空间飞行器动力学与控制

Nanjing University of Aeronautics and Astronautics Spacecraft Dynamics and Control Teacher：Han-qing ZhangCollege of AstronauticsSpacecraft Dynamics and Control Text book:Spacecraft Dynamics andControl：A PracticalEngineering Approach/s/1o6BF32U(1) Wertz, J. R. Spacecraft Orbit and Attitude Systems, Springer. 2001(2) 刘墩.空间飞行器动力学，哈尔滨工业大学出版社，2003.(3) 章仁为.卫星轨道姿态动力学与控制，北京航空航天大学出版社，2006.(4) 基于MATLAB/Simulink的系统仿真技术与应用，清华大学出版社，2002。

2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control 1. IntroductionSpace technology is relatively young compared to other modern technologies, such as aircrafttechnology.In only forty years this novel domain hasachieved a tremendous level of complexity andsophistication. The reason for this is simplyexplained: most satellites, once in space, must rely heavily on the quality of their onboardinstrumentation and on the design ingenuity of the scientists and engineers.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control The desire of humans to conquer space within the solar system will surely encourage newtechnological achievements that are not yetimagined.The technical fields in which satellites are used are numerous一telecommunications, scientificresearch, meteorology, and others.According to the specific task for which they are designed, satellites may be in orbits as low as200 km or as high as 40,000 km above the earth;other spacecraft leave the earth toward planets in the solar system2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control In October 4, 1957, the former Soviet Union sent the world's first artificial satellite into space.In March 11, 1960, the United States launcheda "pioneer" detector,and it was known as thefirst deep-space probe.2014年4月22日星期二Spacecraft Dynamics and Control2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlIn April 12, 1961,the former SovietUnion successfullylaunched the firstmanned spacecraft. 尤里·加加林Spacecraft Dynamics and ControlIn March 1965, the former Soviet Union realized the first human spacewalk.“上升号”载人飞船2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlIn January 1966, two spacecrafts completed the rendezvous and docking successfully for the first time in the former Soviet Union .“联盟号”飞船2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlIn July 1969, the United States landed on the moon for the first time.N．A．阿姆斯特朗E．E．奥尔德林2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlIn April 19, 1971, the first space station was built successfully with regard to the former Soviet.“和平号”轨道空间站2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlIn April 1981, the first space shuttle had the successful test flight.“哥伦比亚号”航天飞机首飞记录片2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlFengYun22014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control北斗导航试验卫星定位原理图2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control Satellites may be very heavy: an inhabited space station, for example, could weigh severaltons or more. There also exist very light satellites, weighing 20 kg or less. Small satellites may berelatively cheap.Despite their differences, satellites possess fundamental features that are common to all. The physical laws that govern their motion in spaceand their dynamics are the same for all spacecraft.Hence, the fundamental technologies that evolved from these laws are common to all.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlA satellite's life begins with the specificbooster transferring it to some initial orbit,called a transfer orbit, in which the satellite is already circling the earth.For a satellite that will stay near earth, the next stage will be to "ameliorate" theorbit. This means that the satellite must bemaneuvered to reach the precise orbit forwhich the satellite was designed to fulfill its mission.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control Next, the satellite's software must check for the proper functioning of itsinstrumentation and its performance inspace, as well as calibrate some of theinstruments before they can be used tocontrol the satellite.The final stage is the one for which the satellite was designed and manufactured.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control Understanding the meaning of each stage will help one to understand the infrastructure of thecontrol system of any satellite.Throughout the text, the terms "satellite" and "spacecraft" (s/c for short) will be usedinterchangeably. The terms "geosynchronous"and "geostationary" will be used interchangeably to describe the orbit of a satellite whose period can be made exactly equal to the time it takes theearth to rotate once about its axis.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlA geosynchronous communications satellitewill be described in its different life stages. Acommon, medium-sized satellite is good example.Satellite of this type consist of the following main structural parts.(1) A central body consisting of a cubelikestructure.(2) Solar arrays extended in the N-S direction.(3) An antenna tower directed toward theearth.(4) Controllers(such as reaction thrusters)and attitude sensors(such as sun sensors).2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlAttitude and orbit control systemThe attitude and orbit control system (AOCS) may include:(1) A reaction bipropellant (反应双组元)thrustsystem.(2) Two momentum wheels (one redundant).2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control(3) Two infrared horizon sensors. (one operating andone redundant)(4) Four fine sun sensors. (two redundant)(5)Twelve coarse sun sensors for safety reasons. (sixredundant)(6)Two three-axis coarse rate gyros(陀螺仪).(7)Two three-axis integrating gyros.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and Control Much of the control hardware is redundant in order to guarantee a reliable control systemdespite potential hardware failures.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlMission sequenceSequence for injecting a satellite into the geostationary orbit.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlFirst is the launch into ageosynchronous transfer orbit(GTO).(地球同步转移轨道)withperigee and apogee (low and highaltitude) of 200 km and 35,786km, respectively.This is followed by the transferfrom GTO to geostationary orbit(GEO)(地球同步静止轨道),whereperigee and apogee both are35,786 km and the orbitinclination and eccentricity areclose to null.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlNext is the preparationand calibration of theAOCS.(姿态和轨道控制系统)GEO mission can start,followed by the actualGEO mission stage.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlAfter separation from the launcher, the satellite is commanded into a sun acquisition mode with the -X B axis pointing toward the sun. After completion of this stage, the solar panels are partially or fully deployed. If fully deployed, They can be rotated about their axis of rotation toward the sun in order to maximize power absorption.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlThe satellite stays in this cruise mode until the first apogee boost motor (ABM) orbit is approached. In the first and the subsequent ABM orbits, several hours before the ABM firing at the apogee, the gyros' calibration maneuvers are initiated.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlLess than an hour before any ABM firing, earth acquisition is initiated with the +Z B axis now pointed toward the earth, followed by preparation for the ABM firing stage.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlAfter ABM firings ranging from several to more than 30 minutes, the satellite is commanded to GTO cruise. After the last ABM firing, the satellite life is prepared for GEO operation.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlIn the first GEO, earth acquisition is performed, meaning that the +Z B axis of the satellite is directed toward the earth center of mass, thus allowing the normal GEO cruise.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlThe momentum wheel is spun to its nominal angular velocity to provide momentum bias attitude control. The orbit is then corrected for any remaining inaccuracies in inclination and eccentricity.2014年4月22日星期二Spacecraft Dynamics and ControlSpacecraft Dynamics and ControlThe satellite orbit dynamics and controlThe classical equations of motion of ideal Keplerian orbits.The basic orbital control concepts including control and station keeping of satellites.The attitude dynamics and controlThe basic equations of rotational motion about some axis through its center of mass.Single-and Dual-spin stabilization.The attitude stabilization and maneuvering ofspacecraft stabilized in three axes.2014年4月22日星期二Spacecraft Dynamics and Control。