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Skylab Attitude and Pointing Control System

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Skylab Attitude and Pointing Control System I' NASA TECHNICAL NOTE SKYLAB ATTITUDE AND POINTING CONTROL SYSTEM by W. B. Chzlbb and S. M. Seltzer George C. Marshall Space Flight Center Marshall Space Flight Center, Ala. 35812 NATIONAL AERONAUTICS AND SPACE ADMINISTRATION WASHINGTON, 0. C. FEBRUARY 1971 I I TECH LIBRARY KAFB, NM .. -, - ___.. 0132813 I. REPORT NO. 2. GOVERNMNT ACCESSION NO. j. KtLIPlbNl'b LAIALOb NO. - NASA- __ TN D-6068 I I 1 1. TITLE AND SUBTITLE 5. REPORT DATE L February 1971 Skylab Attitude and Pointing Control System 6. PERFORMING ORGANIZATION CODE __- I 7. AUTHOR(S) 8. PERFORMlNG ORGANlZATlON REPORT # - W... -B. Chubb and S. M. Seltzer I 3. PERFORMING ORGANIZATION NAME AND ADDRESS 10. WORK UNIT NO. 908 52 10 0000 M211 965 21 00 0000 George C. Marshall Space Flight Center I' 1. CONTRACT OR GRANT NO. Marshall Space Flight Center, Alabama 35812 L 13. TYPE OF REPORY & PERIOD COVERED - _-- .. .- __ 2. SPONSORING AGENCY NAME AN0 ADORES5 National Aeronautics and Space Administration Technical Note Washington, D. C. 20546 14. SPONSORING AGENCY CODE -. - - I 5. SUPPLEMENTARY NOTES Prepared by: Astrionics Laboratory Science and Engineering Directorate ~- 6. ABSTRACT NASA's Marshall Space Flight Center is developing an earth-orbiting manned space station called Skylab. The purpose of Skylab is to perform scientific experiments in solar astronomy and earth resources and to study biophysical and physical properties in a zero gravity environment. The attitude and pointing control system requirements are dictated by onboard experiments. These requirements and the resulting attitude and pointing control system are presented. 18 .- 0 1 STR inUT I ONSmTEMeNT Space station Control moment gyro Unclassified - Unlimited Attitude control -~ 9. SEClklTY CLASSIF. (Or tbh rmpm'tt) 20. SECURITY CL IF. (or tu. P.W) 21. NO. OF PAGES 22. PRICE* Unc 1as s if ied Unclassified 16 $3 .oo . --~I A For Sale by the National Technical Information Service, Springfield, Virginia 22151 TABLE OF CONTENTS Page SUMMARY ............................ i INTRODUCTION ......................... 1 SKYLAB-A DESCRIPTION ..................... i MISSION IMPLEMENTATION ................... 2 SYSTEM REQUIREMENTS ..................... 3 CONTROL SYSTEMS DESIGN PHILOSOPHY ............. 3 CONTROL SYSTEM DESCRIPTION ................. 4 SYSTEM OPERATION ....................... 9 CONCLUSIONS .......................... 11 APPENDIX ........................... 11 REFERENCES .......................... 13 iii I. LIST OF ILLUSTRATIONS Figure Title Page I. Sky1ab.A .......................... 2 2 . CMGCluster ........................ 4 3 . Momentum Vector Configuration ............... 5 4 . Distribution Law Principle .................. 5 5 . Combined Disturbance Impulse ................ 6 6 . TACS Thrusters ....................... 7 7 . Functional Block Diagram of the Attitude and Pointing Control System ....................... 7 8 . Phase Plane Diagram (Nested Configuration) .......... 8 9 . Z-Local Vertical Maneuver in CMG/TACS Nested Configuration . 8 IO. Experiment Pointing System (EPS) .............. 9 I1. Earth Resources Maneuver Sequence .............10 LIST OF TABLES Table Title Page I . EPS Control System Requirements .............. 3 11 . CMG Control System Requirements .............. 3 III . Physical Characteristics of Skylab-A ............. 4 iv .. I DEFINITION OF SYIVIBOM - H momentum vector total momentum vector momentum vectors associated with each of the CMG's principal moments of inertia about the X, Y, and Z axes, respectively fine sun sensor gain KFS torquer gain Km rate gyro gain K~~ amplifier gain KCY S Laplace transform commanded torque disturbance torque vehicle axes angle between orbit normal and the jth momentum vector gj gimbal rate about inner axis for jth CMG gimbal rate about outer axis for jth CMG rate gyro dumping ratio fine sun sensor rise time 'FS amplifier rise time rate gyro natural frequency SKYLAB ATTITUDE AND POINTING CONTROL SYSTEM SUMMARY NASA's Marshall Space Flight Center is developing an earth-orbiting manned space station called Skylab. The purpose of Skylab is to perform scientific experiments in solar astronomy and earth resources and to study biophysical and physical properties in a zero gravity environment. The attitude and pointing control system requirements are dictated by onboard experiments. These requirements and the resulting attitude and pointing control system are presented. I. INTRODUCTION will provide the launch facilities and execute the launches. Major contractor support for Skylab-A is Thc Skylab-AI -3 is to be an experimental space indicated below: station dcvcloped by the National Aeronautics and Spnce Administration. The Skylab program is an (1) Saturn launch vehicles. Boeing Corp., estcnsion of the Mercury-Gemini-Apollo manned Chrysler Corp., and McDonnell-Douglas Corp. space flight programs and makes extensive use of hardware and technology developed in those programs. (2) Skylab-A The purpose of the program is to increase our knowl- edge of manned space flight and to accomplish selected (a) Martin Marietta Corp. : cluster pay- scientific, technological, and physiological investiga- load integration and management tions. The objectives of the program are: (b) McDonnell-Douglas Corp. : orbital (1) To conduct solar astronomy scientific ex- workshop and airlock module periments, emphasizing observations that cannot be obtained from earth because of absorption of certain (c) IBM: Apollo Telescope Mount (ATM) electromagnetic waves by the atmosphere. digital computers (primary and secondary) and work- shop computer interface unit (2) To conduct earth resources experiments designed to permit an evaluation of existing technology (d) Bendix Corp. : control moment and how it may be applied to aid in the solution of eco- gyroscopes and electronics and experiment pointing logical problems. The need for further development of electronic assembly sensor technology will also be determined. (e) North American Rockwell Corp. : (3) To conduct biomedical experiments to deter- modifications to the CSM mine the effect of long duration space flight on the crew. 2. SKYLAB-A DESCRIPTION The Skylab is being developed under the overall pro- gram responsibility of NASA's Office of Manned Space- flight. The Marshall Space Flight Center, Huntsville, The Skylab-A consists primarily of modules developed Alabama, has program management responsibility for under the Apollo program and selected to meet the developing all Skylab hardware except the Command and operational requirements of the Skylab-A program. Service Module (CSM), for providing the launch vehicles, The modules will be launched aboard Saturn launch for flight evaluation, and for overall systems engineer- vehicles, placed in an earth orbit, and assembled there. ing tp ensure compatibility and integration of all hard- The Skylab-A (Fig. 1) consists of the following modules: ware. NASA's Manned Spacecraft Center in Houston, Texas, is responsible for modifying the CSM, for de- Orbital Workshop (OWS). The OWS is a modified empty veloping the spacecraft launch adapter (SLA), for de- S-IVB stage that will provide the astronauts with living veloping the experiments and crew support equipment, quarters while in orbit. It will contain necessary fd- for mission analysis and evaluation, and for astronaut preparation and waste-management facilities to support crew training. The Kennedy Space Center in Florida athree-man crew for the planned manned missions. ATM SOLAR ARRAY TACS ENGINE POD WORKSHOPSOLAR INSTRUMENT UNIT AIRLQCK MODULE MULTIPLE DOCKING ADAPTER e- COMMAND MODULE FIGURE 1. SKYLAB-A Certain experiments and supporting facilities for their each side of the OWS and four panels are attached to operation also will be contained in the OWS (see Appen- the ATM. Their purpose is to provide power for the dix). Attitude control commands will be implemented Skylab-A system. The average power output of these by a cold-gas thruster attitude control system (TACS) combined arrays is approximately 7.2 kW. located on the OWS. Two solar array panels attached to the sides of the OWS will provide some of the power Saturn V Instrument Unit gv). The IU is used only required by the Skylab-A. The OWS will remain in during launch and for the subsequent seven and one- orbit in unmanned storage modes and will be reactivated half hours of orbital operation while the CMG's are be- during subsequent manned revisits. ing brought up to operational speed (i49 rou/a). Once in orbit, it provides sequencing commands to actuate Multiple Docking Adapter (MDAL ang Airlock Module (Ae$). and control the deployment of the Skylab-A elements. It The MDA andvdockinp.~orts for the CSR.1 and also provides an IU digital command system and telem- provide a pressurized passagewaybetween the CSM and etry link with the ground. the living quarters in the OWS. The MDA contains the ATM control and display (C&D) panel. Experiments Command and Sey:ce Module (CSM). The CSM provides housed in these two modules are described in the the crew with transportation between the earth and the Appcndix; most of the experiments are included in the Skylab-A. It also contains food, water, and other Earth Resources Experiment Package (EREP). essentials for crew support when the CSM is detached from the Skylab-A. The CSM provides some of the communication, instrumentation, and thermal control -Mount (ATM). The ATM is to be a capability. It has the capability of providing attitude solar observatory developed primarily to collect control to counteract transient responses to docking data on solar
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