal of Spacecraft and Rockets

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“…The attitude of a spacecraft can be described by the four-parameter quaternion set 1 2 3 > and , which together satisfy > 2 1 (see [22], pp. 17,26). The quaternion rates and the angular velocity are related by…”

Section: Spacecraft Kinematics Dynamics Disturbances and Actuamentioning

confidence: 99%

“…x c1 t t; 0x c 0 where the inequality in Eq. (17) has been used. This shows that x c1 is bounded, and hence x c1 2 L 1 .…”

Section: F Convergence Of Attitude and Angular Velocity To Zeromentioning

confidence: 99%

“…For example, the primary and secondary pitch axis wheels of RADARSAT-1 failed on orbit, thus rendering the pitch axis uncontrollable [16]. Similarly, the Far Ultraviolet Spectroscopic Explorer spacecraft experienced two reaction wheel failures (out of four), rendering three-axis control impossible [17]. In both scenarios, three-axis control was restored via some form of tandem magnetic and mechanical actuation.…”

Section: Introductionmentioning

confidence: 99%

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Linear Time-Varying Passivity-Based Attitude Control Employing Magnetic and Mechanical Actuation

Forbes

Damaren

2011

Journal of Guidance, Control, and Dynamics

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Spacecraft attitude control using both magnetic and mechanical actuation is considered. Attitude control is composed of quaternion-based proportional control and passivity-based rate (angular velocity) control. A passivitybased scheme is adopted in order to guarantee robust closed-loop stability. Motivated by the nearly periodic nature of the Earth's magnetic field, a linear time-varying input strictly passive system is used within the rate control. Conditions that ensure a linear time-varying system is input strictly passive are given and are used in conjunction with the linear quadratic regulator formulation to design and synthesize the rate control. The attitude control formulation ensures that as time goes to infinity the spacecraft attitude and angular velocity go to zero. Simulation results are included that highlight the robust nature of the closed loop subject to both orbit and spacecraft model uncertainty.

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“…These satellites are often classified in terms of their orbit, such as low Earth orbit, medium Earth orbit, geostationary orbits, and geosynchronous orbits [1,2]. Alternatively, they can be classified according to their mechanism of control torque generation, such as thrusters, reaction wheels, magnetic torquer rods, and control moment gyroscopes [3][4][5]. The design of attitude tracking control for satellite systems poses challenges to engineers, especially when the satellite is under the influence of external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Design of Robust Observer-Based Backstepping Control for a Satellite Control System

Alshamali

Aljuwaiser

2019

Mathematical Problems in Engineering

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This paper presents the attitude tracking of a class of satellite control systems under external disturbances. Once the error dynamics of the satellite are obtained, a nonlinear transformation expresses them in a suitable representation for the design of a high-gain observer and backstepping control. The observer-based backstepping controller is then designed to drive the angles of the satellite dynamics to their desired values in the presence of exogenous disturbances. Closed-loop stability of the proposed controller is demonstrated via Lyapunov theory, and its effectiveness is confirmed through numerical simulations.

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Three-axis Attitude Control with Two Reaction Wheels and Magnetic Torquer Bars

Cited by 22 publications

References 7 publications

In-Flight Performance of Cassini Reaction Wheel Bearing Drag in 1997–2013

In-Flight Performance of Cassini Reaction Wheel Bearing Drag in 1997–2013

Linear Time-Varying Passivity-Based Attitude Control Employing Magnetic and Mechanical Actuation

Design of Robust Observer-Based Backstepping Control for a Satellite Control System

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