Spacecraft Attitude Dynamics and Control

(AE4313-20)

Course Notes No. 3

Course Instructor
Dr.ir. E. van Kampen

Control and Simulation

Faculty of Aerospace Engineering

Tel.: 015-2787147
E-mail: [email protected]

1
The Attitude Determination and Control System

2
Rigid body dynamics

Consider a rigid body that is rotating relative to a Newtonian inertial

reference frame N as shown in Fig. 3.1. The rotational equation of the rigid
body about an arbitrary point is given as

 r  Rdm  M O

dm
 = center of mass

r
R rc
n3 O

Ro

n2 Fig. 3.1 Rigid body rotation relative to a

Newtonian reference frame
n1
3
Elaboration of this relation gives

 dm  M
 rR O

 
  r dm
 r R O 
 r R dm  r  rdm
O
 dm  r  rdm
  r     R
c  O

 r R  dm    R  dm  r  rdm
c O O 
  r dm  R   dm  R   r  rdm
c  O  O
Use definition center of mass

 r  dm  R  0  r  rdm
c 
O

  r  rdm
 mr  R c  O

 MO

4
Define the relative angular momentum about point O as

hO   r  rdm

hO   r  rdm   r  rdm

  r  rdm

  r  rdm  0

The we get the following equation

hO  mrc  R
  M
O O

5
Like the relative angular momentum defined, the absolute angular momentum
about the point O is defined as

H O   r  R dm


  r  RO  r dm 
The time derivative is then

H O  r  R dm  r  R
    O  
 dm  r  R  r dm  r  R
 dm
Definition of external moment

  r  R  r dm  M   r  R dm   r  rdm  M

O O O O

  r  R dm  0  M   R   rdm  M
O O O O

  R   r   dm  M   R   r dm  R    dm  M
O c O O c O O

  R   r dm  R      dm  M
O c O O
Note: rigid body

  R   r dm  R      dm  M
O c O O

  R   r dm  0  M   R  mr  M
O c O O c O

H O  R O  mrc  M O 6
When the reference point is selected as the mass centre of the rigid body,
the relative angular momentum is the same as the absolute angular
Momentum (O=c.o.m  rc=0).

H O  M O hO  M O
Consider a rigid body with a body fixed reference frame B with its origin
at the centre of mass of the rigid body

H O     Rdm (definition)

 
    R0   dm

    R0 dm      dm

   dm  R0      dm
 0      dm
       dm
7
using the transport theorem, the time derivative of  is

d d
  N  B   B/ N

dt dt
d
Note that B  0 for a rigid body.
dt
Let  and  be expressed in the body reference frame

  1b1   2b2  3b3

  1b1  2b2  3b3
The angular momentum vector can then be written as (see next slide)

H   J111  J122  J133  b1   J 211  J 222  J 233  b2

  J 311  J 322  J 333  b3

8
Working out the double cross product and collecting in terms of omega gives:

 1   1   1 
        2    2     2  
       
 3  3  3
  23  32   1 
   
  31  13     2  
     
 1 2 2 1   3

 321  1 33  1  22   221 

 
  122  1  21   2 33  322  
  223   2 32  1 31  123 
 
   22  32  1  1  22  1 33 
   J111  J122  J133 
 
   1  21   12  32  2   2 33    J 211  J 222  J 233 
   
  1 31   2 32   12   22  3   J 311  J 322  J 333 
 
9
where

J11    
 32 dm ; J 22    
 32 dm ; J 33    
  22 dm
2 2 2
2 1 1

are the moments of inertia, and

J12  J 21    1  2 dm ; J13  J 31    1  3 dm ; J 23  J 32     2  3dm ;

are the products of inertia.

Expressing the angular momentum vector in the body reference frame

H1  J111  J122  J133

H 2  J 211  J 222  J 233
H 3  J 311  J 322  J 333

a compact from of the angular momentum vector can be obtained

H  J
10
where  H1   J11 J12 J13  1 
H   H 2  ; J   J 21 J 22 J 23  ;   2 
 H 3   J 31 J 32 J 22  3 

J is called the inertia matrix of a rigid body about a body fixed reference frame
B with its origin at the centre of mass. This matrix is a symmetric matrix.

11
Euler’s rotational equations of motion (rotational dynamic equations)
The angular momentum equation of a rigid body about its centre of mass is
given as
M  H

where H is the angular momentum vector of a rigid body about its centre
of mass, M is the external moment acting on the body about its mass
centre. From transport theorem we have

H 
dH dH
N  B   B/ N  H
dt dt
where H  J   B / N .

The rotational equation of motion of a rigid body about its centre of mass
is then written as
dH
M  B   B/ N
H
dt

12
 For notational simplicity, let   
B/ N
this equation can also be written as

M
d ˆ
dt
 
J   B    Jˆ  

dJˆ ˆ  d     Jˆ  
 B    J B
dt dt

dJˆ d d
For a rigid body B  0 and B  N we obtain
dt dt dt

d
M  Jˆ  N    Jˆ    Jˆ      Jˆ  
dt

which is called Euler’s dynamic equation or Euler’s rotational equation

of motion in vector/dyadic form.

13
Euler’s rotational equation in matrix form

Let M , H and  be expressed in terms of body fixed reference frame

basis vectors
M  M 1b1  M 2b2  M 3b3
H  H1b1  H 2b2  H 3b3
  1b1  2b2  3b3

We may obtain

 M 1   H 1   0  3 2   H1 
 M    H     0  1   H 2 
 2  2  3
 M 3   H 3   2 1 0   H 3 

14
The angular momentum can be written in terms of inertia matrix and angular
velocity
 H1   J11 J12 J13  1 
H    J J J   
  2 21 22 23  2 
 H 3   J 31 J 32 J 33  3 

Euler’s dynamic equation is then written as

 M 1   J11 J12 J13  1   0  3 2   J11 J12 J13  1 

M    J J 22 J 23   2    3 0  1   J 21 J 22 J 23  2 
 2   21
 M 3   J 31 J 32 J 33   3   2 1 0   J 31 J 32 J 33  3 

or
J   J   M
where
 0  3 2   J11 J12 J13  1   M1 
   3 0  1 ; J   J 21 J 22 J 23  ;   2  ; M   M 2 
 2 1 0   J 31 J 32 J 33  3   M 3 

15
Rigid body in a circular orbit

Consider a rigid body in a circular orbit. A local vertical/horizontal reference

frame (LVLH) A with its origin at the centre of mass of the orbiting spacecraft
has set of unit vectors a1 , a2 , a3 , with a1 along the orbit direction, a 2
perpendicular to the orbit plane, and a3 toward the centre of the Earth.

a1
dm spacecraft


a2
a3
n3 R
Rc
n2
n1

Fig. 3.2 rigid body

in a circular orbit
16
The angular velocity of A with respect to the Newtonian inertial reference frame
is
 A / N  na2
where n is the constant orbital rate. The angular velocity of the body-fixed
reference frame B is given by

 B / N   B / A   A / N   B / A  na2
where 
B/ A
is the angular velocity of B relative to A.

The relation between B and A is

 b1  C11 C12 C13   a1 

  
b2   C21 C22 C23  a2 
b3  C31 C32 C33   a3 
 
or
 a1  C11 C21 C31   b1 
a   C  
 2   12 C22 C32  b2 
 a3  C13 C23 C33  b3 
17
Gravity gradient torque about the spacecraft centre of mass

M    df
 
df   Rdm   3
Rdm   3 R
c    dm
R Rc  

Since Rc   , using a binomial expansion and taking only the first order term

3 3
 3R   
Rc    Rc 1  c  (+ h.o.t)
 Rc
2

 

  3 R       3  Rc    
 
M  3 


1 
c
2


   Rc  dm   3 
    R c  dm   2    Rc  dm 
Rc  Rc  Rc  Rc 
  3  Rc    3
 3 
 dm R c  3  2    Rc  dm  5  c
R      Rc  dm
Rc Rc Rc Rc
=0
18
 3 3
M
Rc
5   R      R  dm  
c c
Rc
5   R    R
c c    dm

3 3
 5
Rc     Rc    dm   5
Rc    dm  Rc
Rc Rc


Rc
3
5
2
 2

Rc    Iˆ   Iˆ   dm  Rc  
3
Rc
5
Rc    2 Idm

ˆ   2 Iˆ   dm   R
  c  
3 ˆ  Jˆ   R   3 R   2 Idm
ˆ  R  3 R  Jˆ  R
 Rc     Idm 
2

Rc
5   c
Rc
5 c c
Rc
5 c c

3 3 ˆ  R   3 3
 Rc    dmIˆ  Rc     dmRc  Iˆ  Rc  Rc  Jˆ  Rc
2 2
5 5
Rc J c 5 5
Rc Rc Rc Rc
3 3
   dmRc  Rc  Rc  Jˆ  Rc
2
5 5
Rc Rc
3 3 
 5
Rc  Jˆ  Rc  a  Jˆ  a3  3n 2 a3  Jˆ  a3 ;
3 3
n 3
; Rc   Rc a3
Rc Rc Rc

19
Euler’s dynamic equation for gravity gradient torque is

Jˆ      Jˆ    3n 2 a3  Jˆ  a3 GG torque always perpendicular to a3!

where    B / N . The  and a3 can be expressed in terms of basis vectors

of the body fixed reference frame B as

  1b1  2b2  2b2

a3  C13b1  C23b2  C33b3

The equation of motion in matrix form becomes

 J11 J12 J13  1   0  3 2   J11 J12 J13  1 

J J 22 J 23   2    3 0  1   J 21 J 22 J 23  2 
 21
 J 31 J 32 J 33   3   2 1 0   J 31 J 32 J 33  3 
 0  C33 C23   J11 J12 J13  C13 
 3n 2  C33 0  C13   J 21 J 22 J 23  C23 
 C23 C13 0   J 31 J 32 J 33  C33 
20
The spacecraft body fixed reference frame can be described in the LVLH
reference frame with the direction cosine matrix
 b1   a1 
  a 
b
 2  C  2
b3   a3 
 
For the rotation to B from A with the sequence of 3-2-1 the direction cosine
matrix in terms of Euler angles is
 cos  2 cos 3 cos  2 sin 3  sin  2 
C  sin 1 sin  2 cos 3  cos 1 sin 3 sin 1 sin  2 sin  3  cos 1 cos  3 sin 1 cos  2 
cos 1 sin  2 cos 3  sin 1 sin 3 cos 1 sin  2 sin 3  sin 1 cos 3 cos 1 cos  2 

The angular velocity of B relative to A is represented in the body fixed

reference frame as
 B / A  1'b1  2' b2  3' b3

1'  1 0  sin  2  1 

where  ' 
  0 cos  sin  cos    
 2  1 1 2  2 
3'  0  sin 1 cos1 cos 2  3 
    21
The total angular velocity is
   B / N   B / A   A / N   B / A  na2
where  and a 2 can be expressed in the body fixed reference frame as
  1b1  2b2  3b3
a2  C12 b1  C22 b2  C32 b3
 cos 2 sin  3b1  sin 1 sin  2 sin  3  cos 1 cos  3 b2
 cos 1 sin  2 sin  3  sin 1 cos  3 b3
We can write them in the matrix form as

1  1 0  sin  2  1   cos 2 sin  3 

   0 cos  sin  cos      n sin  sin  sin   cos  cos 
 2  1 1 2  2   1 2 3 1 3

3  0  sin 1 cos 1 cos  2  3  cos1 sin  2 sin  3  sin 1 cos 3 

We have finally the kinematic differential equations of the spacecraft in the

circular orbit as
1  cos  2 sin 1 sin  2 cos 1 sin  2  1   sin  3 
  1      n cos  cos  
 
  cos  
2 0 cos 1 cos  2  sin 1 cos  2    cos  
2 2 3
3  2
 0 sin 1 cos 1  3  2
 sin  2 sin  3 
  22
The Euler’s dynamic equations with the gravity gradient torque expressed
with Euler angles are then:

 J11 J12 J13  1   0  3 2   J11 J12 J13  1 

J J 22 J 23   2    3 0  1   J 21 J 22 J 23  2 
 21
 J 31 J 32 J 33   3   2 1 0   J 31 J 32 J 33  3 
 0  C33 C23   J11 J12 J13  C13 
 3n 2  C33 0  C13   J 21 J 22 J 23  C23 
 C23 C13 0   J 31 J 32 J 33  C33 

 J11 J12 J13  1   0  3 2   J11 J12 J13  1 

J J 22 J 23   2    3 0  1   J 21 J 22 J 23  2 
 21
 J 31 J 32 J 33   3   2 1 0   J 31 J 32 J 33  3 
 0  cos 1 cos  2 sin 1 cos  2   J11 J12 J13    sin  2 
 3n 2  cos 1 cos  0 sin  2   J 21 J 22 J 23  sin 1 cos  2 
 sin 1 cos  2  sin  2 0   J 31 J 32 J 33   cos 1 cos  

23
The dynamic equations of motion are simplified in case that the inertia matrix
J is diagonal (body fixed principle axes).

J111  J 22  J 33 23  3n 2 J 22  J 33 C23C33

J 22 2  J 33  J11 31  3n 2 J 33  J11 C33 C13
J 33 3  J11  J 22 12  3n 2 J11  J 22 C13C23

Assuming that all Euler angles are small  sin i  i , cos i  1, 2  n 

we may derive a set of linearized equations for linear stability analysis.

J111  J 22  J 33 n3  3n 2 J 22  J 33 1

J 22 2  3n 2 J 33  J11  2 Dynamics
J 33 3  J11  J 22 n1  0
    n
1 1 3

2  2  n Kinematics
3  3  n1
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Combining the linearized dynamic and kinematic equations, we obtain

J111  nJ11  J 22  J 33 3  4n 2 J 22  J 33 1  0

J   3n 2 J  J   0
22 2 11 33 2

J 333  nJ11  J 22  J 33 1  n 2 J 22  J11  3  0

Observing the linearized equations of motion above, we find that the

equation for the 2nd body fixed axis (pitch axis) is independent of other two
axes (roll and yaw axes). We may apply the Laplace transform for this
equation and obtain the characteristic equation as

3n 2 J11  J 33 
s 
2
0
J 22
If J11  J 33 the characteristic roots are purely imaginary, and it is said to be
(Lyapunov) stable. Otherwise one of the characteristic roots will be positive
real and it is said to be unstable. Therefore, the necessary and sufficient
condition for pitch axis stability is

J11  J 33
25
Linearized roll and yaw equations of motion can be obtained as follows
J 22  J 33
1  k1  1n3  4n 2 k11  0 , k1 
J11
J 22  J11
3  1  k3 n1  n 2 k3 3  0, k3 
J 33
Laplace transform of above equations

s 21  k1  1ns 3  4n 2 k11  0

s 2 3  1  k3 ns1  n 2 k3 3  0

or  s 2  4n 2 k1 k1  1ns  1  0 

    
 1  k3 ns s 2  n 2 k3   3  0

The characteristic equation of this multi-input and –output system is the

determinant of above matrix to zero

s 2
 
 4n 2 k1 s 2  n 2 k3  k1  11  k3 n 2 s 2  0
s 4  1  3k1  k1k3 n 2 s 2  4k1k3n 4  0
26
The roots can be determined as:

s 2  1  3k1  k1k3   1  3k1  k1k3 2  4 2 k1k3

2

n 2
When the system is stable, all roots need to be imaginary. This means that
the right hand side of the above solution should be negative.

1  3 k1  k1k3  0
1  3 k1  k1k3  4 k1k3
k1k3  0

The physical properties of the moment of inertia Source: Bong Wie

(J11  J 22  J 33 , J 22  J 33  J11 , J11  J 33  J 22 ), k1 , k3 are bounded as

k1  1, k3  1 27
These properties can be proved as

J11  J 22     22  32  dm    12  32  dm    12   22  2 32  dm    12   22  dm  J 33

J 22  J 33    12  32  dm    12   22  dm    2 12   22  32  dm     22  32  dm  J11
J11  J 33     22  32  dm    12   22  dm    12  2  22  32  dm    12  32  dm J 22

  32  dm    12   22  dm    22  dm

2 2
J 22  J 33 1 3
k1    1
  dm
    dm
2 2 2 2
J11 2 3 2 3

      dm        dm     22  dm  1
2 2 2 2 2
J 22  J11 1 3 2 3 1
k3  
      dm    22  dm
2 2 2
J 33 1 2 1

Example: Delfi I satellite inertia properties

J11  124.531 kgm 2 3 k1  k1k3 1 4.062  0

J 22  124.586 kgm 2 3 k1  k1k3 1  4.062  4 k x k z 1.115
J 33  0.704 kgm 2 k1k3  0.078  0
So passively stable under GG torque in circular orbit 28
Next week:

29
Spacecraft Attitude Dynamics and Control

(AE4313-20)

Course Notes No. 3

Course Instructor
Dr.ir. E. van Kampen

Control and Simulation

Faculty of Aerospace Engineering

Tel.: 015-2787147
E-mail: [email protected]

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