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MAY 4 L4 D I Hereby Assign My Copyright of This Thesis to the Charles Stark Draper Laboratory, Inc., Cambridge, Massachusetts DYNAMICS AND CONTROL OF THE SPACE SHUTTLE BASED KINETIC ISOLATION TETHER EXPERIMENT by Captain Mark William Stephenson B.S., United States Military Academy (1980) SUBMITTED TO THE DEPARTMENT OF AERONAUTICS AND ASTRONAUTICS IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREES OF ENGINEER IN AERONAUTICS AND ASTRONAUTICS AND MASTER OF SCIENCE IN AERONAUTICS AND ASTRONAUTICS at the MASSACHUSETTS INSTITUTE OF TECHNOLOGY MAY, 1988 Mark William Stephenson, 1988 Signature of Author Department of Aeronautics and Astro autics, May 6, 1988 Certified by-------------- Edward V. Bergmann Thesis Supervisor, C. S. Draper Lab.,Inc. Certified by Professor Richard H. Battin Adjunct Professor of Aeronautics and Astronautics Certified by Professor alter M. Hollister Professor of Aeronautics and Astronautics Certified by Professor Andreas von Flotow Assistant Professor of Aeronautics and Astronautics Accepted by Accepted by------------------- ,profetdeVF~f---6-,fC v Harold Y. Wachman Chairman, Departmental Graduate Committee 1ero TF M1-1-06 MAY 4 l4 d I hereby assign my copyright of this thesis to the Charles Stark Draper Laboratory, Inc., Cambridge, Massachusetts. Mark Willi Stephenson Permission is hereby granted by the Charles Stark Draper Laboratory, Inc., to the Massachusetts Institute of Technology to reproduce any or all of this thesis. DYNAMICS AND CONTROL OF THE SPACE SHUTTLE BASED KINETIC ISOLATION TETHER EXPERIMENT by CAPTAIN MARK WILLIAM STEPHENSON Submitted to the Department of Aeronautics and Astronautics on May 6, 1988, in partial fulfillment of the requirements for the Degrees of Engineer in Aeronautics and Astronautics and Master of Science in Aeronautics and Astronautics ABSTRACT The Kinetic Isolation Tether Experiment is a proposed Space Shuttle flight demonstration experiment tentatively scheduled for launch in the mid 1990's. Attitude control of a 1000 kg tethered subsatellite via a movable tether attachment point is the primary focus of this investigation; however, many secondary issues pertaining to the overall mission are also investigated. The investigation consists of six major parts: 1) Consolidating and selecting mission equipment 2) Discussing the proposed tether deployment strategies 3) Deriving equations of motion for a rigid body spacecraft perturbed by external torques and two mobile masses 4) Designing the subsatellite's attitude control system 5) Building a numerical simulation of the Shuttle - Tether - Subsatellite orbital system 6) Experimenting with the numerical simulation to evaluate the subsatellite's attitude control system and investigate Space Shuttle attitude control options Three Proportional-Integral-Derivative control loops are developed for subsatellite attitude control. The yaw loop controls a reaction wheel while the pitch and roll loops control the movable tether attachment point. The simulations compare the effects of loop gain, low pass filtering, and integral feedback on subsatellite attitude errors. Space Shuttle free drift equilibrium attitudes, Local-Vertical- Local-Horizontal attitude holding, and holding of equilibrium attitudes are compared on the basis of induced tether disturbances and attitude control fuel efficiency. This study reinforces the feasibility of the proposed flight demonstration experiment and develops specific recommendations to improve the mission. Thesis Adviser: Dr. Richard H. Battin Title: Charles S. Draper Adjunct Professor of Aeronautics and Astronautics BIOGRAPHY OF MARK WILLIAM STEPHENSON CAPTAIN, U.S. ARMY Captain Mark W. Stephenson was born in Cincinnati, Ohio, on 12 May 1958. He graduated with honors from the United States Military Academy in May of 1980 and was commissioned a Second Lieutenant in Military Intelligence with orders to attend Flight Training. While a Cadet, he majored in Mathematics, completed Airborne Training, commanded a company, and was a semifinalist in the Rhodes Scholarship competition. He graduated with honors from the Military Intelligence Officer Basic Course and the Tactical Surveillance Officer Course at Fort Huachuca, Arizona, on 12 September 1980 and 6 February 1981, respectively. In rapid succession, he completed the Initial Entry Rotary Wing Aviator Course on 31 October 1981, Fixed Wing Multi-Engine Qualification Course on 24 March 1982, and OV-1D (Mohawk) Surveillance Airplane Aviator Qualification Course on 25 May 1982 at Fort Rucker, Alabama. Upon returning to Fort Huachuca in June 1982, 1LT Stephenson completed the OV-1D (Mohawk) Surveillance Airplane Aviator Combat Skills Qualification Course on 9 July 1982. After completing six years of intensive military education, 1LT Stephenson was assigned to the 15th Military Intelligence Battalion (Aerial Exploitation), Fort Hood, Texas, on 15 July 1982. During the first eight months of his assignment, he served as the Flight Operations Officer and Imagery Interpretation Platoon Leader of the Aerial Surveillance Company. He served as the Executive Officer of the Aerial Surveillance Company from March to November of 1983 followed by service as the Battalion Executive Officer from 15 November 1983 until his departure from Fort Hood on 10 December 1984. On 31 May 1985, CPT Stephenson graduated with honors from the Aviation Officer Advanced Course at Fort Rucker, Alabama. He served as the Mission Operations Officer of the 3rd Military Intelligence Battalion, Camp Humphreys, Republic of Korea, from June 1985 to May 1986. Since June 1986, CPT Stephenson has been a Graduate Student pursuing the degrees of Engineer in Aeronautics and Astronautics and Master of Science in Aeronautics and Astronautics at the Massachusetts Institute of Technology with full funding under the United States Military Academy Top Five Percent Program. Upon completion of his studies in May of 1988, CPT Stephenson will instruct Aerospace Engineering at the United States Military Academy, West Point, New York for a period of three years. MILITARY SCHOOLS ATTENDED: (in chronological order) United States Military Academy Airborne School Military Intelligence Officer Basic Course Tactical Surveillance Officer Course Initial Entry Rotary Wing Aviator Course Fixed Wing Multi-Engine Qualification Course OV-1D (Mohawk) Aviator Qualification Course OV-lD (Mohawk) Aviator Combat Skills Qualification course U.S. Air Force Water Survival Training Course Military Airlift Command Planners Course U.S. Air Force Strategic Mobility Planners Course Aviation Officer Advanced Course Combined Arms and Services Staff School US DECORATIONS: 2 - Meritorious Service Medals 1 - Army Commendation Medal 1 - Army Achievement Medal 1 - Army Superior Unit Award 1 - Army Service Ribbon 1 - Army Overseas Ribbon AIRCRAFT QUALIFICATIONS: APPROX. HRS. FLOWN: TH-55 Training Helicopter 50 UH-1H Utility Helicopter 163 T-42 Multi-Engine Training Airplane 60 OV-1D Combat Surveillance Airplane 777 TOTAL 1050 ACKNOWLEDGEMENTS I would like to thank the following friends and associates for their contributions to this document. Professors Richard H. Battin, Walter M. Hollister, and Andreas von Flotow for their excellent classroom instruction that prepared me for this endeavor. Their sound advice and guidance as members of the thesis committee was greatly appreciated and I am proud to have their autographs on my title page. Mr. Edward V. Bergmann, Thesis Supervisor, C. S. Draper Laboratory, for his initial suggestion of the thesis topic and his continued guidance during this effort. Mr. Chris C. Rupp, Contract Administrator, NASA Marshall Space Flight Center, for funding of the research and his assistance in making contacts and providing background information that shaped the focus of this thesis. Mr. Bruce A. Persson, Technical Advisor, C. S. Draper Laboratory, for the quality of his work prior to my involvement in the project and the thoroughness he displayed during the transition of this project to my control. Major W. Neil McCasland, United States Air Force, for introducing me to Ed Bergmann during my search for a thesis topic and providing technical guidance concerning the design of the subsatellite attitude control system. Mr. Larry G. Lemke, NASA Ames Research Center, for providing technical information concerning his research on the Kinetic Isolation Tether Experiment. Professor J. David Powell, Mr. Xiaohua He, and Mr. Robert Schoder of Stanford University for providing technical information concerning their continuing investigation into the Kinetic Isolation Tether Experiment. Mr. Joseph A. Carroll, Energy Sciences Laboratory, Inc., for providing technical information concerning his Small Expendable-tether Deployment system and technical discussions concerning tether selection and deployment strategies for the Kinetic Isolation Tether Experiment. Mr. Scott Lambros, Spartan Office, Goddard Space Flight Center, for providing assistance and references concerning the Spartan spacecraft. Mr. Steve Pateuk, Design Components, Inc., for providing technical information and assistance concerning their HM-2424 positioning table and its accessories. Last but not least, Debra A. N. Stephenson, my wife, for her support during this project and her assistance in preparing the final document. This report was prepared under contract NAS8-36602 with the National Aeronautics and Space Administration. Publication of this report does not constitute approval by the Charles Stark Draper Laboratory or NASA of the findings or conclusions contained herein. It is published solely for the exchange of ideas. TABLE OF CONTENTS Chapter Page INTRODUCTION ........... .... ..16
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