SPACE VEHICLE DYNAMICS AND CONTROL SECOND EDITION Bong Wie ure or UUM ES ais . esau NenIaeA Eprror-IN-CHIEFpace Vehicle Dynamics and Control econd Edition sa State University 1e8, Lowa inia Polytechnic Institute and State University g, Virginia Institute of Aeronautics and Astronautics, Ine. Bell Drive, Reston, VA 20191Cover photo credit: David Murphy, ATK Systems, Goleta, California; Olivier Boisard/ ‘U3P/2006-www.U3P.net. MATLAB™ is a registered trademark of The MathWorks, Inc, American Institute of Aeronautics and Astronautics, Inc., Reston, Virginia 12345 Library of Congress Cataloging-in-Publication Data Wie, Bong, 1952- - Space vehicle dynamics and control/ Bong Wie. -- 2nd ed, pecm. Includes bibliographical references and index. ISBN 978-1-56347-953-3 (alk. paper) 1. Space vehicles- -Dynamics. 2. Space vehicles--Control systems. I. Title. TL1050.W52 2008 629.47'|--de22 2008028777 Copyright © 2008 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved. Printed in the United States of America. No part of this publication may be repro- duced, distributed, or transmitted, in any form or by any means, or stored in a database or retrieval system, without the prior written permission of the publisher. Data and information appearing in this book are for informational purposes only, AIAA is not responsible for any injury or damage resulting from use or reliance, nor does AIA ‘warrant that use or reliance will be free from privately owned rights, _ Takahira Aoki ‘University of Tokyo ‘Edward W. Ashford rd Aerospace Consulting n D. Barker H. Bishop ty of Texas at Austin Kajal K. Gupta Dryden Flight Research Center dB. Helsehurst a Defense Force ‘Academy ATAA Education Series Editor-in-Chief Joseph A. Schetz, ' Virginia Polytechnic Institute and State University Editorial Advisory Board Rakesh K. Kapania Virginia Polytechnic Institute and State University D. Brian Landrum University of Alabama, Huntsville Tim C. Lieuwen Georgia Institute of Technology Michael Mohaghegh The Boeing Company Conrad F, Newberry Mark A. Price Queen’s University of Belfast James M. Rankin Ohio University David K. Schmidt University of Colorado, Colorado Springs David M. Van Wie Johns Hopkins University18129 Table of Contents + Nii 2 xv Preface to the Second Edition Preface to the First Edition . . Part 1. Dynamic Systems Modeling, Analysis, and Control Chapter 1. Dynamic Systems Modeling and Analysis 1.1 Matrix and Vector Analysis... . . 3 1.2 Classical Mechanics os _ 21 1.3 Dynamic Systems Analysis ....... : 1 Chapter 2. Dynamic Systems Control . 121 2.1 Feedback Control Systems ...... 7 121 2.2 Classical Frequency-Domain Methods .. . 123 2.3. Classical Gain-Phase Stabilization 136 24 Digital Control 152 2.5 Modern State-Space Methods 161 2.6 Stability Robustness Analysis . Tote » 185 2.7 Robust Control of Uncertain Dynamic § 2.2.7... 205 Part 2, Orbital Dynamics and Control enier 3. Orbital Dynamics . Two-Body Problem ...... 32 Geometry of Conic Sections . . 3.3 Vis-Viva' Equation 3.4 Kepler's Time Equation 3.5 Orbital Position and Velocity 3.6 Orbital Perturbations... . 3.7 Circular Restricted Three-Body Problem. 38 Elliptic Restricted Three-Body Problem . . sates 4. Orbital Maneuvers and Control..........22.00000+ 277 Launch Vehicle Trajectories sees 27 a Orbit Injection... . . : + 284 4.3 Single-Impulse Maneuvers... 286 4.4 Hohmann Transfer............ 2 4.5 Interplanetary Flight... 290x 4.6 Orbital Rendezvous... . ae ++. 299 4.7 Halo Orbit Determination and Control . eee ge =» 303 Part 3. Attitude Dynamics and Control Chapter 5. Rotational Kinematics 5.1 Direction Cosine Matrix Chapter 6. Rigid-Body Dynamics 6.1 6.2 6.3 64 6.5 6.6 6.7 6.8 69 6.10 6.11 6.12 Euler Angles ........... Euler’s Eigenaxis Rotation Quaternions : Kinematic Differential Equations... Angular Momentum of a Rigid Body | Inertia Matrix and Inertia Dyadic . - Euler’s Rotational Equations of Motion . Torque-Free Motion of an Axisymmetric Rigid Body General Torque-Free Motion Stability of Torque-Free Motion About Principal Axes... Spinning Axisymmetric Body with Constant Body-Fixed Torque... 372 Asymmetric Rigid Body with Constant Body-Fixed Torques ..... 375 Rigid Body in a Circular Orbit ......... 386 Gyrostat in a Circular Orbit... . 396 Dual-Spinner with a Platform Damper 398 Chapter 7. Rotational Maneuvers and Attitude Control... 2... 403 Control of Spinning Spacecraft 403 1 73 14 15 16 17 Chapter 8. Structural Dynamics 8.1 8.2 8.3 8.4 8.5 8.6 8.7 Time-Optimal Reorientation Maneuver: . Quaternion-Feedback Reorientation Maneuvers Attitude Control and Momentum Management Steering Logic for Control Moment Gyros Optimal Jet Selection Logic : Pulse-Modulated Attitude Control. 472 478 Part 4. Structural Dynamics and Control 4389 489 - #1 499 508 Sil hii S18 oeacs ‘ 529 Introduction Uniform Bars Uniform Beams Rigid Body with Beamlike Appendages . Rigid/Flexible Frame with a Pretensioned Membrane Flexible Toroidal Structures . Summary = Chapte! 9.1 9.2 9, Attitude and Structural Control . Thrust Vector Control Design for a Spacecraft wit Propellant Sloshing . ‘Attitude Control Design fora Bias-Momentum Stabilized Spacecraft . : 542 93. Stationkeeping Attitude Control ofa Flexible Spacecraft . 954 9.4. Nonlinear Pulse-Modulated Control Analysis and Design . 562 9.5 Attitude Control Redesign for the Hubble Space Telescope 574 9,6 Active Structural Vibration Control . 9.7 Summary | 609 Chapter 10. Robust Optimal Maneuvers - - 613 10.1 Time-Optimal Control... 613 10.2 Robust Time-Optimal Control [G25 10.3. Robust Time-Optimal Control Using One-Sided Control Inputs. 631 {0.4 Robust Fuel- and Time-Optimal Control .......... vives 637 10.5 Robustified Feedforward and Feedback Control . . . 652 Part 5. Advanced Spacecraft Dynamics and Control Chapter 11. Control Moment Gyros for Agile Imaging Satellites ...._ 667 MMM ction ie eet cree . 667 11.2. Single-Gimbal CMG Systems . . . . -. 669 113 CMG Singularities and Singular Surfaces... .. 673 11.4 Singularity Analysis Using the Binet-Cauchy Hen 2. 678 Ms) CMG Null Motions .............e0 eee ++ 682 11.6 Surface Theory of Differential Geometry +. 691 11.7. Singularity-Robust Steering Logic . 699 11.8 Singularity Avoidance/Escape Logi . 706 IL9 Rapid Multitarget Acquisition and Pointing Control of Bitile Spacecraft ........0--+2eeeer ee : .-- 923) 11.10 Variable-Speed Control Moment Gyros . .. . Be Chapter 12. Solar-Sail Dynamics and Control . . 741 12.1 Introduction . - TAL 122 Solar-Sail Attitude Control Issues . . 743 12.3. Solar-Radiation-Pressure Models . . 749 12.4 Spin Stabilization of Sailcraft. 752 125 Sailcraft in an Earth-Centered Elliptic Orbit. | 7 126 Solar-Sail Attitude Control Using a Gimbaled Control Boom and Control Vanes... . . 167 127. Gimbaled Thrust Vectoy Control Design for a Saileraft. 714 12.8 Attitude Control System Architecture for Solar Sails . . . 718 12.9 Solar-Sail Flight Validation (SSFV) Mission... . . 784 12.10 Attitude Dynamics of a Solar Sail with Translating a 1211 Preliminary L sn of the Propellantless Primary ACS... 794 12.12 Micro-PPT-Based Secondary ACS for Solar Sails 797xii 12.13 Orbital Dynamics of Solar Sails ...... 12.14 Examples of Solar-Sail Trajectory Design . 12.15 Solar-Sail Thrust Vector Control Design... - 12.16 TVC Design and Simulation for the SPI Mission. |... 12.17 Attitude Control of a Solar Sail in Sun-Synchronous Orbit Using Reaction Wheels and Magnetic Torquers . . : Chapter 13. Solar-Sail Missions for Asteroid Deflection . . . Introduction to the NEO Deflection Problem. . . Solar-Sail Mission Concept for Asteroid Deflection Asteroid Deflection Using a Gravity Tractor . . . Multiple Gravity Tractors in Halo Orbits . . Hovering Solar-Sail Gravity Tractor... . Asteroid Deflection Dynamics ............. 00000000000 Chapter 14. Attitude and Orbit Control of Space Solar Power Satelli 14.1 Introduction . 14.2 System Description 14.3 Orbital Dynamic : 144 Attitude Motion of n Inertially Oriented Spacecraft... 14.5. Structural Control Issues acces 14.6 Attitude and Orbit Control . 14.7, Summary .. . 807 815 . = .