Spacecraft dynamics and control : the embedded model control approach / Enrico Canuto [and four others].

Format:

Book

Author/Creator:

Canuto, Enrico, author.

Series:

Elsevier aerospace engineering series.

Elsevier Aerospace Engineering Series

Language:

English

Subjects (All):

Space vehicles--Dynamics.

Space vehicles.

Space vehicles--Control systems.

Physical Description:

1 online resource (783 pages) : illustrations.

Place of Publication:

Oxford, England ; Cambridge, Massachusetts : Butterworth-Heinemann, 2018.

Summary:

Spacecraft Dynamics and Control: The Embedded Model Control Approach provides a uniform and systematic way of approaching space engineering control problems from the standpoint of model-based control, using state-space equations as the key paradigm for simulation, design and implementation.The book introduces the Embedded Model Control methodology for the design and implementation of attitude and orbit control systems. The logic architecture is organized around the embedded model of the spacecraft and its surrounding environment. The model is compelled to include disturbance dynamics as a repository of the uncertainty that the control law must reject to meet attitude and orbit requirements within the uncertainty class. The source of the real-time uncertainty estimation/prediction is the model error signal, as it encodes the residual discrepancies between spacecraft measurements and model output. The embedded model and the uncertainty estimation feedback (noise estimator in the book) constitute the state predictor feeding the control law. Asymptotic pole placement (exploiting the asymptotes of closed-loop transfer functions) is the way to design and tune feedback loops around the embedded model (state predictor, control law, reference generator). The design versus the uncertainty class is driven by analytic stability and performance inequalities. The method is applied to several attitude and orbit control problems.- The book begins with an extensive introduction to attitude geometry and algebra and ends with the core themes: state-space dynamics and Embedded Model Control- Fundamentals of orbit, attitude and environment dynamics are treated giving emphasis to state-space formulation, disturbance dynamics, state feedback and prediction, closed-loop stability- Sensors and actuators are treated giving emphasis to their dynamics and modelling of measurement errors. Numerical tables are included and their data employed for numerical simulations- Orbit and attitude control problems of the European GOCE mission are the inspiration of numerical exercises and simulations- The suite of the attitude control modes of a GOCE-like mission is designed and simulated around the so-called mission state predictor- Solved and unsolved exercises are included within the text - and not separated at the end of chapters - for better understanding, training and application- Simulated results and their graphical plots are developed through MATLAB/Simulink code

Contents:

Front Cover

SPACECRAFT DYNAMICS AND CONTROL

SPACECRAFT DYNAMICS AND CONTROL: THE EMBEDDED MODEL CONTROL APPROACH

Copyright

Dedication

Contents

1 - Introduction

1.1 OBJECTIVES AND RATIONALE

1.1.1 History and Audience

1.1.2 Why the Embedded Model Control Methodology?

1.1.3 Logical Reading Sequence and Book Contents

Introductory Chapters

Orbital Models and Control

Attitude Models and Control

Technology and Attitude Determination

1.1.4 Omitted Topics

1.1.5 Authorship and Acknowledgments

1.2 NOTATION RULES AND TABLES

1.2.1 Notation Rules

1.2.2 Notation Tables

1.3 ABBREVIATIONS

References

2 - Attitude Representation

2.1 OBJECTIVES

2.2 VECTORS AND MATRICES

2.2.1 Three-Dimensional Vectors

Two-Dimensional Gimbal Lock

Exercise 1

2.2.2 Vector Operations

Exercise 2

Exercise 3

Exercise 4

Exercise 5

Exercise 6

Exercise 7

Exercise 8

Exercise 9

Exercise 10

2.2.3 n-Dimensional Vectors

2.3 MATRICES

2.3.1 Generalities

2.3.2 Proper Orthogonal Matrices

Theorem 1

PROOF

Geometric Interpretation

Euler Elementary Rotations

Exercise 11

Exercise 12

Exercise 13

Theorem 2

2.3.3 Change of Basis

Exercise 14

Change of Frame

Rotation of a Vector

Singular Value Decomposition

Exercise 15

HINT

Exercise 16

Pseudoinverse

Exercise 17

Exercise 18

2.3.4 Differential Matrices

2.4 UNIT QUATERNIONS

Exercise 19

Exercise 20

Exercise 21

Exercise 22

Exercise 23

Conjugation and Inverse

Theorem 3

Spherical Linear Interpolation (SLERP)

Exercise 24

Exercise 25

2.5 SPACE AND TIME COORDINATES

2.5.1 Inertial Frames

Definition 1

Definition 2

Exercise 26

2.5.2 Body Frame

Definition 3

Exercise 27

2.5.3 Celestial Frames.

Definition 4

Definition 5

Exercise 28

2.5.4 Trajectory Frames

Exercise 29

Exercise 30

Exercise 31

Exercise 32

2.5.5 Spherical and Geodetic Earth Coordinates

Exercise 33

2.5.6 Observational Frames

2.5.7 Epoch and Time Scale

Time Scales

2.6 REPRESENTATIONS OF RIGID BODY ATTITUDE

2.6.1 Definition

Definition 6

2.6.2 Attitude as a Transformation/Rotation Matrix

Alias

Alibi

Exercise 34

2.6.3 Attitude as a Sequence of Euler Angles

Definition 7

Theorem 4

Exercise 35

Intrinsic Synthesis

Extrinsic Synthesis

Apparent Sun Motion and Universal Joint

Generic minimal sequence

2.6.4 Euler Rotation Theorem and Rodrigues Formula

Rodrigues Formula

Theorem 5

From Euler Parameters to Attitude Matrices

From an Attitude Matrix to Euler Parameters

Exercise 36

Exercise 37

Theorem 6

2.6.5 Quaternions

Exercise 38

Exercise 39

SOLUTION

Gimbal Lock

Lemma 1

Hardware Gimbal Lock

Quaternion composition

Lemma 2

Exercise 40

2.6.6 Conversion Between Attitude Representations

Conversion from an Attitude Matrix to Euler Angles

Exercise 41

Exercise 42

Conversion from an Attitude Matrix to Quaternion

2.7 INFINITESIMAL AND ERROR ROTATIONS

Definition 8

3 - Orbital Dynamics

3.1 OBJECTIVES

3.2 THE TWO-BODY PROBLEM

3.2.1 Original and Relative Equations

3.2.2 The Restricted Two-Body Problem Equation

3.3 FREE RESPONSE OF THE RESTRICTED TWO-BODY PROBLEM

3.3.1 First Conservation Law: The Orbital Plane Is Inertial

3.3.2 Second Conservation Law: Orbit Shape and Orientation

3.3.3 Orbit Shape as a Conic Section

Conic Sections

3.3.4 Trajectory Frames and the Free Response Formula

Free Response of r→.

Exercise 3

Free Response of v→

3.3.5 Kepler's Equation

3.4 ORBIT PROPAGATION

3.4.1 Conversion From Orbital to Kinematic Elements

3.4.2 Conversion From Kinematic Parameters to Orbital Elements

3.4.3 Linearization

3.5 ANALYSIS OF ORBITAL TRAJECTORIES

3.5.1 Energy Conservation Law

3.5.2 Types of Geocentric Orbits

Molnyia Orbits

Repeat Cycle Design

3.5.3 Lambert's Problem

Hohmann Transfer

3.5.4 Hyperbolic Orbits and Gravity Assist

Gravity Assist

3.6 STABILITY OF ORBIT

4 - The Environment: Perturbing Forces and Torques

4.1 OBJECTIVES

4.2 GRAVITY FORCES AND TORQUES

4.2.1 Gravity Potential Harmonics

4.2.2 The J2 Gravity Anomaly

4.2.3 Higher-Degree Gravity Anomalies

4.2.4 Spectrum of the Gravity Acceleration Along a Polar Orbit

4.2.5 Third Body Forces

Ephemerides

4.2.6 Gravity Gradient Torque

The Dumbbell Spacecraft

Torque Generic Expression

Spherical Gravity and Diagonal Inertia

Gravity-Gradient Torque and Euler Angles

4.3 ELECTROMAGNETIC RADIATION FORCES AND TORQUES

4.3.1 Elementary Forces

4.3.2 Spacecraft Forces and Torques

Forces

Center of Pressure

Torques

4.3.3 Spacecraft Infrared Emission

Photon Emission

4.4 AERODYNAMIC FORCES AND TORQUES

4.4.1 Introduction

4.4.2 Elementary Forces

4.4.3 Spacecraft Forces and Torques

4.4.4 The Spacecraft-Atmosphere Relative Velocity

4.4.5 Synthetic Aerodynamic Force Expression.

4.5 ATMOSPHERIC DENSITY

4.5.1 The Barometric Equation

4.5.2 The Diffusion Equation

4.5.3 Jacchia's Exospheric Temperature and Recent Improvements

4.5.4 Mid-time and Short-Time Density Components

4.6 PLANETARY MAGNETIC FIELD TORQUES

4.6.1 Magnetic Field Model

4.6.2 Spacecraft Dipole and Magnetic Torques

4.7 INTERNAL FORCES AND TORQUES

4.7.1 Introduction

4.7.2 Solar Panel and Liquid Sloshing Torques

Example 1: Solar Panels

Example 2. Liquid Sloshing

4.8 EMBEDDED MODEL OF DISTURBANCES

4.8.1 Stochastic State-Space Equation

4.8.2 Aerodynamic Forces and Torques

5 - Perturbed Orbital Dynamics

5.1 OBJECTIVES

5.2 PERTURBED ORBITS

5.2.1 Cowell's Method

5.2.2 Encke's Method

5.3 DYNAMICS OF THE ORBITAL ELEMENTS

5.3.1 Gauss Planetary Equations

Semimajor Axis Perturbation

Eccentricity Perturbation

Inclination Perturbation

Perturbation of the Right Ascension of the Ascending Node

Perturbation of the Argument of Latitude

Perturbation of the True Anomaly

5.3.2 Lagrange Planetary Equations

Generic Equations

Lagrangian Brackets

ANGULAR BRACKETS

TRAJECTORY BRACKETS

MIXED BRACKETS

Average Perturbations Due to the Earth's Flatness

5.3.3 Frozen Orbits

5.4 FROM N-BODY SYSTEM TO THREE-BODY SYSTEM

5.5 HILL-CLOHESSY-WILTSHIRE EQUATION

5.5.1 State Equations and Stability

Nonlinear Differential Equations of Relative Motion

Linear State Equations of the Relative Motion

Hill-Clohessy-Wiltshire Equation

Exercise 12.

SOLUTION

5.5.2 Feedback Stabilization

Decoupled State Feedback

Lemma

5.6 RESTRICTED THREE-BODY PROBLEM

5.6.1 State Equations

5.6.2 Free Response: The Unique Known Constant of Motion

5.6.3 Free Response: Lagrangian Equilibrium Points and Stability

THE EARTH-MOON LAGRANGIAN POINTS

5.6.4 Linearized Equations of Motion and Stability Analysis

5.6.5 Lissajous and Halo Orbits

Lissajous Orbits

Halo Orbits

6 - Attitude Kinematics: Modeling and Feedback

6.1 OBJECTIVES

6.2 ATTITUDE MATRIX AND VECTOR KINEMATICS

6.2.1 Poisson Matrix Kinematics

Fundamental Equation

Angular Rate in the Observer's Frame

Inverse Transformation

Composition of Angular Rates

Acceleration Matrix

6.2.2 Vector Kinematics

Inertial Sensor

6.3 EULER ANGLE KINEMATICS

6.3.1 Generic Formulation

Lemma 6.1

6.3.2 Spinning Rigid Body

6.3.3 Spin and Precession

6.3.4 Acceleration to Attitude Kinematics

Oscillators

6.4 QUATERNION KINEMATICS

6.4.1 Open-Loop Kinematics

Discrete-Time Kinematics

Matrix Form of Quaternion Kinematics

6.4.2 Closed-Loop Quaternion Kinematics

6.5 ERROR QUATERNION KINEMATICS

6.5.1 Error Definition

6.5.2 Error State Equation

Perturbation From the Equilibrium

Implementation

6.5.3 Proportional Feedback: Closed-Loop Lyapunov Stability

Passivity.

6.5.4 Proportional Feedback: Closed-Loop BIBO Stability.

Notes:

Includes bibliographical references at the end of each chapters and index.

Description based on online resource; title from PDF title page (EBC, viewed March 28, 2018).

ISBN:

9780081017951

0081017952

9780081007006

0081007000