Control of Spacecraft Swarms Oct 01

Advanced Space Propulsion Laboratory Advanced Space Propulsion Laboratory Advanced Space Propulsion Laboratory Advanced Space Propulsion
Laboratory
Control of Spacecraft Swarms Using
Coulomb Forces
Lyon B. King
Gordon G. Parker
Jer-Hong Chong
Satwik Deshmukh
Department of Mechanical Engineering
This research made possible through funding from the
NASA Institute for Advanced Concepts
Advanced Space Propulsion Laboratory Advanced Space Propulsion Laboratory Advanced Space Propulsion Laboratory Advanced Space Propulsion Laboratory
Motivation: Coulomb Clusters
How to build a tractor beam
Without gravitons
Ions in 1/r
2
confining potential
form stable crystal formations
What would charged spacecraft
do in a gravity potential?
Laser-cooled trapped ion research at NIST
Presentation Overview
Introduction to formation flying
Space-based imaging and interferometry
Formation propulsion requirements
Spacecraft charging as control force
Coulomb force metrics
Coulomb formation orbital dynamics
Space-based Imaging Concepts
Space-based imaging problem:
Image resolution limited by size of aperture: =/d
but
Spacecraft size limited by launch vehicle fairing (~ 4m)
Solution #2:
Separated Interferometer
Collector Collector
Combiner
d effective
Solution #1:
Deployable structure
d
Interferometry Basics
Spatial frequencies in the image are given by u,v points
Each unique physical separation yields amplitude at one u,v point
(x
1
,y
1
)
(x
2
,y
2
)
d
Two Spacecraft
In physical plane
y
x
(u
1
,v
1
)
u
v
Single amplitude
In Fourier plane
u = x
2
-x
1
/
v = y
2
-y
1
/
Inverting Spatial Frequency Spatial Amplitude Image
To perform the inversion we need to fill the u,v plane
3 Spacecraft
7 Spacecraft
9 Spacecraft
11 Spacecraft
5 Spacecraft
Physical
Plane
Fourier
Plane
Finite apertures can fill-in
Holes in u-v plane
Consider single aperture
As array of sub-apertures
(x
i
, y
i
)
Kong, E.M., Optimal Trajectories and Orbit Design for Separated
Spacecraft Interferometry, Masters Thesis, MIT Dept. of Aeronautics
and Astronautics, November, 1998.
Cornwell, T.J., A Novel Principle for Optimization of the Instantaneous
Fourier Plane Coverage of Correlation Arrays, IEEE Trans. On Antennas
and Propagation, Vol. 36, No. 8, 1165-1167.
Interferometry for Formations
(x
i
, y
i
)
(x
j
, y
j
)
d
All separations (u,v points) less
Than d are covered by a single aperture
Separations (u,v points) greater than d
Must come from separated spacecraft
> d
Implication:
To provide seamless u,v coverage spacecraft must fly
within close proximity (~ d) of each other
Formation Flying Introduction
Optimal imaging configurations yield non-optimal orbital trajectories
Inertial Orbit
Non-inertial Orbit
Non-inertial Orbit
Rigid Formation
Requires constant thrust
Good imaging properties
Time-varying position
About center satellite
Family of inertial orbits
Dynamic Formation
Thrust only for error correction
Complicated imaging
Propulsion Requirements
For rigid formation:
0 ... = = = = = y y x x & & & & & &
zm F
xm F
z
x
2
2
3
=
=
F
x
~ 16 N
F
z
~ 6 N
m = 100 kg
x, z ~ 10 m
z z
m
F
x y
m
F
y x x
m
F
z
y
x
2
2
2
2 3
+ =
+ =
=
& &
& & &
& & &
Hills Equations for Formation
= angular velocity (for GEO =7.3x10
-5
rad/sec)
Figure reprinted from Kong, E.M., Optimal Trajectories and Orbit Design for Separated
Coulomb Control Forces
Engineering throttleable thrusters for 10 N is tough
Current candidates (FEEP, Colloid) exhaust contaminants
Collisions are of paramount concern
Is there a better way to control the formation? YES! Maybe!
10
-6
10
-5
10
-4
10
-3
C
o
u
l
o
m
b

F
o
r
c
e

(
N
)
70 60 50 40 30 20 10
Spacecraft Separation (m)
6 kV
8 kV
10 kV
If the plasma Debye length is larger
than spacecraft separation, Coulomb
forces could be used
1
2
d
Spacecraft 1 at
Voltage V
sc1
Spacecraft 2 at
Voltage V
sc2
V
sc1
= V
sc2
Spacecraft radius = 1 m
GEO plasma conditions
|
|
.
|
\
|
=
d
sc sc
o
d
d
V V r r
F
exp 4
2
2 1 2 1
2 , 1
Spacecraft Charging
Spacecraft
Plasma e
-
current
Plasma H
+
current
Photoelectron
current
e
-
I
sc
= I
e
+ I
i
+ I
ph
(
=
e B
sc
e
e B
e sc e
T k
eV
m
T k
en A I exp
2
2
1
=
i B
sc
i
i B
i sc i
T k
eV
m
T k
en A I exp
2
2
1
|
|
.
|
\
|
=
pe B
sc
pe w sc ph
T k
eV
I e A I exp
For equilibrium, Mother
Nature adjusts spacecraft
voltage such that net
current is zero.
We can change the spacecraft voltage by creating a current imbalance
0
4
=
+ +
= =
r
I I I
C
I
dt
dV
o
ph i e
sc
+ I
control
0
I
control
Electron emission drives V
sc
positive
Ion emission drives V
sc
negative
Spacecraft potential control is naturally stable
Spacecraft Charge Control
+ +
+
+
V
control
V
spacecraft
V
x
V
plasma
(Gods ground)
V
x
V
plasma
(Gods ground)
V
spacecraft
V
control
+
+
+
V
x
V
plasma
(Gods ground)
V
control
V
spacecraft
+ +
When V
sc
= V
control
the emission
Current is returned (I
control
= 0)
V
control
+
r 4
2
exp
2
r 4 I
C
I

dt
dV
0
2
1
2
1
2
control
sc

)
+
= =
ph w
i
i B
i
e B
sc
e
e B
e
I e
m
T k
en
T k
eV
m
T k
en

1-m-radius spacecraft charging analysis
for average GEO plasma environment
0
500
1000
1500
2000
2500
3000
0.00001 0.0001 0.001 0.01 0.1
Time (sec)
S
p
a
c
e
c
r
a
f
t

P
o
t
e
n
t
i
a
l

(
V
o
l
t
s
)
P = 0.1 W
P = 1 W
P = 10 W
control
control
V
P
I =
1
2
2 2
2 2
control
Total o
Coulomb
I d
P r
F

=
sp
Total
Thruster
gI
P
F
2
=
d
F
Coulomb
F
Coulomb
1
2
F
Thruster
F
Thruster
Coulomb
Control
Thruster
Control
Coulomb vs. Electric Propulsion
10
3
10
4
10
5
10
6
10
7
F
C
o
u
l
o
m
b
/
F
T
h
r
u
s
t
e
r

a
t

e
q
u
i
v
a
l
e
n
t

p
o
w
e
r
70 60 50 40 30 20 10
Spacecraft Separation (m)
1 mWatt
10 mWatts
100 mWatts
1000 mWatts
Comparison of Coulomb Control for 1-m-radius
Spacecraft in average GEO plasma with FEEP
Thruster technology (I
sp
= 10,000 sec, = 0.65)
0.028 0.050 0.186 0.00683 TOTAL PROPULSION
SYSTEM MASS (kg)
0.024 0.005 0.097 0.0068 INERT MASS (kg)
0.1125 0.216 0.37 0.22 MASS/POWER
RATIO (kg/W)
0.209 0.021 0.261 0.031 INPUT POWER (W)
0.004 0.045 0.089 0.00003
(using H
2
for
Ion source)
MASS OF FUEL FOR
10 YEARS (kg)
0.65 0.65 0.026 0.65 EFFICIENCY
10000 1000 500 1 x 10
7
SPECIFIC
IMPULSE (sec)
FEEP COLLOID
THRUSTER
MICROPPT COULOMB
CONTROL
MEANS OF
CONTROL
Mission design parameters for two-spacecraft flying in
20-m formation (located on Hills z-axis)
g m
F
I
sp
&
=
Coulomb Orbit Dynamics
Do formations exist for forces acting only along position vectors?
Figure reprinted from Kong, E.M., Optimal Trajectories and Orbit Design for Separated
x
z
y
x
z
y
x
z
y
Along-track
leader-follower
Zenith-nadir
Coulomb tether
Z-axis stack
3-spacecraft formations considered
3 canonical orientations
Hills equations for relative motion
GEO orbit with 10-m separation
3-Spacecraft Orbital Analysis
Equilibrium solutions to Hills equations
o
sc
sc
sc
o
sc
q
r V
r
q
V
4
4
1
=
=
x
z
y
x
z
y
x
z
y
Along-track
leader-follower
Zenith-nadir
Coulomb tether
Z-axis stack
0
2
1
0
1
2
0
1
2
Parameter V
sc
r is like equivalent charge:
x
y
z
10 m
10 m
Spacecraft 1
Spacecraft 3
Spacecraft 2
Spacecraft 4
Spacecraft 0
4 collector + 1 combiner
Imaging configuration
5-Spacecraft Formation
1
2
3
4
0
Special case of 3-spacecraft z stack
Vehicle 2 and 4 remain neutral
Solution Family 1
1
2
3
4
0
5-Spacecraft Formation
Solution Family 2
Spacecraft 1 & 3
Spacecraft 0
All 5 Spacecraft charged
Minimum V
sc
r identified
Phase I Summary
Conclusions
Coulomb forces comparable with best thrusters
Continuous force dither/variation is possible
Required charge control demonstrated as early as 1979 (SCATHA)
Rich family of orbital solutions possible
Particularly suited to Fizeau interferometry (visible GEO imager?)
Coulomb control works best where thrusters work worst => synergistic control
Coulomb control can help with collision avoidance
Even if Coulomb is not used for control
natural charging will be significant perturbation that must be addressed!
On-going tasks
Examine formations for stability
Develop dynamic simulation
Formulate control laws
Search for more complicated formation solutions
Perform vehicle sizing analysis for canonical mission

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