Concordia University

Department of Electrical and Computer Engineering

Fundamentals of Control Systems (ELEC372)
S. Hashtrudi Zad
Team Assignment:
Analysis of the Performance of a Satellite Pitch Control System
Due: Wednesday, Nov. 18, 2015 (in class or in the instructors mailbox in EV5-175)
The team assignment must be done in groups of two or three.
One report per group.
Only original hardcopy of the report is accepted.
A signed statement certifying that the project report meets the Facultys Expectations
of Originality must accompany the report.

The Attitude Determination and Control Subsystem (ADCS) of a spacecraft controls the
orientation of the spacecraft in space. In this assignment, the control system for the pitch
angle of a spacecraft is studied.

Satellite Model

Fig. 1 depicts a satellite in a circular geostationary orbit at an altitude of approximately

Earth

Satellite

Figure 1: Satellite in circular geostationary orbit.

1

36,000 km.. The period of a satellite in this type of orbit is the Earths day (about 24 hours)
and thus the angular velocity of the satellite in its orbit is o 7.28 105 rad/s. A satellite
in a circular equitorial geostationary orbit will hover over a spot on Earth and hence will be
useful for communications.
The satellites attitude is controlled using a momentum wheel. (Sample actuator and
sensor data sheets are enclosed.) In this assignment, we investiagte the design of the system
that controls the pitch angle (). The linearized model of the pitch motion is
I

d2
= T (t) = Tc (t) + Td (t)
dt2

where I = 400 N.m.s2 is the momentum of inertial of the satellite about the pitch axis, Tc (t)
is the control torque (due to the momentum wheel) and Td (t) is the disturbance torque.
Note that the pitch angle is in radians. At a geostationary orbit, the two main sources of
disturbance are solar pressure torque and thruster misalignment torque. We ignore thrust
maneuvers and thus only consider solar pressure torque. The distrubance torque along the
pitch axis is Td (t) = 104 cos o t (N.m). Note that the disturbance is periodic, with a period
equal to the satellites period.

Problem Statement

Fig. 2 shows the block diagram of the pitch angle control system. The desired reference pitch

ref (s) +

Tm (s)
K (s)

Tc (s)
+

Td (s)
+
G(s)

(s)

Figure 2: Pitch control system.

is ref = 0 rad. The transfer function of the satellite is
G(s) =

1
(s)
= 2
T (s)
Is

K (s) is the controller, Tm (s) is the torque on the momentum wheel (exerted by a motor)
and Tc (s) is the control torque (Tc = Tm ). The block diagram of Fig. 2 can be redrawn in
the familiar form of Fig. 3 where K(s) = K (s).
It is desired to design K(s) (and hence the controller K (s)) so that the following design
specifications are satisfied.
2

ref (s) +

K(s)

Td (s)
Tc (s)
+ +

G(s)

(s)

Figure 3: Pitch control system redrawn.

(DS1) The closedloop system must be stable.
(DS2) The settling time of response to step inputs must be less than 300s.
(DS3) The percentage of overshoot of response to step inputs must be less than 25%.
(DS4) The pitch angle accuracy must be at least 0.05 deg; that is the effect of disturbance
on the output in steady state should be less than 0.05 deg.
(DS5) As with other satellite subsystems, the ADCS is subject to a power budget. Hence it
is desirable to minimize the power consumption of the ADCS.
The following three controllers have been proposed for the above problem:
K1 (s) = 0.1 + 0.01
s
3 80s + 1
K2 (s) = 20
4s + 1
35 40s + 1
K3 (s) = 40
s+2
Choose the controller that best satisfies the design specifications DS1 to DS5. You may use
a combination of analytical calculations and computer simulation using MATLABs Control
System Toolbox in your analysis.
All simulations have to be done using MATLABs Control System Toolbox. The students
are encouraged to do Simulink simulations additionally but Simulink results do not replace
Control System Toolbox simulations.

Report

Prepare a report explaining your solution. First start by providing a brief review of the
problem. Next provide your solution. In your solution clearly explain the following.
(i) The criteria used to evaluate the controllers.
(ii) The method used to evaluate each criterion (e.g., analytical, computer simulation, etc.)
and the reason for choosing the method.
3

(iii) The analysis for each controller and the final conclusion (You must choose one controller.) For analytical evaluations provide the calculations. For computer simulations
provide the information such as input signals and computer code. Describe any assumption made in your analysis.
(iv) Finally name two important sources of inaccuracy in your analysis.
Your report should contain the following four graphs for each controller.
1. The output (t) in response to a step reference input of 5 deg = 5/180 rad.
2. The control torque Tc (t) in response to a step reference input of 5 deg = 5/180 rad.
3. The output (t) in response to disturbance Td (t).
4. The control torque Tc (t) in response to disturbance Td (t).
Finally note the following.
The simulations for the responses to step inputs should cover up to a few hundreds of
seconds when the response settles.
The simulations for the periodic disturbance should last for about one orbit period (24
hours), or perferrably two periods (48 hours), to fully demonstrate the behaviour in
steady state.
For the purpose of plotting, convert the pitch angle from radians to degrees.
All plots should be properly labeled. Do not forget to indicate the units used for each
axis.

Appendix
Data sheet for SSTL reaction wheels (www.sstl.co.uk)
Data sheet for Sodern horizon sensor (www.sodern.com)

SSTL Microwheels

The 10SP-M and 100SP-O reaction wheels are configured to provide a highly agile 3-axis
attitude control solution for Earth observation or space science missions.
10SP-M microwheels use a dry lubrication technology to deliver a maximum torque of 11 mNm,
while the 100SP-O is oil lubricated, delivering a maximum torque of 110 mNm. The 100SP-O
control electronics are heavily based upon the 10SP-M integral design.
Fifty-four 10SP microwheels have been flown to date, accumulating 248 years of in-orbit
operation; a further seventy-three 10SP microwheels and twenty-one 100SP microwheels are
waiting launch delivery either on SSTL or third party missions.
SSTL has flight-proven the 10SP-M for use on high resolution imaging spacecraft, but can
provide microvibration isolation system mounts as an option.

Benefits
Flight proven
Low cost
12 months typical delivery
7+ years design life
Small and lightweight
High momentum to mass ratio

Fly the subsystems we fly!

Dry lubrication technology (10SP-M)

or oil lubrication (100SP-O), with
hermetically sealed motor unit

Integrated electronics controller

Operates in torque or speed control
mode

0137135 v005 April 2013

Features

SSTL Microwheels
10SP-M

100SP-O

7.5 years
0.42 Nms
5000 rpm
<0.1 rpm rms
0.011 N.m

7.5 years
1.5 Nms
5000 rpm
<0.055 rpm rms
0.11 N.m

-20 to +50C
-30 to +60C
5 krad
18 grms (all axes)
>400 Hz

-20 to +50C
-30 to +60C
5 krad
15 grms (all axes) *
>300 Hz

0.96 kg
109x101 mm
0.0008 kg.m
<0.1 gcm
<0.2 gcm
Dry

2.6 kg
120x120 mm
0.0028 kg.m
<0.2 gcm
<0.3 gcm
Oil

Yes
Output Speed up to 5Hz
~1.5 W
~ 2.8 W
~ 13 W
5V / 22-34V DC (single supply also available)
CAN bus or RS422
Speed, Motor current
Electronics Temperature

Yes
Output Speed or Torque up to 5Hz
~ 1.2 W
~ 10 W
~ 113 W
17-35V DC
CAN bus or RS422
Speed, Motor current
Electronics & Motor Temperature

Performance
Design life
Angular momentum
Max speed (+/-)
Speed accuracy
Max torque (peak)
Environmental Conditions
Operating temperature
Survival temperature
Radiation
Random vibration (qualification)
First mode
Mechanical
Mass
Volume
Moment of inertia (wheel)
Static unbalance
Dynamic unbalance
Lubrication
Electrical & Control
Integrated electronics
Control mode
Power (standby) : 20C
Power (5000rpm) : 20C
Power (maximum torque) : 20C
Supply voltage(s)
Data interface
Telemetry data examples

* Mechanism levels tested. Life & electronics qualifications tested at lower values. Electronics can accept 10SP-M levels based on
heritage design.

10SP-M Heritage

UK-DMC-2 (2009)
Deimos-1 (2009)
NigeriaSat-2 (2011)
ExactView-1 (2012)
Third party missions

100SP-O Heritage
TechDemoSat-1 (launching 2013)
Kazakhstan (launching 2014)
DMC3 Constellation (launching 2014)

Product specification may be subject to change without notification

SSTL is ISO9001:2008 certified

Manufacture to:
ECSS Q-ST-70-08C
ECSS Q-ST-70-38C
All work overseen by ESA trained assembly
staff
Available as part of SSTLs AOCS suite

Magnetorquers
Magnetometers
Sun Sensor
Inertial Sensors
Star Trackers
Reaction Wheels
GPS Receivers

Surrey Satellite Technology Ltd.

Tycho House, 20 Stephenson Road, Surrey Research Park, Guildford, Surrey, GU27YE, United Kingdom
Tel: +44(0)1483803803 | Fax:+44(0)1483803804 | Email: subsystems@sstl.co.uk | Web:www.sstl.co.uk

STD 15

EARTH SENSOR

The

STD 15 is a dual conical

scanning Earth Sensor able to
meet the more stringent requirements
and
environmental
constraints of GEO missions.

Since 1991, more than 100 units

have been delivered in the world
for the STD 15/16 product line.
Most do them have been launched
and operated on board telecommunication satellites, such as:

TC2-A, TC2-B, TC2-C, TC2-D, HISPASAT

1A, HISPASAT 1B, HOT BIRD 2, HOT BIRD 3,
HOT BIRD 4, HOT BIRD 5, HOT BIRD 7,
WORLDSTAR 1, WORLDSTAR 2, SINGASAT
1, NILESAT 1, NILESAT 2, RESSAT, SESAT,
ASTRA 2B, HELASAT, EXPRESS-AM, W3A.

Scanning Infrared Horizon

Sensor for GEO Orbits

STD 15: PROVEN TECHNOLOGIES FOR MEASURING PITCH AND

ROLL ON BOARD GEO SATELLITES:
Earth disk

Trace 2

An optronic sensor with a rotating mirror and fixed mirrors

Roll axis

An infrared bolometer to detect Earth to Space and Space to Earth transition

Trace 1

Pitch axis

A dual track scanning pattern to increase accuracy

Electronic functions for driving the scanning mechanism
Scanning Format

as well as operating the bolometer and data processing

PERFORMANCES
Altitude range: 15 000 - 140 000 km
Operating depointing range:
- Nominal:
Pitch range: 12 deg (Roll = 0) - Roll range : 2.9 deg (Pitch = 0)
- Extended:
Pitch range: 15.6 deg (Roll = 0) - Roll range : 14.5 deg (Pitch = 0)
Output data rate: 1.25 Hz
Accuracy budget: 3
- bias: 0.035 deg
- typical noise: 0.015 deg.

ENVIRONMENTAL CHARACTERISTICS
Operating temperature: -25C, +55C
Storage temperature: -40C, +60C
Vibration: 20 - 2 000 Hz
:
- Z axis: 16.9 g.rms - X, Y axis: 13.2 g.rms

MECHANICAL INTERFACES
Operating temperature: -25C, +55C
Height: 168 mm - width: 206 mm - length: 206 mm
Mass: 3.4 kg

ELECTRICAL INTERFACES
Typical consumption: 6.5 W
Power supply: 20 to 55 Volts
Output data: 1553 protocole

RELIABILITY
< 1 095 Fits

LIFE-SPAN
15 years in GEO orbit.

20, avenue Descartes

94451 LIMEIL-BREVANNES CEDEX FRANCE
Tl.33 (0) 1 45 95 70 00 - Fax : 33 (0) 1 45 69 14 02
http://www.sodern.fr

ISO 9001

Because of constant improvement to our product,

specifications are subject to change without notice.
Printed in France - AGENAE 33 (0)6 80 41 42 31
C04.1346 - 10.2004