Attitude Control with Momentum Exchange Devices
This course is part 1 of the specialization Advanced Spacecraft Dynamics and Control. It is a direct continuation of the Coursera specialization Spacecraft Dynamics and Control. This first course focuses on nonlinear attitude feedback control using a range of angular momentum devices. The course provides a comprehensive review of prerequisite material. Next it develops equations of motion of a spacecraft with momentum exchange devices such as reaction wheels (RWs), control momentum gyroscopes (CMGs) and variable speed control moment gyroscopes (VSCMGs).
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- Level Expert
- Duration 45 hours
- Course by University of Colorado Boulder
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About
This course is part 1 of the specialization Advanced Spacecraft Dynamics and Control. It is a direct continuation of the Coursera specialization Spacecraft Dynamics and Control. This first course focuses on nonlinear attitude feedback control using a range of angular momentum devices. The course provides a comprehensive review of prerequisite material. Next it develops equations of motion of a spacecraft with momentum exchange devices such as reaction wheels (RWs), control momentum gyroscopes (CMGs) and variable speed control moment gyroscopes (VSCMGs). The course discusses developing a complex spacecraft simulation with a number VSCMGs and how to approach debugging such complex software. The use of the work/energy theorem is discussed to assist with debugging the simulation by validating angular momentum, energy, changes in momentum and mechanical power. Further, the use of null motion is explored to reconfigure the attitude control devices to avoid singularities and gimbal lock. The redundancy is exploited to seek control solutions that avoid classical CMG singularities.Modules
Introduction to Attitude Control with Momentum Exchange Devices
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1
Videos
1
Videos
- Welcome to the Course!
Particle Kinematics Fundamentals
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3
Videos
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3
Assignment
3
Assignment
- Quiz 1 - Vector Notation
- Quiz 2 - Angular Velocity Vector
- Quiz 3 - Vector Differentiation
3
Videos
- Vector Notation
- Angular Velocity Vector
- Vector Differentiation
Fundamentals of Attitude Kinetics
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4
Videos
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4
Assignment
4
Assignment
- Quiz 4 - Direction Cosine Matrix
- Quiz 5 - Principal Rotation Vector
- Quiz 6 - Euler Parameters
- Quiz 7 - Modified Rodrigues Parameters (MRPs)
4
Videos
- Direction Cosine Matrix
- Principal Rotation Vector
- Euler Parameters (Quaternions)
- Modified Rodrigues Parameters (MRPs)
General Dynamical System
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3
Videos
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3
Assignment
3
Assignment
- Quiz 1 - Super Particle Theorem
- Quiz 2 - Kinetic Energy
- Quiz 3 - Momentum of a General System
3
Videos
- Super Particle Theorem
- Kinetic Energy
- Momentum of a General System
Single Rigid Body Dynamics
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4
Videos
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4
Assignment
4
Assignment
- Quiz 4 - Rigid Body Rotational Angular Momentum
- Quiz 5 - Inertia Matrix Properties
- Quiz 6 - Rigid Bodies Equations of Motion
- Quiz 7 - Rigid Body Kinetic Energy
4
Videos
- Rigid Body Rotational Angular Momentum
- Inertia Matrix Properties
- Rigid Bodies Equations of Motion
- Rigid Body Kinetic Energy
Stability Review
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6
Videos
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5
Assignment
5
Assignment
- Quiz 1 - Stability Definitions
- Quiz 2 - Stability of a Linearized System
- Quiz 3 - Definite Definitions
- Quiz 4 - Lyapunov Functions
- Quiz 5 - Stability and Time Dependent Systems
6
Videos
- Stability Definitions
- Stability of a Linearized System
- Definite Definitions
- Lyapunov Functions
- Stability Definitions of Time Dependent Systems
- Stability Analysis of Time Dependent Systems
NonLinear Rigid Body Feedback Control
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5
Videos
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4
Assignment
4
Assignment
- Quiz 6 - Rigid Body Detumbling
- Quiz 7 - Lyapunov Functions for Attitude Coordinates
- Quiz 8 - 3-Axis Attitude Feedback Control
- Quiz 9 - Asymptotic Convergence of Attitude Control
5
Videos
- Rigid Body Detumbling
- Rigid Body Detumbling (Part 2)
- Lyapunov Functions for Attitude Coordinates
- 3-Axis Attitude Feedback Control
- Asymptotic Convergence of Attitude Control
VSCMG Problem Statement
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4
Videos
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4
Assignment
4
Assignment
- Quiz 1 - Motivation for Studying VSCMG's
- Quiz 2 - VSCMG Coordinate Frames
- Quiz 3 - VSCMG Momentum Vectors
- Quiz 4 - Time Varying Gimbal Frame Vectors
4
Videos
- Motivation for Studying VSCMG's
- VSCMG Coordinate Frames
- VSCMG Momentum Vectors
- Time Varying Gimbal Frame Vectors
Single VSCMG Modeling
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5
Videos
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4
Assignment
4
Assignment
- Quiz 5 - VSCMG Equations of Motion
- Quiz 6 - RW Motor Torque Equation
- Quiz 7 - CMG Motor Torque Equation
- Quiz 8 - Single VSCMG Simulation
5
Videos
- VSCMG Equation of Motion Development
- VSCMG Equation of Motion Discussion
- RW Motor Torque Equation
- CMG Motor Torque Equation
- Single RW or CMG Simplification
Multi-VSCMG Modeling
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3
Videos
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2
Assignment
2
Assignment
- Quiz 9 - Spacecraft Simulation with 4 VSCMGs
- Quiz 10 - Work/Energy Principle for VSCMGs
3
Videos
- Spacecraft with Multiple VSCMGs
- How to Debug VSCMG Numerical Simulations
- Work/Energy Principle for VSCMGs
Reaction Wheel Feedback Control
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6
Videos
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4
Assignment
4
Assignment
- Quiz 1 - Spacecraft with multiple RWs
- Quiz 2 - RW Configuration Considerations
- Quiz 3 - RW Torque Loop
- Quiz 4 - RW Speed Servo
6
Videos
- Spacecraft with multiple RWs
- RW Configuration Considerations
- RW Motor Torque Feedback Loop
- Discussion of RW Torque Feedback Loop
- RW Speed Loop for 3-Axis Control
- RW Wheel Speed Servo
VSCMG Feedback Control
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13
Videos
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9
Assignment
9
Assignment
- Quiz 5 - VSCMG Control Stability Cndition
- Quiz 6 - VSCMG Velocity Steering Law
- Quiz 7 - CMG Steering Law
- Quiz 8 - CMG Gimbal Lock Configuration
- Quiz 9 - VSCMG Steering Law
- Quiz 10 - Acceleration Based Gimbal-Rate Servo
- Quiz 11 - Full VSCMG Control Loop Simulation
- Quiz 12 - CMG Null Motion
- Quiz 13 - Simulation of VSCMG Null Motion
13
Videos
- VSCMG Control Stability Condition
- VSCMG Velocity Steering Law
- CMG Steering Law
- CMG Gimbal Lock Configuration
- VSCMG Steering Law
- Numerical VSCMG example
- Acceleration Based Gimbal-Rate Servo
- VSCMG Control Loop Coding Discussion
- Numerical Example of VSCMG Steering Law
- CMG Null Motion
- VSCMG Null Motion
- VSCMG Reconfiguration
- Continuous CMG Singularity Avoidance
Auto Summary
Discover the intricacies of spacecraft dynamics with "Attitude Control with Momentum Exchange Devices," an advanced course designed for those passionate about space engineering and control systems. As part of the specialized series in Advanced Spacecraft Dynamics and Control, this course builds on foundational knowledge from the Spacecraft Dynamics and Control specialization. Led by expert instructors from Coursera, this expert-level course delves into nonlinear attitude feedback control using various angular momentum devices, including reaction wheels (RWs), control momentum gyroscopes (CMGs), and variable speed control moment gyroscopes (VSCMGs). Participants will revisit essential prerequisite material before advancing to develop equations of motion for spacecraft equipped with these momentum exchange devices. The course also covers the creation and debugging of complex spacecraft simulations, emphasizing the work/energy theorem to validate crucial aspects such as angular momentum and mechanical power. A notable feature of the program is the exploration of null motion to reconfigure attitude control devices, effectively avoiding singularities and gimbal lock. The course also addresses the exploitation of redundancy to find control solutions that bypass classical CMG singularities. With comprehensive content spanning approximately 2700 minutes, this course is perfect for expert-level learners seeking to deepen their understanding and skills in spacecraft dynamics and control. Enroll with the Starter subscription to embark on this advanced learning journey and elevate your expertise in personal and professional development within the space domain.
Hanspeter Schaub