Spacecraft Dynamics and Control (Lecture 1 Introduction and Vectors) Dr. John L.

Crassidis
University at Buffalo State University of New York Department of Mechanical & Aerospace Engineering Amherst, NY 14260-4400 johnc@eng.buffalo.edu http://www.buffalo.edu/~johnc
University at Buffalo The State University of New York

Introduction (1)
Control of a spacecraft is very complex

Hardware Issues Space environment Disturbances Nonlinear dynamics Spacecraft position (orbit) Spacecraft attitude (orientation) Control location (hardware)

Need to know three things for full axis control

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Introduction (2)
Spacecraft versus Aircraft

Aircraft always have a great reference EARTH! Spacecraft have many references
Earth, Sun, stars, moon, planets, other spacecraft

Aircraft can be serviced Dynamics of aircraft more complicated than spacecraft, but kinematics of spacecraft usually more complicated than spacecraft
Definition of kinematics ???

Course will introduce basic concepts needed for spacecraft control

Orbital dynamics and determination Attitude kinematics and dynamics, and determination Control techniques for orbit and spacecraft control
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This is a highly mathematical course!!!

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Vectors
A vector has a direction and magnitude (notation denoted a vector and denotes a scalar, in this case the magnitude) To describe a vector, define a coordinate system, E, which is represented by three unit vectors and an origin unit vector has magnitude 1

Right-Hand-Rule (RHR) is followed

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Cartesian Coordinate System

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Cartesian System
Sometimes a coordinate system is also referred to as a reference frame. However, a reference frame is more general To describe a vector in E coordinate system, its vector components along the unit axes are found

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Multiple Coordinate Systems

Watch multiple coordinate systems

assigned

is correct since no coordinate system is

is not correct since two different coordinates systems are used

Must project F coordinate system in E system first Well talk about this when we cover attitude kinematics

Other Common Coordinate Systems

Cylindrical Spherical

NOTE: ALWAYS DEFINE YOUR VECTORS WITH SOME NOTATION

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Cylindrical System
A Triad of Unit Vectors

tracks the heading of the projection of the vector . The angle is the azimuth angle between and
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Cylindrical -- Cartesian
Relationship to Cartesian components given through

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Spherical Coordinate System

Conversion Between Spherical and Cartesian

First perform a rotation about

(look at

plane)

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Spherical -- Cartesian

Then perform a rotation about

(look at

plane)

Note, does not follow the RHR since we are performing a positive rotation about Combine to obtain

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Spherical Example
Spherical coordinates are typically used to describe the motion of a satellite

For example, azimuth and elevation angles of a TV dish to a satellite system

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Vector Algebra
Measure of length of a vector is given by the norm Unit Vector

Dot product or inner product

Vector set is orthonormal if the vectors follow

Kronecker delta definition If dot product is zero, then vectors are orthogonal
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Angle and Cross Product

Note: Follow RHR

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