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Prototype Design and Mission Analysis for a Small Satellite Exploiting Environmental Disturbances for Attitude Stabilization

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Prototype Design and Mission Analysis for a Small Satellite Exploiting Environmental Disturbances for Attitude Stabilization Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis and Dissertation Collection 2016-03 Prototype design and mission analysis for a small satellite exploiting environmental disturbances for attitude stabilization Polat, Halis C. Monterey, California: Naval Postgraduate School http://hdl.handle.net/10945/48578 NAVAL POSTGRADUATE SCHOOL MONTEREY, CALIFORNIA THESIS PROTOTYPE DESIGN AND MISSION ANALYSIS FOR A SMALL SATELLITE EXPLOITING ENVIRONMENTAL DISTURBANCES FOR ATTITUDE STABILIZATION by Halis C. Polat March 2016 Thesis Advisor: Marcello Romano Co-Advisor: Stephen Tackett Approved for public release; distribution is unlimited THIS PAGE INTENTIONALLY LEFT BLANK REPORT DOCUMENTATION PAGE Form Approved OMB No. 0704–0188 Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instruction, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing this burden, to Washington headquarters Services, Directorate for Information Operations and Reports, 1215 Jefferson Davis Highway, Suite 1204, Arlington, VA 22202-4302, and to the Office of Management and Budget, Paperwork Reduction Project (0704-0188) Washington, DC 20503. 1. AGENCY USE ONLY 2. REPORT DATE 3. REPORT TYPE AND DATES COVERED (Leave blank) March 2016 Master’s thesis 4. TITLE AND SUBTITLE 5. FUNDING NUMBERS PROTOTYPE DESIGN AND MISSION ANALYSIS FOR A SMALL SATELLITE EXPLOITING ENVIRONMENTAL DISTURBANCES FOR ATTITUDE STABILIZATION 6. AUTHOR(S) Halis C. Polat 7. PERFORMING ORGANIZATION NAME(S) AND ADDRESS(ES) 8. PERFORMING Naval Postgraduate School ORGANIZATION REPORT Monterey, CA 93943-5000 NUMBER 9. SPONSORING /MONITORING AGENCY NAME(S) AND 10. SPONSORING / ADDRESS(ES) MONITORING AGENCY N/A REPORT NUMBER 11. SUPPLEMENTARY NOTES The views expressed in this thesis are those of the author and do not reflect the official policy or position of the Department of Defense or the U.S. Government. IRB Protocol number ____N/A____. 12a. DISTRIBUTION / AVAILABILITY STATEMENT 12b. DISTRIBUTION CODE Approved for public release; distribution is unlimited 13. ABSTRACT (maximum 200 words) In order to accomplish complex and sophisticated missions, small satellites, particularly CubeSat, need a robust and accurate attitude control system. Due to the mass- and volume-constrained design environment of CubeSat, conventional methods are sometimes inadequate to provide needed performance at low altitudes where environmental disturbances are high. This thesis studies exploitation of the most dominant disturbance torque at low altitudes (i.e., the residual aerodynamic torque) for stabilization and attitude control. By shifting internal masses, the distance between the center of pressure and the center of mass is adjusted so that the aerodynamic torque can be modulated as the control torque. To establish a realistic simulation environment, all launched CubeSat missions were analyzed in terms of their attitude control methodologies, sizes, altitudes and mission types. In light of the mission analysis, a prototype 3U CubeSat was designed with only commercial off-the-shelf components to check the practicality and feasibility of the method. The Linear Quadratic Regulator control method with gain scheduling was used to stabilize and control the attitude in a high-fidelity simulation environment. In simulations, the method stabilized the CubeSat and maintained the desired attitude under varying conditions such as initial angular velocity and displacement, orbit altitude and inclination, shifting mass fraction and CubeSat alignment and size. 14. SUBJECT TERMS 15. NUMBER OF CubeSat Prototype Design, shifting mass, attitude stabilization, CubeSat Mission Analysis, PAGES LQR with gain scheduling, exploitation of environmental disturbances 167 16. PRICE CODE 17. SECURITY 18. SECURITY 19. SECURITY 20. LIMITATION CLASSIFICATION OF CLASSIFICATION OF THIS CLASSIFICATION OF ABSTRACT REPORT PAGE OF ABSTRACT Unclassified Unclassified Unclassified UU NSN 7540–01-280-5500 Standard Form 298 (Rev. 2–89) Prescribed by ANSI Std. 239–18 i THIS PAGE INTENTIONALLY LEFT BLANK ii Approved for public release; distribution is unlimited PROTOTYPE DESIGN AND MISSION ANALYSIS FOR A SMALL SATELLITE EXPLOITING ENVIRONMENTAL DISTURBANCES FOR ATTITUDE STABILIZATION Halis C. Polat First Lieutenant, Turkish Air Force B.S., Turkish Air Force Academy, 2009 Submitted in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE IN SPACE SYSTEMS OPERATIONS from the NAVAL POSTGRADUATE SCHOOL March 2016 Approved by: Marcello Romano, Ph.D. Thesis Advisor Stephen Tackett Co-Advisor Rudy Panholzer, Ph.D. Chair, Space Systems Academic Group iii THIS PAGE INTENTIONALLY LEFT BLANK iv ABSTRACT In order to accomplish complex and sophisticated missions, small satellites, particularly CubeSat, need a robust and accurate attitude control system. Due to the mass- and volume-constrained design environment of CubeSat, conventional methods are sometimes inadequate to provide needed performance at low altitudes where environmental disturbances are high. This thesis studies exploitation of the most dominant disturbance torque at low altitudes (i.e., the residual aerodynamic torque) for stabilization and attitude control. By shifting internal masses, the distance between the center of pressure and the center of mass is adjusted so that the aerodynamic torque can be modulated as the control torque. To establish a realistic simulation environment, all launched CubeSat missions were analyzed in terms of their attitude control methodologies, sizes, altitudes and mission types. In light of the mission analysis, a prototype 3U CubeSat was designed with only commercial off-the-shelf components to check the practicality and feasibility of the method. The Linear Quadratic Regulator control method with gain scheduling was used to stabilize and control the attitude in a high-fidelity simulation environment. In simulations, the method stabilized the CubeSat and maintained the desired attitude under varying conditions such as initial angular velocity and displacement, orbit altitude and inclination, shifting mass fraction and CubeSat alignment and size. v THIS PAGE INTENTIONALLY LEFT BLANK vi TABLE OF CONTENTS I. LITERATURE REVIEW AND THEORETICAL FRAMEWORK ................1 A. CUBESAT ...................................................................................................4 B. ENVIRONMENTAL DISTURBANCES .................................................7 1. Aerodynamic Torques ...................................................................7 2. Gravity-Gradient Torque ............................................................10 3. Solar Torque .................................................................................11 4. Magnetic Torque ..........................................................................11 C. EXPLOITATIONS OF ENVIRONMENTAL DISTURBANCES ......13 D. SHIFTING MASSES USE IN ADCS .....................................................16 II. HISTORICAL SURVEY AND ANALYSIS OF LAUNCHED CUBESAT MISSIONS ........................................................................................23 A. DATA COLLECTION ............................................................................24 B. DATA ANALYSIS AND EVALUATION .............................................24 C. FUTURE TRENDS ..................................................................................33 III. PROTOTYPE DESIGN OF A 3U CUBESAT WITH SHIFTING MASSES................................................................................................................35 A. MISSION ..................................................................................................36 B. ORBIT .......................................................................................................36 C. CUBESAT SUBSYSTEM COMPONENTS SELECTION .................37 1. Payload ..........................................................................................37 2. Power .............................................................................................38 3. Communication and Command..................................................40 4. Onboard Computers ....................................................................42 5. Structure .......................................................................................44 6. ADCS .............................................................................................45 D. 3D MODEL AND PLACEMENT OF THE COMPONENTS .............50 E. MASS BUDGET.......................................................................................52 F. OUT-OF-SCOPE DESIGN ATTRIBUTES ..........................................54 1. Power Budget ...............................................................................55 2. Attitude Determination and Sun Exclusion ...............................56 IV. MODELING OF THE PROPOSED ATTITUDE CONTROL METHOD .............................................................................................................57 A. REFERENCE TRIADS ...........................................................................57 B. THE ATTITUDE CONTROL METHODOLOGY ..............................59 vii C. KINEMATICS AND DYNAMICS OF THE PLANT ..........................62 1. Rotational
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