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This document describes a satellite system with a reaction wheel used to control the pointing angle θ of the satellite. The reaction wheel speed Ω and satellite angular velocity ω are also modeled. State space equations are derived and provided in the document. The assignment asks the student to: 1) Build the full state space model, 2) Obtain transfer functions from input to outputs, 3) Verify transfer functions using partial fraction expansions, 4) Simulate the step response, and 5) Include the m-script and results/analysis in a report.

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Sajjad Ahmed
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61 views

Assignment 1 PDF

This document describes a satellite system with a reaction wheel used to control the pointing angle θ of the satellite. The reaction wheel speed Ω and satellite angular velocity ω are also modeled. State space equations are derived and provided in the document. The assignment asks the student to: 1) Build the full state space model, 2) Obtain transfer functions from input to outputs, 3) Verify transfer functions using partial fraction expansions, 4) Simulate the step response, and 5) Include the m-script and results/analysis in a report.

Uploaded by

Sajjad Ahmed
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Assignment 1

ENEE 3790 Modern Control Systems Analysis and Design Fall 2019

Satellite with Reaction Wheel

Fig. 1 shows a satellite whose pointing angle 𝜃 is controlled by varying the speed of a reaction
wheel. The reaction wheel can be tought of as an electric motor with a flywheel attached to it.
The angular velocity of the reaction wheel relative to the satellite can be varied by changing the
voltage applied to its armature winding (electric motor). Because the reaction torque between the
satellite and the motor, there is no change in the total angular momentum of the combine satellite
and the motor. Thus, as the speed of the wheel relative to the satellite is varied, the angular
velocity of the satellite with respect to an inertial reference frame must vary such that the total
angular memonetum remain constant.
q
Reference
direction

Reaction wheel

Satellite

Fig. 1. A satellite with a reaction wheel

By drawing a free-body diagram for the satellite and the reaction wheel separately and summing
the moments about the axis of rotation, the following set of state-variable equations can be
obtained:
𝜃̇ = 𝜔
𝐵 1
𝜔̇ = Ω − 𝜏𝑚 (𝑡)
𝐽𝑠 𝐽𝑠
𝐵 1
Ω̇ = − Ω+ 𝜏 (𝑡)
𝐽𝑒𝑞 𝐽𝑒𝑞 𝑚

where
𝜃: pointing angle of the satellite (rad)
ω: angular velocity of the satellite (rad/s)
Ω: speed of the reaction wheel relative to the satellite (rad/s)
𝜏𝑚 : electric motor torque (N.m)
𝐵: viscous coefficient if the friction between the reaction wheel and the satellite (N.m.s/rad)
𝐽𝑠 : Moment of inertia of the satellite (kg.m2)
𝐽𝑤 : moment of inertia of the reaction wheel (kg.m2)
𝐽𝑒𝑞 : equivalent moment of inertia where
1 1 1
= +
𝐽𝑒𝑞 𝐽𝑠 𝐽𝑤
The model can be written in state-space form as

0 1 0
𝐵 0
𝜃̇ 0 0 𝜃 1 −1
[𝜔̇ ] = 𝐽𝑠 [𝜔] + [ 𝐽 ] 𝜏𝑚
𝐵 Ω 𝐽𝑠 𝑠
Ω̇ 0 0 − 𝐽𝑒𝑞
[ 𝐽𝑒𝑞 ]

For the parameter value 𝐽𝑠 = 13.6 kg.m2, 𝐽𝑤 = 13.6 × 10−4 kg.m2, and 𝐵 = 1.01 × 10−6
N.m.s/rad, the numerical form of the state-space model is

𝜃̇ 0 1 0 𝜃 0
[𝜔̇ ] = [0 0 7.4265 × 10−8 ] [𝜔] + 0.07353 [ −1 ] 𝜏𝑚
Ω̇ 0 0 −7.4265 × 10−3 Ω 104

In this assignment, do the following:


1. Build a complete state-space model (determine matrix A, B, C, and D) with 𝜃 and Ω are the
outputs.
𝐱̇ = 𝐀𝐱 + 𝐁𝑢
𝐲 = 𝐂𝐱 + 𝑫𝑢
Note that as outputs are in degrees and rpm, you need to convert them accordingly in matrix
C.
2. Use ss2tf command to obtain transfer functions from the input (𝜏𝑚 ) to the two outputs
(𝜃 and Ω), and use zpkdata command to identify poles and zeros of each transfer function.
3. Use tf command to show the transfer functions and do partial fraction expansions with
residue command; compare the results for consistency.
4. With step input of 𝜏𝑚 = 1 × 10−4 N.m., plot the step response of the outputs for 10 minutes
(600 seconds). Use lsim command and 2 seconds increment.
5. The report should include
a. A copy of the m-script file (note: provide necessary comments in the m file for each
Matlab comment used.)
b. The findings along with comments and/or analysis of the results.

Note: use small20 function to replace any entries in the state-space matrices that have
magnitudes less than 10−10 .

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