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研究生: 張明霖
Chambon, Maxime
論文名稱: Birdy姿態與軌道控制技術之建模
Modelling Birdy-T’s Attitude and Orbit Control
指導教授: 苗君易
Miau, Jiun-Jih
共同指導教授: 莊智清
Juang, Jyh-Ching
學位類別: 碩士
Master
系所名稱: 工學院 - 航空太空工程學系
Department of Aeronautics & Astronautics
論文出版年: 2017
畢業學年度: 105
語文別: 英文
論文頁數: 98
外文關鍵詞: CubeSat, Birdy-T, Autonomous, Navigation, Attitude, Orbit, Control
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  • Over the past few years, a new satellite’s standard is getting more and more popular in the space industry. This one, denominated as CubeSat is particularly appreciated in universities and educational institutions. Indeed, the affordable price of these nanosatellites compared with bigger spacecraft contribute to facilitate access to space and allow students to work on their own satellite.
    Being part of this movement, the Birdy-T project’s objective is to open the CubeSat industry to interplanetary missions. In order to do that, the focus is placed on developing an autonomous navigation system. This one would enable the spacecraft to control its orbit as well as its attitude, thus minimize the communication between the satellite and the ground, and as a result considerably reduce the operation costs.
    The aim of this thesis is to simulate the Birdy-T’s technology in a programming language called python. We want to code Birdy-T’s attitude and orbit control as well as identify the information exchanged by the different objects involved in these processes. The first results obtained with this simulation will be presented in this document.

    ABSTRACT…………………………………………………………………………..II ACKNOWLEDGMENTS……………………………………………………………III CONTENTS………………………………………………………………………….IV LIST OF TABLES…………………………………………………………………..VII LIST OF FIGURES………………………………………………………………...VIII NOMENCLATURE……………………………………………………………….....IX CHAPTER I INTRODUCTION.……………………………………………………1 1.1 Objectives……………………………………………………………………..1 1.2 Review of Previous Works……………………………………………………2 1.3 Thesis Overview………………………………………………………………3 1.4 Autonomous Navigation……………………………………………………...4 1.5 Birdy-T………………………………………………………………………..5 1.6 Attitude, Orbit Determination and Control…………………………………...6 CHAPTER II ATTITUDE AND ORBIT CONTROL FUNDAMENTALS……….7 2.1 Reference Frames……………………………………………………………..7 2.1.1 Body Frame……...……………………………………………………..7 2.1.2 Inertial Frame…………………………………………………………..8 2.2 Quaternion Representation..…………………………………………………..9 2.3 Coordinate Transformation………………………………………………….11 2.4 Satellite Physics.……………………………………………………………..13 2.4.1 Satellite Kinematics.…………………………………………………..13 2.4.2 Satellite Dynamics…………………………………………………….14 2.5 Linear Velocity Problem………..…………………………………………...16 2.6 Control Laws………………………………………………………………...17 2.6.1 Rate Controller.……………………………………………………….17 2.6.2 Attitude Controller……………………………………………………18 2.6.3 Orbit Controller……………………………………………………….20 CHAPTER III SIMULATION ARCHITECTURE.……………………………….22 3.1 Python Fundamentals.……………………………………………………….22 3.2 ADCS Architecture………………………………………………………….23 3.2.1 Sensors Operation…………………………………………………….23 3.2.2 OBC Operation………………………………………………………..27 3.2.3 Actuators Operation…………………………………………………..33 3.2.4 ADCS Operation……………………………………………………...40 3.3 ODCS Architecture………………………………………………………….43 3.3.1 Sensors Operation.……………………………………………………44 3.3.2 IFOD Operation....…………………………………………………….47 3.3.3 OBC Operation.…………………………………………………….....49 3.3.4 Actuators Operation…………………………………………………..51 3.3.5 ODCS Operation.……………………….….…………………………51 3.4 Overall Simulation Architecture…………………………………………….53 CHAPTER IV SIMULATION RESULTS………………………………………...55 4.1 ADCS Process……………………………………………………………….55 4.1.1 Detumbling Scenario………………………………………………….55 4.1.2 Spinning Scenario…………………………………………………….58 4.1.3 Pointing Scenario.…………………………………………………….60 4.2 ODCS Process……………………………………………………………….63 CHAPTER V CONCLUSIONS.…………………………………………………...67 5.1 Summary……....…………………………………………………………….67 5.2 Future Work……………………………………………………...………….68 REFERENCES……………………………………………………………………….69 APPENDIX.………………………………………………………………………….71

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    [10] M.S. Ahmed, D.V. Cuk, "Strapdown Attitude Algorithms using Quaternion Transition Matrix and Random Inputs", Scientific-Technical Review, 2005.
    [11] N. Trawny, S.I. Roumeliotis, "Indirect Kalman Filter for 3D Attitude Estimation", Technical Report number 2005-002, University of Minnesota, 2005.
    [12] S.R.Starin, "Attitude Determination and Control Systems", John Eterno, Southwest Research Institute, 2010.
    70
    [13] TUDelft, Attitude Determination and Control System. Access Year: 2017, Available: https://www.tudelft.nl/en/ae/organisation/departments/space-engineering/space-systems-engineering/research/miniaturization/attitude-determination-and-control-system-adcs/
    [14] Wikipedia, Attitude Control. Access Year: 2017, Available: https://en.wikipedia.org/wiki/Attitude_control.
    [15] Wikipedia, Conversion between Quaternions and Eler Angles. Access Year: 2017, Available:https://en.wikipedia.org/wiki/Conversion_between_
    quaternions_and_Euler_angles
    [16] Wikipedia, CubeSat. Access Year: 2017, Available: https://en.wikipedia.org/wiki/CubeSat
    [17] Wikipedia, International Celestial Reference Frame. Access Year: 2017, Available: https://en.wikipedia.org/wiki/International_Celestial_Reference_
    Frame
    [18] Wikipedia, Python (Programming Language). Access Year: 2017, Available: https://en.wikipedia.org/wiki/Python_(programming_language)

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