Control of spacecraft and aircraft

406 Pages·1994·326.071 MB·English

by  Bryson, Arthur Earl

CONTROL OF
SPACECRAFT AND
AIRCRAFT

Control of
Spacecraft and
Aircraft
ARTHUR E. BRYSON, JR.
PRINCETON UNIVERSITY PRESS
PRINCETON, NEW JERSEY
Copyright © 1994 by Princeton University Press
Published by Princeton University Press, 41 William Street,
Princeton, New Jersey 08540
In the United Kingdom: Princeton University Press, Chichester, West Sussex
All Rights Reserved
Library of Congress Cataloging-in-Publication Data
Bryson, Arthur E. (Arthur Earl)
Control of spacecraft and aircraft / Arthur E. Bryson, Jr.
p. cm.
Includes bibliographical references and index.
ISBN 0-691-08782-2 (alk. paper)
1. Space vehicles-Attitude control systems.
2. Airplanes-Control systems. I. Title.
TL3260.B78 1993
629.45-dc20 93-35565
This book has been composed in Linotype Times Roman
Princeton University Press books are printed on acid-free
paper, and meet the guidelines for permanence and durability
of the Committee on Production Guidelines for Book Longevity of
the Council on Library Resources
Printed in the United States of America
10 9 8 7 6 5 4 3 2 1
To Helen

Contents
List of Figures Xl
List of Tables xix
Preface and Acknowledgmeuts XXI
Chapter 1 - Natural Motions of Rigid Spacecraft 1
1.1 Translational Motions in Space 1
1.2 Translational Motions in Circular Orbit 1
1.3 Rotational Motions in Space 5
1.4 Rotational Motions in Circular Orbit 7
1.5 Disturbances 14
Chapter 2 - Spacecraft Sensors and Attitude Determination 16
2.1 Introduction 16
2.2 Infra-Red, Optical, and Radar Sensors 17
2.3 Orbital Gyrocompassing 24
2.4 Gyros 25
2.5 Inertial Measurement Units 26
Chapter 3 - Attitude Control with Thrusters 28
3.1 Fast versus Slow Attitude Control 28
3.2 Fast Attitude Control Using Proportional Thrusters 28
3.3 Fast Attitude Control Using On-Off Thrusters 32
Chapter 4 - Attitude Control with Reaction Wheels 37
4.1 Fast Control 37
4.2 Slow Pitch Control Using Gravity Desaturation 41
4.3 Slow RolllYaw Control Using Gravity Desaturation 45
Chapter 5 - Attitude Stabilization with Spin 50
5.1 Spin Stabilization 50
5.2 Nutation Damping 54
5.3 Dual Spin 60
5.4 Offset Axial Thruster 68
viii • CONTENTS
Chapter 6 - Attitude Control with a Gimbaled Momentum Wheel 74
6.1 Introduction 74
6.2 Fast Control 74
6.3 Slow Control Using Gravity Desaturation 82
Chapter 7 - Attitude Control during Thrust Maueuvers 93
7.1 Using Reaction Jets 93
7.2 Using a Gimbaled Engine 95
7.3 Using Off-Modulation or Spin 100
Chapter 8 - Control of Translational Motions 102
8.1 Fast Control 102
8.2 Slow Control in Nearly Circular Orbit; Cross Track 106
8.3 Slow Control in Circular Orbit; In-Track/Radial 110
Chapter 9 - Flexibility and Fuel Slosh 114
9.1 Introduction 114
9.2 Control Synthesis Using One Vibration Mode 115
9.3 Parasitic Modes 125
9.4 Control with Fuel Slosh 129
9.5 Robust Compensator Synthesis 132
Chapter 10 - Natural Motions of Rigid Aircraft 142
10.1 Equations ofM otion 142
10.2 Natural Longitudinal Motions 149
10.3 Natural Lateral Motions 155
10.4 Wind Disturbances 159
Chapter 11 - Aircraft Seusors 164
11.1 Introduction 164
11.2 Vertical Gyros 164
11.3 Directional Gyros 169
11.4 Inertial Measurement Units 171
U.5 Baro-InertialAltimeters 176
Chapter 12 - Control of Longitudinal Motions of Aircraft 179
12.1 Introduction 179
12.2 Steady-State Control 182
12.3 Observability and Controllability 187
12.4 Control of Climb Rate and Airspeed 198
12.5 Control ofA ltitude and Airspeed 210
12.6 Glide-Slope Capture and Hold 220
12.7 Flare 225
CONTENTS· ix
Chapter 13 - Control of Lateral Motions of Aircraft 232
13.1 Introduction 232
13.2 Steady Bank Angle and Lateral Specific Force 232
13.3 Steady Sideslip and Yaw Rate 239
13.4 Observability and Controllability of Lateral Modes 243
13.5 Control of Bank Angle and Sideforce 247
13.6 Control of Heading and Sideforce 254
13.7 Control of Track and Sideforce 260
Chapter 14 - Control of Helicopters near Hover 271
14.1 Introduction 271
14.2 Small Deviationsfrom Steady Hover 272
14.3 Steady-State Control near Hover 277
14.4 Control of Velocity Vector and Yaw Rate 278
Chapter 15 - Aeroelastic Systems 284
15.1 Introduction 284
15.2 A Simple System with a Flutter Mode 287
15.3 Flutter Suppression for a Simple System 296
Appendix A - Linear System Representations 301
A.1 Representations of Linear Dynamic Systems 301
A.2 Complex Modal State and Residue/Pole 302
A.3 Real Modal State 303
A.4 Factored Residue/Pole 305
A.5 Model Order Reduction 306
A.6 Example of Different Representations for a MIMO System 307
Appendix B - Steady-State Control 311
B.1 Steady-State Control 311
B.2 Nonzero Set Points and Output Commands 3/3
Appendix C - Synthesis of Analog Control Logic 317
C.1 Frequency Response and Root Locus 317
C.2 Pole Placement 318
C.3 Linear-Quadratic-Regulator (LQR) Synthesis 318
C.4 Linear-Quadratic-Gaussian (LQG) Estimator Synthesis 320
C.5 Linear-Quadratic Compensator Synthesis 321
C.6 Optimal Lower-Order LQG Compensators 323
C.7 Asymptotic Model Following 323
C.8 Asymptotic Disturbance Rejection 326