Search

Movements of the celestial bodies in our solar system inspired Isaac Newton to work out his profound laws of gravitation and motion; with one or two notable exceptions, all of those objects move as Newton said they would. But normally harmonious orbital motion is accompanied by the risk of collision, which can be cataclysmic. The Earth s moon is thought to have been produced by such an event, and we recently witnessed magnificent bombardments of Jupiter by several pieces of what was once Comet Shoemaker-Levy 9. Other comets or asteroids may have met the Earth with such violence that dinosaurs and other forms of life became extinct; it is this possibility that causes us to ask how the human species might avoid a similar catastrophe, and the answer requires a thorough understanding of orbital motion. The two red square flags with black square centers displayed are internationally recognized as a warning of an impending hurricane. Mariners and coastal residents who know the meaning of this symbol and the signs evident in the sky and ocean can act in advance to try to protect lives and property; someone who is unfamiliar with the warning signs or chooses to ignore them is in much greater jeopardy. Although collisions between Earth and large comets or asteroids occur much less frequently than landfall of a hurricane, it is imperative that we learn to identify the harbingers of such collisions by careful examination of an object s path. An accurate determination of the orbit of a comet or asteroid is necessary in order to know if, when, and where on the Earth s surface a collision will occur. Generally speaking, the longer the warning time, the better the chance of being able to plan and execute action to prevent a collision. The more accurate the determination of an orbit, the less likely such action will be wasted effort or, what is worse, an effort that increases rather than decreases the probability of a collision. Conditions necessary for a collision to occur are discussed, and warning times for long-period comets and near-Earth asteroids are presented.

There exists an infrequent, but significant hazard to life and property due to impacting asteroids and comets. There is currently no specific search for long-period comets, smaller near-Earth asteroids, or smaller short-period comets. These objects represent a threat with potentially little or no warning time using conventional ground-based telescopes. These planetary bodies also represent a significant resource for commercial exploitation, long-term sustained space exploration, and scientific research. The Comet/Asteroid Protection System (CAPS) is a future space-based system concept that provides permanent, continuous asteroid and comet monitoring, and rapid, controlled modification of the orbital trajectories of selected bodies. CAPS would expand the current detection effort to include long-period comets, as well as small asteroids and short-period comets capable of regional destruction. A space-based detection system, despite being more costly and complex than Earth-based initiatives, is the most promising way of expanding the range of detectable objects, and surveying the entire celestial sky on a regular basis. CAPS would provide an orbit modification system capable of diverting kilometer class objects, and modifying the orbits of smaller asteroids for impact defense and resource utilization. This Technical Memorandum provides a compilation of key related topics and analyses performed during the CAPS study, which was performed under the Revolutionary Aerospace Systems Concepts (RASC) program, and discusses technologies that could enable the implementation of this future system.

Several laws are designed for simultaneous control of the orientation of an Earth-pointing spacecraft, the energy stored by counter-rotating flywheels, and the angular momentum of the flywheels and control moment gyroscopes used together as an integrated set of actuators for attitude control. General, nonlinear equations of motion are presented in vector-dyadic form, and used to obtain approximate expressions which are then linearized in preparation for design of control laws that include feedback of flywheel kinetic energy error as a means of compensating for damping exerted by rotor bearings. Two flywheel steering laws are developed such that torque commanded by an attitude control law is achieved while energy is stored or discharged at the required rate. Using the International Space Station as an example, numerical simulations are performed to demonstrate control about a torque equilibrium attitude, and illustrate the benefits of kinetic energy error feedback. Control laws for attitude hold are also developed, and used to show the amount of propellant that can be saved when flywheels assist the CMGs. Nonlinear control laws for large-angle slew maneuvers perform well, but excessive momentum is required to reorient a vehicle like the International Space Station.

A law is designed for simultaneous control of the orientation of an Earth-pointing spacecraft, the energy stored by counter-rotating flywheels, and the angular momentum of the flywheels and control moment gyroscopes used together as all integrated set of actuators for attitude control. General. nonlinear equations of motion are presented in vector-dyadic form, and used to obtain approximate expressions which are then linearized in preparation for design of control laws that include feedback of flywheel kinetic energy error as it means of compensating for damping exerted by rotor bearings. Two flywheel 'steering laws' are developed such that torque commanded by all attitude control law is achieved while energy is stored or discharged at the required rate. Using the International Space Station as an example, numerical simulations are performed to demonstrate control about a torque equilibrium attitude and illustrate the benefits of kinetic energy error feedback.

There exists an infrequent, but significant hazard to life and property due to impacting asteroids and comets. There is currently no specific search for long-period comets, smaller near-Earth asteroids, or smaller short-period comets. These objects represent a threat with potentially little or no warning time using conventional ground-based telescopes. These planetary bodies also represent a significant resource for commercial exploitation, long-term sustained space exploration, and scientific research. The Comet/Asteroid Protection System (CAPS) would expand the current detection effort to include long-period comets, as well as small asteroids and short-period comets capable of regional destruction. A space-based detection system, despite being more costly and complex than Earth-based initiatives, is the most promising way of expanding the range of detectable objects, and surveying the entire celestial sky on a regular basis. CAPS is a future spacebased system concept that provides permanent, continuous asteroid and comet monitoring, and rapid, controlled modification of the orbital trajectories of selected bodies. CAPS would provide an orbit modification system capable of diverting kilometer class objects, and modifying the orbits of smaller asteroids for impact defense and resource utilization. This paper provides a summary of CAPS and discusses several key areas and technologies that are being investigated.

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

The Gravity Recovery and Climate Experiment (GRACE) primary mission will be performed by making measurements of the inter-satellite range change between two co-planar, low altitude, near-polar orbiting satellites. Understanding the uncertainties in the disturbance environment, particularly the aerodynamic drag and torques, is critical in several mission areas. These include an accurate estimate of the spacecraft orbital lifetime, evaluation of spacecraft attitude control requirements, and estimation of the orbital maintenance maneuver frequency necessitated by differences in the drag forces acting on both satellites. The FREEMOL simulation software has been developed and utilized to analyze and suggest design modifications to the GRACE spacecraft. Aerodynamic accommodation bounding analyses were performed and worst-case envelopes were obtained for the aerodynamic torques and the differential ballistic coefficients between the leading and trailing GRACE spacecraft. These analyses demonstrate how spacecraft aerodynamic design and analysis can benefit from a better understanding of spacecraft surface accommodation properties, and the implications for mission design constraints such as formation spacing control.

A new proof is given for Jacobi's necessary condition. It is shown that the existence of a conjugate point in the interior of an extremal implies the existence of control perturbations which lead to a reduction in cost. The present analysis is restricted to linear-quadratic optimal control problems.

A closed-loop guidance strategy for time and fuel optimal reboost of Space Station Freedom is discussed in this paper. The reboost maneuver is formulated as an optimal control problem rather than a parameter optimization problem, the parameters being the thrust switching times. In the present approach the thrust switching structure need not be prescribed a priori to solve the resulting two point boundary value problem. Non-optimality of singular control or intermediate thrust is proved by utilizing the second order Kelley condition or the Generalized Legendre-Clebsch condition. Only a few sets of initial co-states and time-to-go guess values need to be stored on-board for a wide range of reboost scenarios.

A closed-loop guidance strategy for time and fuel optimal reboost of Space Station Freedom is discussed in this paper. The reboost maneuver is formulated as an optimal control problem rather than a parameter optimization problem, the parameters being the thrust switching times. In the present approach the thrust switching structure need not be prescribed a priori to solve the resulting two point boundary value problem. Non-optimality of singular control or intermediate thrust is proved by utilizing the second order Kelley condition or the Generalized Legendre-Clebsch condition. Only a few sets of initial co-states and time-to-go guess values need to be stored on-board for a wide range of reboost scenarios.

This study examines the implications of assembling and operating Space Station Freedom at a 51.6 degree inclination orbit utilizing an enhanced lift Space Shuttle. Freedom assembly is currently baselined at a 220 nautical mile high, 28.5 degree inclination orbit. Some of the reasons for increasing the orbital inclination are (1) increased ground coverage for Earth observations, (2) greater accessibility from Russian and other international launch sites, and (3) increased number of Assured Crew Return Vehicle (ACRV) landing sites. Previous studies have looked at assembling Freedom at a higher inclination using both medium and heavy lift expendable launch vehicles (such as Shuttle-C and Energia). The study assumes that the shuttle is used exclusively for delivering the station to orbit and that it can gain additional payload capability from design changes such as a lighter external tank that somewhat offsets the performance decrease that occurs when the shuttle is launched to a 51.6 degree inclination orbit.

An optimization method for flush-orifice air data system design has been developed using the Genetic Algorithm approach. The optimization of the orifice array minimizes the effect of normally distributed random noise in the pressure readings on the calculation of air data parameters, namely, angle of attack, sideslip angle and freestream dynamic pressure. The optimization method is applied to the design of Pressure Distribution/Air Data System experiment (PD/ADS) proposed for inclusion in the Aeroassist Flight Experiment (AFE). Results obtained by the Genetic Algorithm method are compared to the results obtained by conventional gradient search method.

The objective of this study was to determine the requirements necessary to ensure a viable Space Station Freedom (SSF) in the event of a delay in the date of the first element launch, and/or in the event that the nominal assembly sequence is interrupted, perhaps due to a delay in the Space Shuttle Launch Schedule. Orbit lifetimes, reboost fuel requirements, and controllability requirements were calculated for each stage of the SSF assuming anywhere from a 6 to 24 month delay/interruption in the baseline SSF assembly sequence. These results were assessed in order to formulate strategies to assure SSF viability in the presence of assembly sequence delays and interruptions.

The photovoltaic array sun tracking control system of Space Station Freedom is described. A synthesis procedure for determining optimized values of the design variables of the control system is developed using a constrained optimization technique. The synthesis is performed to provide a given level of stability margin, to achieve the most responsive tracking performance, and to meet other design requirements. Performance of the baseline design, which is synthesized using predicted structural characteristics, is discussed and the sensitivity of the stability margin is examined for variations of the frequencies, mode shapes and damping ratios of dominant structural modes. The design provides enough robustness to tolerate a sizeable error in the predicted modal parameters. A study was made of the sensitivity of performance indicators as the modal parameters of the dominant modes vary. The design variables are resynthesized for varying modal parameters in order to achieve the most responsive tracking performance while satisfying the design requirements. This procedure of reoptimization design parameters would be useful in improving the control system performance if accurate model data are provided.

In Jan. 1991, the LaRc SSFO performed an assessment of the configuration characteristics of the proposed pre-integrated Space Station Freedom (SSF) concept. Of particular concern was the relationship of solar array operation and orientation with respect to spacecraft controllability. For the man-tended configuration (MTC), it was determined that torque equilibrium attitude (TEA) seeking Control Moment Gyroscope (CMG) control laws could not always maintain attitude. The control problems occurred when the solar arrays were tracking the sun to produce full power while flying in an arrow or gravity gradient flight mode. The large solar array articulations that sometimes result from having the functions of the alpha and beta joints reversed on MTC induced large product of inertia changes that can invalidate the control system gains during an orbit. Several modified sun tracking techniques were evaluated with respect to producing a controllable configuration requiring no modifications to the CMG control algorithms. Another assessment involved the permanently manned configuration (PMC) which has a third asymmetric PV unit on one side of the transverse boom. Recommendations include constraining alpha rotations for MTC in the arrow and gravity gradient flight modes and perhaps developing new non-TEA seeking control laws. Recommendations for PMC include raising the operational altitude and moving to a symmetric configuration as soon as possible.

Power optimal single axis articulating PV array motion for Space Station Freedom is investigated. The motivation is to eliminate one of the articular joints to reduce Station costs. Optimal (maximum power) Beta tracking is addressed for local vertical local horizontal (LVLH) and non-LVLH attitudes. Effects of intra-array shadowing are also presented. Maximum power availability while Beta tracking is compared to full sun tracking and optimal alpha tracking. The results are quantified in orbital and yearly minimum, maximum, and average values of power availability.

Spacecraft reorientation is investigated numerically for an inertially symmetric rigid spacecraft with three bounded independent control torques aligned with the principal axes. The dynamical system of the spacecraft and the framework of the optimal-control problem are established in order to identify all of the potential strategies. The investigation lists bang-bang solutions and finite-order and infinite-order singular arcs, and the conditions for the finite-order singular arcs are given. Numerical examples are developed for all of the control-logic systems, and the suboptimality of the rest-to-rest maneuvers is proven for principal-axis rotations. The most efficient control technique is the singular control of infinite order, and the vector-valued singular control can be utilized in a derivative of the switching function.

The baseline design of the photovoltaic-array sun-tracking control system is presented with special attention given to the optimization of design variables related to stability and performance. The procedures utilized to attenuate control/structure interaction are described, and controller sensitivity to variations in structural modal parameters is examined. Constrained optimization techniques determine the stability margin and tracking capability, which are then tested for sensitivity to variations in natural frequency, mode-shape amplitudes, and modal-damping ratios. The effect of variations in the modal parameters of the dominant modes on performance indicators is also examined to optimize tracking-performance responsiveness and satisfy the design requirements. It is concluded that accurate on-orbit modal data are necessary to make the reoptimization procedure effective in improving the performance of the control system.

Assuming that a Shuttle Orbiter could be qualified to serve long duration missions attached to Space Station Freedom in the capacity as an Assured Crew Return Vehicle (ACRV), a study was conducted to identify and examine candidate attach locations. Baseline, modified hardware, and new hardware design configurations were considered. Dual simultaneous Orbiter docking accommodation were required. Resulting flight characteristics analyzed included torque equilibrium attitude (TEA), microgravity environment, attitude controllability, and reboost fuel requirements. The baseline Station could not accommodate two Orbiters. Modified hardware configurations analyzed had large TEA's. The utilization of an oblique docking mechanism best accommodated an Orbiter as an ACRV.

An approximate knowledge of the torque equilibrium attitude (TEA) is shown to improve the performance of a control moment gyroscope (CMG) momentum management/attitude control law for Space Station Freedom. The linearized equations of motion are used in conjunction with a state transformation to obtain a control law which uses full state feedback and the predicted TEA to minimize both attitude excursions and CMG peak and secular momentum. The TEA can be computationally determined either by observing the steady state attitude of a 'controlled' spacecraft using arbitrary initial attitude, or by simulating a fixed attitude spacecraft flying in desired orbit subject to realistic environmental disturbance models.