Bab 1A

Sensor dan Aktuator Satelit

Ridanto Eko Poetro

 Silabus Ringkas
1. Introduction (2 weeks)
 Review Orbit Satelit
 Pengenalan ADCS
 Sensor & Aktuator Satelit
 Beberapa Metoda ACS
2. Kinematika rotasi (2 weeks)
 Tata acuan koordinat dan rotasi
 Parameter perpindahan sudut
 Kecepatan sudut
3. Dinamika sikap benda kaku (3 weeks)
 persamaan gerak dasar,
 gerak tanpa torsi benda kaku axisimetris
 kestabilan gerak benda kaku
 gerak benda kaku dengan torsi
4. Torsi-torsi pada pesawat antariksa (1 week)
 Torsi External (torsi gravitasi, aerodinamik, radiasi, etc)
 Torsi Internal (thruster, reaction wheel, etc)
5. Gravity gradient stabilization
6. Momentum Exchange Systems (RW and CMG)
7. Attitude Control
8. Studi kasus
Sensor  Attitude Determination
 Magnetometer
 Sun Sensor
 Horizon Sensor
 Star Sensor/Tracker
 Gyroscope
 GPS Array

Aktuator  Attitude Control

 Magnetorquer /Magnetic Coil
 RCS / Thruster
 CMG (Control Moment Gyro)
 Reaction Wheels
 Momentum Wheels (Bias Momentum
System)
 Sensor2 Satelit
Sun Sensor
Star map in memory
Star Sensor
Horizon Sensor
Magnetometer
Gyros and Accelerometers

Velocity
Akurasi Potensial Sensor
 Star Sensor/Tracker
• Usually a digital or CCD type camera

Star map in memory

• Locks on to bright stars.

– Star map in held in computer memory
– Requires computer time to process map algorithm, match
picture with map
– Provides amazingly accurate pointing knowledge.
• One star identified:
– Provides two-axis knowledge
• Three or more stars identified:
– Provide three-axis knowledge
• Sensitive to sun and moon
 Prinsip Kerja Star Sensor

-- star sensor cameras looking in

different directions see different star
patterns
-- onboard computer compares camera
images with stored star catalog to
determine which way the s/c is
oriented
 Magnetometer
• Measures direction of Earth’s magnetic field
• Provides good two-axis knowledge, ok with the third axis
• Can use a three axis magnetometer, but is usually only accurate
in two axes
• One approach
– Measure location using GPS
– Using a Magnetic field model and location, find the model based field
– Using rotation matrices, find the three angular rotations
• Second approach
– Couple with initial launch conditions, gyro, and model to find attitude.

- +
 BE1   sin   cos   sin   cos   1   BM 1 
 B   cos    sin  cos   BM 2 
 E2  
sin 

1
   +
 BE 3   1 cos  sin    cos sin   BM 3 

-
 Gyroscope
• Senses rotation rate, not attitude
• Sometimes called inertial measurement units (as are accels)
• Can use three gyros for three axis measurements
• Rate is integrated over time to determine changes in attitude.

• But, gyros drift with time and thus have bias errors
– Small rates are seen even if none exist.
– Must be periodically zeroed out by another inertial sensor
• Very useful for Detumble and burns ring laser gyro,
• Examples: where time around
loop and speed of light
are used to calculate rate

mass on gimbal
 Gyroscopic Effect

Appears on a spinning wheel on an axle.

dH
T Torsi(gangguan/kendali)
dt

tends to resist changes to its orientation due to the

angular momentum of the wheel
Gyroscopic Effect
Gyroscopic Effect
 Earth/Horizon sensor
• Distinguishes Earth’s horizon, usually by its IR transition or horizon
• Can usually only provide two-axis knowledge
– Very poor in yaw
• There are multiple types of horizon sensors.
• In a scanning sensor, two beams scan across the Earth, as shown
below.
– The difference in time, the absolute time, and the s/c relative angles at
which the scan begins and ends can provide two-axis attitude
knowledge.
• An Earth-sensing phototransistor sees
the visual and/or infrared light from
the Earth and outputs a binary
trigger, tripping when the Earth
is within the field of view.

Velocity
 Sun Sensors
• Determines direction/vector to the Sun
• Provides extremely accurate two-axis pointing knowledge.
– But: Sun is not always visible in most orbits
• Simplest Example:
Multiple Photocells give 1 if they see the sun and 0 if they do not

• Solar panels may be used as sun sensors by comparing the

voltages produced in panels that are skewed with respect to
each other.
 Prinsip Kerja Sun-Sensor

sun sensor -- measures angle

between "sun line" and a reference
axis in the s/c -- onboard computer
uses this angle to help determine
overall orientation of s/c
 Aktuator2 Satelit
 Momentum/reaction wheels
 Control moment gyroscope
 Magnetic coils
 Thrusters
 Nutation dampers
 Solar radiation pressure

8 1
Z Y
7 2
X

6 3

5 4
Bias Momentum System
stabilizes in two axes using very high speeds  
H  I
this is exactly like the spin stabilized approach
Reaction Wheels
Fixed spinning rotors, apply torque simply by
changing the rotor spin speed
 Reaction Wheels

• Reaction and Momentum Wheels

• Usually at least three zero momentum
wheels aligned with each axis
• A fourth is usually includes that is at
an odd angle for redundancy

• Good points
– Precision control
– No consumables
• Bad points
– System mass and complexity
– Gyroscopic effect
– Momentum dumping
Gyroscopic effect of Momentum Wheel
• M =   I
– Pitch angular velocity .
X, roll,
• To remain Earth-pointed. Velocity
– Reaction wheel about yaw. Y, pitch
• Has angular velocity .
• A moment results about the roll M
axis.
– Acts to rotate the wheel into the 
pitch axis, into the orbital plane

• This can be a disturbance  Z, yaw,

• or can be used for control (CMG) nadir
 CMG
Control Moment Gyro

torque-generating mechanisms
that incorporate a single- or
double-gimbaled spinning wheels.
By rotating the gimbal axes,
significant torques can be
generated using the property of
spinning bodies called gyroscopic
stiffness
 4-SGCMG Cluster in a Typical Pyramid Mounting
Arrangement

 3 CMGs to provide full 3-

axis attitude control
 1 CMG to provide extra
degree of control
(min. redundancy for
singularity)

β=54.73º to the horizontal

 Reaction Control System (RCS)
• Active control using multiple thrusters
• Tightly coupled with Propulsion.
– Propellant and control
• Good points
– High control authority
– Reduces number of different systems
• Bad points
– Consumable propellant
– Mass of system
– deadband from on-off type thrust
– Cost
8 1
Z Y
7 2
X

THRUSTER
6 3 PAIR
5 4
Konfigurasi Umum Sensor Satelit