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WO1998032657A1 - Systeme de commande d'orientation d'engin spatial a propulseurs de faible poussee - Google Patents

Systeme de commande d'orientation d'engin spatial a propulseurs de faible poussee Download PDF

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Publication number
WO1998032657A1
WO1998032657A1 PCT/US1998/000927 US9800927W WO9832657A1 WO 1998032657 A1 WO1998032657 A1 WO 1998032657A1 US 9800927 W US9800927 W US 9800927W WO 9832657 A1 WO9832657 A1 WO 9832657A1
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WO
WIPO (PCT)
Prior art keywords
spacecraft
thrusters
low thrust
thrust thrusters
low
Prior art date
Application number
PCT/US1998/000927
Other languages
English (en)
Inventor
Xen Price
Thomas Randolph
Kam K. Chan
Ahmed Kamel
Original Assignee
Space Systems/Loral, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Space Systems/Loral, Inc. filed Critical Space Systems/Loral, Inc.
Priority to JP53206798A priority Critical patent/JP2001509110A/ja
Priority to EP98911358A priority patent/EP0958170A4/fr
Publication of WO1998032657A1 publication Critical patent/WO1998032657A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems
    • B64G1/245—Attitude control algorithms for spacecraft attitude control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/26—Guiding or controlling apparatus, e.g. for attitude control using jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/42—Arrangements or adaptations of power supply systems
    • B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
    • B64G1/443—Photovoltaic cell arrays

Definitions

  • This invention relates generally to spacecraft attitude control systems and, in particular, to three axis stabilized spacecraft.
  • Spacecraft perform various maneuvers after they are launched into space and once they are on-station in an intended orbit. For example, after a spacecraft is launched into a low orbit, it may be required to raise the spacecraft to a higher (e.g., geosynchronous) orbit by firing the spacecraft's main thruster. This type of maneuver is known as an orbit-raising maneuver. Also by example, after the spacecraft is on-station in a selected orbit, various forces (e.g., solar and/or other environmental disturbance torques, such as magnetic torques) may act on the spacecraft and cause the spacecraft to drift away from its selected orbit into another, incorrect orbit. Thus, periodic (e.g., daily, weekly, or monthly) orbital maneuvers are often required to return the spacecraft to the correct orbit. These types of maneuvers are known as station-keeping maneuvers.
  • forces e.g., solar and/or other environmental disturbance torques, such as magnetic torques
  • periodic orbital maneuvers are often required to return the spacecraft to the correct orbit. These types of maneuvers are known as station-
  • attitude control can be maintained by activating selected ones of the spacecraft's thrusters to create a desired torque in order to correct the spacecraft's attitude.
  • U.S. Patent No. 5,459,669 Control System And Method For Spacecraft Attitude Control, to Adsit et al.
  • U.S. Patent No. 5,400,252 Spacecraft East/West Orbit Control During A North Or South Stationkeeping Maneuver, to Kazimi et al.
  • U.S. Patent No. 5,349,532 Spacecraft Attitude Control And Momentum Unloading Using Gimballed And Throttled Thrusters, to Tilley et al .
  • U.S. Patent No. 5,222,023 Compensated Transition For Spacecraft Attitude Control, to Liu et al.
  • a typical geosynchronous satellite is designed to minimize solar torque imbalance. This is typically accomplished with symmetric solar array design, with the solar arrays 26 being located on the north and south side of the spacecraft (Fig. 5A) , or in a configuration with the solar arrays 26 on the south side, balanced by a solar sail 29 on the north side (Fig. 5B) . These appendages extend from a spacecraft bus 11. Residual solar and environmental disturbance torques are stored in momentum wheels that are then unloaded periodically using high thrust thrusters, magnetic torquers, trim tabs, or solar panel angle adjustments.
  • the teaching of this invention uses low thrust thrusters to provide for the removal of solar and/or other environmental disturbance torques, such as magnetic torques, and to also enables fine on-orbit pointing of a spacecraft.
  • the low thrust thrusters are controlled by a Low Thrust Thruster Attitude Control System (LTTACS) .
  • LTTACS Low Thrust Thruster Attitude Control System
  • the use of the LTTACS is particularly beneficial for earth orbiting satellites having meteorological or communication payloads.
  • the use of the LTTACS, in combination with the low thrust thrusters is an alternative to conventional devices such as trim tabs, magnetic torquers, solar sails, and/or momentum wheels for momentum management and/or attitude control.
  • the use of the low thrust thrusters enables these conventional devices to be eliminated for on-orbit momentum management or attitude control.
  • a 3-axis attitude control design is simplified in an all-thruster control system that meets the requirements for orbit raising, stationkeeping, and transition and normal on-orbit attitude control.
  • the low thrust thrusters are particularly useful for transition and on-orbit control. While a conventional high thrust thruster system is preferably retained to meet orbit raising and stationkeeping needs, a spacecraft constructed and operated in accordance with this invention realizes a significant reduction in recurring and non-recurring cost.
  • a spacecraft employs pairs of low thrust thrusters having thruster nozzles arranged in a V-configuration for providing torque capability to perform attitude control and momentum management.
  • a spacecraft has a plurality of low thrust thrusters arranged as at least two sets of two low thrust thrusters, individual ones of the low thrust thrusters of a set being disposed in a V-configuration and mounted at predetermined locations on at least one of a spacecraft appendage or a spacecraft bus.
  • the plurality of low thrust thrusters are selectively fired or energized for achieving control of 3-axes of spacecraft attitude or momentum.
  • a method for operating a spacecraft of a type comprising at least one solar array extending from a spacecraft bus and experiencing an asymmetric disturbance torque, such as a solar torque.
  • the method includes steps of providing at least two sets of two low thrust thrusters coupled to the solar array, wherein individual ones of the low thrust thrusters of a set have thrust vectors disposed at an angle ⁇ one to another.
  • the thrust vectors lie in at least one plane that intersects a plane of the solar array.
  • the method further includes a step of selectively energizing the low thrust thrusters for achieving, in cooperation with the disturbance torque, a desired torque about any one of three spacecraft axes.
  • Fig. 1 is a block diagram of a spacecraft attitude determination and control system suitable for practicing this invention
  • Figs. 2A, 2B, 2C and 2D illustrate embodiments of spacecraft having low thrust thrusters for attitude control in accordance with an aspect of this invention
  • Figs. 3A and 3B illustrate a first low thrust thruster configuration in accordance with this invention
  • Figs. 4A and 4B illustrate a second low thrust thruster configuration in accordance with this invention
  • Figs. 5A and 5B illustrate conventional solar array placements for a geosynchronous satellite
  • FIGs. 6A and 6B illustrate further embodiments of spacecraft with an asymmetric solar torque imbalance design that has low thrust thrusters positioned in accordance with an aspect of this invention.
  • Fig. 6C illustrates two pairs of low thrust thrusters arranged in a V-configuration, the view of Fig. 6C looking at the edge of the solar array panel of either Fig. 6A or 6B. This Figure is useful when referring to Table 3 below. DETAILED DESCRIPTION OF THE INVENTION
  • the Low Thrust Thruster Attitude Control System (LTTACS) 10 includes an attitude determination and control system 20 that uses sensor inputs (e.g., from one or a combination of a sun sensor 12, an earth sensor 14, and a star tracker 16), in combination with an inertial sensor system (gyros 18) , for thruster command generation.
  • the spacecraft includes one or more high thrust thrusters 22 and a plurality of low thrust thrusters 24.
  • the high thrust thrusters 22 may be 22 Newton thrusters.
  • the low thrust thrusters 24 are selected so as to have a low average thrust level (e.g., 10 micro-N to 10 milli-N) , a small minimum impulse quantization (e.g., 10 micro-Ns to 1 milli-Ns) , a large throttle ability range (e.g. , at least from maximum thrust to 10% of maximum thrust), a high specific impulse (e.g., greater than 500 s) , and a self-contained propellant supply.
  • the low thrust thrusters 24 may be pulse plasma thrusters or field emission electric propulsion thrusters.
  • the LTTACS 10 also provides a mechanism to transition from the high thrust thruster 22 used for ⁇ V to the low thrust thrusters 24 used for fine attitude control.
  • any residual momentum can be absorbed by the low thrust thrusters 24 during transition from the high to the low thrust thrusters, either alone or in combination with optional momentum wheels 27. If the optional momentum wheels 27 are provided on the spacecraft, the low thrust thrusters 24 can be used to augment the operation of the momentum wheels 27, and/or to act as a back-up system in the case of the failure of a momentum wheel.
  • the LTTACS 10 may also command low thrust thrusters 24 mounted on spacecraft appendages, such as solar array panel (s) 26 (Figs. 2A, 2B and 2D), for maintaining attitude control.
  • the LTTACS 10 uses the low thrust thrusters 24 to provide roll, pitch and yaw control torques to directly remove solar and other torque disturbances, and to control the spacecraft attitude to on-orbit pointing requirements.
  • Locating the low thrust thrusters 24 on the solar array panel 26 is beneficial in that it increases the moment arm about which the thrusters act.
  • thrusters located on the spacecraft bus may have a moment arm of about one meter, while thrusters located at the extremities of the solar array panel 26 can have a moment arm that is an order of magnitude larger. This is an important consideration, in that the operational lifetime of the low thrust thruster 24 may be limited, and the increased benefit in torque provided by the longer moment arm reduces the required firing time of the low thrust thrusters in order to achieve a given amount of correcting torque.
  • the placement of the low thrust thrusters 24 on the solar array panel (s) 26 also provides the benefit that the low thrust thrusters 26 can be aligned with the solar torque disturbance coordinate frame that acts on the solar arrays, thereby functioning to directly counter the solar torque (which acts as an inertial torque) .
  • the LTTACS 10 generates high precision attitude knowledge from any one of the following three sensor combinations: (1) gyros 18 and star tracker 16, (2) gyros 18, star tracker 16 and earth sensor 14, or (3) gyros 18, earth sensor 14 and sun sensor 12.
  • the low thrust thrusters 24 are then commanded to achieve fine on-orbit attitude control suitable for, by example, accurately pointing an imager payload or a communications payload for a 3-axis stabilized meteorological or communication satellite, respectively.
  • the on-board attitude determination and control system 20 uses the gyros 18 in combination with either: (1) the star tracker (s) 16, (2) the earth sensor (s) 14 and star tracker(s) 16, or (3) the earth sensor(s) 14 and sun sensor (s) 12 to provide low noise attitude measurement, thruster control logic to generate thruster on-time commands, and the low thrust thrusters 24 for torque output.
  • the output of the high thrust thrusters 22 is controlled for orbit raising and ⁇ V maneuvers, while the outputs of the low thrust thrusters 24 are controlled for transition and normal on-orbit operations.
  • the earth sensor (s) 14, sun sensor(s) 12, and gyros 18 can be used during orbit raising operations.
  • the momentum wheels 27 can be provided if desired.
  • the selected reference sensor (s) provide accurate long term spacecraft attitude knowledge, while the gyros 18 improve short term attitude knowledge.
  • the reference sensors 12-16 and calibrated gyro 18 form an attitude determination system that can be described by the use of standard quaternion parameters [ql, q2 , q3 and q4].
  • the desired trajectory for nadir pointing in terms of quaternion parameters is convolved by the controller 20 with propagated quaternions.
  • the first three error quaternion [ql, q2, q3] and body rate [wl, w2 , and w3] states are then multiplied by controller gains to generate thruster commands.
  • the required torque is converted to an on-time (firing time) for selected pairs of the low thrust thrusters 24.
  • Environmental and other disturbance torques such as solar torque, magnetic torques, gravitational torques, and torques resulting from spacecraft-based actuators, may be removed directly by the firings of the low thrust thrusters 24.
  • This control law is also used with the high thrust thrusters 22 during orbit raising for attitude control.
  • the controller gains are switched from high gains to low gains.
  • Precise attitude pointing is maintained to within a specified attitude deadband, typically much less than 0.01 degrees about all axes, by selectively firing the low thrust thrusters 24.
  • the conventional high thrust thrusters 22 are mounted on the main spacecraft body or bus 11.
  • the low thrust thrusters 24, which are preferably lightweight and compact (having integrated propellant and hardware) can be mounted on the main spacecraft bus (as shown in Fig. 2C) , or on any suitable appendages. As shown in Figs. 2A, 2B, and 2D the low thrust thrusters 24 may be mounted, for example, at the periphery of one or more of the solar array panels 26. Reference in this regard can be had as well to Figs. 6A and 6B.
  • attitude determination and control system 20 can be further corrected by the feed forwarding of satellite pointing error corrections to high bandwidth, 2-axis gimballed instrument payloads.
  • a spacecraft has four low thrust thrusters 24 to accomplish the following three goals.
  • a first goal is to maintain high precision on-orbit attitude pointing with the low thrust thrusters 24, rather than with the (optional) momentum wheels 27.
  • a second goal is to remove solar or other environmental disturbance torques with the low thrust thrusters 24, rather than using passive means, such as solar sails, or active means such as trim tabs and magnetic torquers.
  • a third goal is to remove spacecraft momentum with the low thrust thrusters 24, rather than storing the momentum in momentum wheels.
  • a net savings in mass is realized by the removal of one or more of the trim tab, solar sail, momentum wheels, and magnetic torquers.
  • a set of low thrust thrusters 24 (four low thrust thrusters in a presently preferred embodiment of the invention) is deployed in a configuration that enables both attitude control and the opposition of solar torque imbalance.
  • a redundant set of four low thrust thrusters may also be provided.
  • the low thrust thrusters 24 can be mounted on the solar array 26, or some other suitable spacecraft appendage, to maximize torque removal capability by increasing the moment arm about which the low thrust thrusters operate.
  • Figs. 2A-2D illustrate spacecraft configuration designs that can remove the need for the above-described conventional trim tabs, symmetrically balanced solar arrays, solar sails, magnetic torquers and/or momentum wheels.
  • Figs. 2A, 2B, and 2D were discussed above. Note, for example, in Figs. 2A and 2D that an asymmetric spacecraft bus, solar array panel configuration is used. In Fig. 2A a longitudinal axis (LA) of the solar array panels 26 does not pass through the bus 11, while in Fig. 2D the longitudinal axis (LA) does pass through the spacecraft bus 11.
  • Fig. 2C shows the low thrust thrusters 24 located on the spacecraft bus 11.
  • This invention provides a method to use the low thrust 14 thrusters 24 to directly remove the torque disturbances and to provide attitude control.
  • Figs. 3A and 3B shows a first low thrust thruster configuration that produces the required torques to control a wide range of environmental disturbance torques, such as solar torque, magnetic torques, gravitational torques and disturbance torques from spacecraft-based actuators.
  • Fig. 3A is a view looking end-on at the solar array 26 of Fig. 2A, while Fig. 3B is a top view of the solar array 26.
  • Two redundant sets of four low thrust thrusters 26 are mounted at, preferably, the end of the solar array 26.
  • the total of eight thrusters are referred to as 1-8.
  • the design parameters are the lengths LI and L2, referenced to the center of mass (cm), and the thrust angles and ⁇ , as shown in Figs. 3A and 3B.
  • Thrusters 1, 2, 3 and 4 form a first low thrust thruster set, while thrusters 5, 6, 7, and 8 form a second (redundant) low thrust thruster set.
  • a given four thruster configuration provides an efficient means of generating inertial torque for the removal of environmental torque disturbances acting on the spacecraft with a minimum thruster set.
  • Both positive and negative torques about each axis can be generated by engaging a pair of low thrust thrusters 24 having thrust vectors disposed at the angles ⁇ and ⁇ .
  • Table 1 illustrates the net torque polarities that can be generated by engaging various low thrust thruster pairs.
  • This torque actuator capability can also be created with the redundant low thrust thrusters 5 , 6 , 7 and 8 of the second set.
  • the four low thrust thruster configuration and thruster pairing embodied in this invention provides an efficient, low-mass technique to remove environmental disturbance torques.
  • present low thrust thruster technology can provide force in the 0.0004 N range.
  • the thruster configuration shown in this embodiment (with the large moment arms for increased efficiency) can thus provide torque capability in the range of 0.0012 Nm. This provides more than adequate control capability to remove expected environmental disturbance torques. Even for the case of a highly imbalanced spacecraft configuration, such as presented in Figs. 3A and 3B, a factor of ten torque margin exists for solar torque mitigation and control.
  • the four low thrust thruster configuration and thruster pairing embodied in this invention also provides a technique by which an on-orbit attitude control system can simultaneously maintain fine attitude pointing.
  • an on-orbit attitude control system can simultaneously maintain fine attitude pointing.
  • the body rate generated by a single thruster pulse is 0.5 ⁇ rad/sec.
  • Fine attitude pointing to within a desired deadband can be maintained with the above-referenced attitude determination and control system 20 that commands actuation of the low thrust thruster pairs designated in Table 1.
  • maintaining an exemplary ⁇ 25 ⁇ rad (0.0014 deg) roll attitude pointing deadband entails pulsing thruster pairs 1&3 (for +Txi) or 2&4 (for -Txi) an average of once every 100 seconds.
  • a second low thrust thruster embodiment is illustrated in Figs. 4A and 4B.
  • two redundant sets of low thrust thrusters 24 are mounted near the corners of the spacecraft bus 11.
  • Thrusters 1, 2, 3 and 4 form a first set, while thrusters 5, 6, 7, and 8 form a second, redundant set.
  • This thruster configuration provides an efficient mean of generating body torque for removal of environmental torque disturbances acting on the spacecraft with a minimum thruster set. Both positive and negative torques about each axis can be generated by engaging a pair of thrusters.
  • Table 2 illustrates the net torque polarities that can be generated by engaging a thruster pair.
  • thruster configuration and pairing arrangements thus provide a means to obtain fine pointing attitude control, and the capability to remove environmental disturbance torques with a minimum thruster set configuration.
  • low thrust thrusters 24 such as pulse plasma thrusters or field emission electric propulsion
  • pulse plasma thrusters or field emission electric propulsion is especially beneficial as these units are typically electrically powered, and do not require fuel tanks, fuel lines, and other support equipment. This enables the placement of the low thrust thrusters 24 at locations on the spacecraft, such as the periphery of the solar array panel (s) 26, that would be difficult to achieve with conventionally fueled thrusters.
  • Fig. 6C illustrates a further low thrust thruster embodiment, wherein low thrust thruster nozzles are arranged in a V-configuration with an angle ⁇ therebetween that is in a range of about 10° to about 90°. In one presently preferred embodiment the angle ⁇ is about 20°.
  • Fig. 6C The view of Fig. 6C is taken looking at the edge of the plane of the solar array 26 of Figs. 6A and 6B. This
  • Figure also shows the spacecraft center of mass (s/c cm) .
  • the thrust vectors of the four low thrust thrusters 24 are shown to lie in a second plane that is perpendicular to the plane of the solar array 26, although in other embodiments the second plane may not be perpendicular to the plane of the solar array 26.
  • the low thrust thruster nozzles (1), (2) , (3) and (4) provide the required torque capability to perform attitude control and momentum management, and can be used to counteract the solar torque induced by illumination of the opposite side of the solar array 26.
  • Figs. 6A and 6B illustrate possible locations for the low thrust thrusters 24 on the ends of spacecraft appendages, such as the solar array panel 26.
  • a spacecraft is designed to produce a negative roll solar torque (-Tx) , and the low thrust thrusters 24 are utilized in combination, along with the solar disturbance torque, as shown in Table 3 to produce torque about any three axes.
  • Standard control laws may then use this 3-axis torque capability for control of 3-axis spacecraft attitude or momentum.
  • the labelling of the coordinate axes are for illustrative purposes, while the configuration and utilization method is general and is applicable as well to other coordinate definitions.
  • Low thrust thrusters such as pulse plasma thrusters and field emission electric propulsion, that are designed with a single thruster (electronics) 2-nozzle configuration can be arranged in the illustrated configuration and operated in the manner stated above to achieve control of 3-axes of spacecraft attitude or momentum.
  • Table 3

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  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
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  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Selon l'invention, un engin spatial (11) est conçu pour être équipé d'une pluralité de propulseurs à faible poussée (24) montés sur un appendice (29) et/ou une cellule (26) de l'engin. La mise à feu desdits propulseurs (24) se fait par paires afin d'éliminer le couple de rotation parasite ou pour établir une commande d'orientation à pointage précis. Selon une variante, les propulseurs à faible poussée (24) sont montés sur un panneau de batteries solaires (26), ce qui augmente le bras du moment et améliore la performance de poussée desdits propulseurs (24). Selon une autre variante, un engin spatial a une pluralité de propulseurs de faible poussée (24), montés en au moins deux séries de deux propulseurs à faible poussée (24), les propulseurs individuels (24) d'une série ayant une configuration en V et étant montés en des points préétablis sur au moins un appendice (29) ou une cellule (26) de l'engin spatial.
PCT/US1998/000927 1997-01-27 1998-01-23 Systeme de commande d'orientation d'engin spatial a propulseurs de faible poussee WO1998032657A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP53206798A JP2001509110A (ja) 1997-01-27 1998-01-23 低推力スラスタを使用する衛星姿勢制御システム
EP98911358A EP0958170A4 (fr) 1997-01-27 1998-01-23 Systeme de commande d'orientation d'engin spatial a propulseurs de faible poussee

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US3605597P 1997-01-27 1997-01-27
US3605497P 1997-01-27 1997-01-27
US60/036,054 1998-01-22
US60/036,055 1998-01-22
US09/010,718 1998-01-22
US08/998,178 1998-01-22

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Cited By (2)

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Publication number Priority date Publication date Assignee Title
EP0926067A1 (fr) * 1997-12-18 1999-06-30 TRW Inc. Propulseurs de manoeuvre et maintien de position montés sur des panneaux solaires
CN112926268A (zh) * 2021-03-10 2021-06-08 哈尔滨工业大学 一种用于扁平式结构卫星的磁力矩器的设计方法及磁力矩器组

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US4084772A (en) 1976-01-28 1978-04-18 Rca Corporation Roll/yaw body steering for momentum biased spacecraft
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CN112926268B (zh) * 2021-03-10 2024-03-29 哈尔滨工业大学 一种用于扁平式结构卫星的磁力矩器的设计方法及磁力矩器组

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