Toolboxes for MATLAB® - Princeton Satellite Systems · Princeton Satellite Systems sells MATLAB toolboxes for spacecraft, aircraft, wind turbine and ... intended for undergraduate

PRINCETONSATELLITESYSTEMS 1

6 Market Street, Suite 926, Plainsboro, New Jersey 08536-2096 Phone: 609-275-9606 | Fax: 609-275-9609

E-Mail: [email protected] Web: www.psatellite.com

Toolboxes for MATLAB® Princeton Satellite Systems, Inc. is a trusted provider of advanced control software. Our MATLAB® toolboxes provide you with the tools you need to create cutting edge products. Whether you are a new customer or an

existing customer, you will find exciting new tools to accelerate your research and development.


6 Market Street, Suite 926 -275-9609


Spacecraft Control Toolbox

Professional Edition

Academic Edition

CubeSat Toolbox

VisualCommander

Fusion PropulsionModule

Spin Axis Attitude Determination Module

Solar Sail Module

Formation Flying Module

Aero/Astro Vehicle Control

DSim ControlDeck MatrixLib

SpacecraftModels

Flight Software and Embedded System Simulation

Orbit Mini Toolbox

Add-ons

Aircraft Control Toolbox

Academic Edition

Professional Edition

Launch Vehicle Toolbox

Launch Vehicle Module

* includes both Spacecraft and Aircraft

Core Control Toolbox Target Tracking Module

Imaging Module

Wind Turbine Module

Control Systems

Mac App SimulationFramework

SCControl

MATLAB Product Line

LunarCube




Contents Princeton Satellite Systems MATLAB® Toolboxes ..................................................................... 4

Spacecraft Control Toolbox ......................................................................................................... 5

LunarCube Module for CubeSat .................................................................................................. 6

Case Study: Asteroid Prospector ................................................................................................ 7

Core Control Toolbox .................................................................................................................. 9

Aircraft Control Toolbox ............................................................................................................... 9

Add-On Modules ....................................................................................................................... 10

Wind Turbine Control Module ............................................................................................................. 10

Target Tracking Module ...................................................................................................................... 10

Imaging Module (Core only) ................................................................................................................ 10

Formation Flying Module (SCT Only) .................................................................................................. 10

Fusion Propulsion Module (SCT Only) ................................................................................................ 10

Solar Sail Module (SCT Only) ............................................................................................................. 10

Spin Axis Attitude Determination Module (SCT Only) ......................................................................... 10

LunarCube (CubeSat/SCT Academic) ................................................................................................ 10

Orbit Mini Toolbox (CubeSat) .............................................................................................................. 10

New in Version 2016.1 .............................................................................................................. 11




Princeton Satellite Systems MATLAB® Toolboxes PrincetonSatelliteSystemssellsMATLABtoolboxesforspacecraft,aircraft,windturbineandindustrialproblems.ModulesforthesetoolboxesincludetheTargetTrackingModuleforrobusttargettracking,theFusionPropulsionModule,theSpinAxisAttitudeDeterminationModuleforsatellitelaunchoperationsandtheSolarSailModuleforsolarsaildesign,analysisandsimulation.

Thetoolboxesallowengineerstodesignvehicles,analyzethemandsimulatethem,allwithintheMATLABenvironment.Thetoolboxesincludeextensivecontrolandestimationdesignfunctions,aswellascompletesourcecode--anecessityforadvancedsystemsdevelopment.Extensivedocumentationandhelpsystemsmakeourtoolboxesaccessibletoengineersateverylevelandstudentsfromhighschooltograduateschool.

Thetoolboxesareusedinternallyforallofourworkandtheyareconstantlyrefinedandupdated.WehavehaddozensofcontractswithNASA,theAirForce,Navy,Army,ESTECandmanycommercialorganizations.

WeusedourtoolboxestodeveloptheattitudecontrolsystemforthegeosynchronousIndostar-1,thesafemodeguidancesystemforthePrismaformationflyingsatellites,theTechSat-21formationflyingsystem,andtheATDRSmomentummanagementsystem.

WedevelopedanovelOpticalNavigationSystemforNASAwithourSpacecraftControlToolbox.RecentlywedesignedamagnetichysteresiscontrolsystemforaCubeSatusingourCubeSattoolbox.Wearecurrentlydevelopinganultra-precisionpointingcontrolsystemforsmallsatellitesfortheU.S.Army.

Weleverageourtoolboxestoprovidecustomsolutionstocustomers.Thesesolutionscanincludenewscriptsandnewfunctions.Weactivelyseekfeedbackfromcustomerssothatwecanimproveourproductsandprovidefeaturesthatourcustomersneed.

OurtoolboxesareusedworldwidebyoverahundredorganizationsincludingtheCanadianSpaceAgency,NASA,ESTEC,EnergiainRussia,NEC,LockheedMartin,Raytheon,GeneralDynamics,OrbitalSciencesCorporationandmanyothers.

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Spacecraft Control Toolbox TheSpacecraftControlToolboxproductfamilyincludestheProfessionalEdition,theAcademicEdition,andtheCubeSatToolbox.YoucanmodelasatelliteusingtheCADlayouttools;designandanalyzeestimationandcontrolsystems;performdisturbanceanalyses;andtestyouralgorithmsinasixdegree-of-freedomsimulation-allintheMATLABenvironment.

TheProfessionalEditionprovidescomprehensivesoftwareandextensiveexamplesfordesigninganyspacecraftcontrolsystem,anywhereinthesolarsystem.Add-onmodulesareavailabletotheProEditionforformationflying,fusionpropulsion,launchvehicles,solarsails,andspin-axisattitudedeterminationinatransferorbit.TheAcademicEditionisasubsetoftheProsoftwareintendedforundergraduateandgraduatelevelattitudecontrolsystemdesignandanalysis.TheCubeSatToolboxisourentrylevelproductthathasbeenspecificallydesignedforCubeSatteams.

Thetoolboxisalibraryofspaceenvironmentandsatellitemodelingfunctions,butitisalsosomuchmore–hundredsofdesignexamplesandsamplemissions,fromlowearthconstellations,togeosynchronoussatellitesanddeepspacemissions.Whetheryoursatellitehasapassivecontrolsystem,basicsensorsorahighlyaccurateIMU,reactionswheelsandthrusters,orevenflexiblearticulatedappendages,youcanmodelit.Ourcomprehensivetextbook,SpacecraftAttitudeandOrbitControl,helpsyourelatethetheorytothecode.

Ourorbitanalysisfunctionsenableyoutomodeltrajectoriesanywhereinthesolarsystem.DesignandperformHohmanntransfers,stationkeepingmaneuvers,low-thrustspirals,andevenperformadvancedinterplanetarytargeting.AvarietyofclassicandnovelalgorithmsareavailableincludingLamberttargetingandoptimallandinglaws.

OurCADmodelingpackageallowsyoutodescribeyourspacecraftusinggeometricprimitivesandperformdisturbanceanalysisthatoperatesontheresultingmesh.IncludeoftenoverlookeddisturbancessuchasRFtorquesandthermalemissions,andaccountforrotatingsolararrays.Calculateafrequencyanalysisofthedisturbancesinyourmissionorbitforuseinstatisticalsimulations.




CubeSat Toolbox TheCubeSatToolboxisourentry-leveltoolboxforCubeSatuniversityteams.ItsuniquesimplifiedsurfacemodelletsuserscalculatefulldisturbancesandmodelpowersubsystemswithoutcomplicatedCADmodels.Thetoolboxalsoprovidesmissionplanningtools,linkandthermalanalysis,andfullattitudeandorbitsimulation[limitedtoEarthorbits].

CubeSatsaregettingmoresophisticatedandeveryonewantsmorepower!Onewaytogetthatiswithdeployablesolarpanels.OurCubeSatModeldesignfunctionnowallowsyoutoadddeployablesolarpanels.Youcanpickthenumber,locationandlocationofthepanels.Thefunctionautomaticallygeneratesthesurface,power,massandthermalmodelsforthespacecraft.Itoutputsthedatastructureusedbytheright-hand-sidefunctions,simplifyingthedesignprocessforCubeSats.

Theplottotherightshowsa3U CubeSatwithfourcantedsolarwings.Thearrowsshowthe surfacenormalsforallofthesurfaces.Panelscanbeattached anywhereandinanyorientation;justspecifytheposition andnormal.

Wehaveimprovedthedisturbance modelsfortheCubeSattoolbox.TheymatchtheSpacecraft ControlToolboxdisturbancemodelsclosely.TheSpacecraft ControlToolboxallowsyoutomodelmorecomplexspacecraft withmultiplerotatingsurfacesthatarenormallynotfound onCubeSats.

LunarCube Module for CubeSat TheLunarCubemoduleaddsallthetoolsneededtosendyourCubeSatintolunarorbit.Missionplanningtoolsfortranslunarflightandlunarorbitoperationsareincluded.ThemodulealsoincludesanewdynamicalmodelthatisapplicabletoEarthorbit,lunartransferandlunarorbit.Itincludesreactionwheels,thrusters,apowersystemmodelandathermalmodel.Highfidelitylunargravityandlunarsurfacetopographymodelsarealsoincluded.

YoucancombinetheLunarCubefunctionsandscriptswiththeothertoolsintheCubeSattoolboxtogofromconceptualdesigntospaceoperations.




Case Study: Asteroid Prospector WeusedSCTtogenerateacompletedesignforAsteroidProspector,asmallreusablespacecraftcapableofflyingtoanasteroidfromEarthorbit,operatingnearthesurfaceoftheasteroidandreturningsamples.Thefirststepisestimatingthedelta-Vrequiredandanalyzingthetrajectory.Then,webuiltamodelofthespacecraft,demonstratingthatthecomponentsfitinthedesiredformfactor.Finally,wespecifiedtheindividualthrusterlocationsandsimulatedoperationsneartheasteroid,requiringrelativeorbitdynamicsduetotheverylowasteroidgravity.

1. Model the trajectory

WefirstuseapproximateorbitalelementsfortheApophisasteroidtoestimatethedelta-Vfortwolow-thrusttransfers:anEarthescapespiralandalow-thrusttransferspiral.Thiscanbedonewithanalyticalmethodsavailableinthetoolbox.WethensimulatetheEarthescapephase,wherethrustisappliedalongthevelocityvector,raisingtheorbit.ThissimulationusestheSun-Earthcircularrestrictedthree-bodydynamicsforamoreaccurateestimateofthespiralduration.Startingfrom850kmaltitude,ittakesabouttwoyearsand6.8km/sdelta-VtoescapetheEarth’sgravitywellusinga2mNionengine;withachangetooneline,wecantestdepartingfromGEOaltitudeinstead,resultingina2.4km/sdelta-Vinjust283days,atright.TorendezvouswiththeasteroidfromthisEarthdeparturetrajectoryisacomplexthreedimensionalproblem;wedevelopedacustomoptimizationfortherendezvousphaseusingtheGaussvariationalequationsfunctionsinthetoolbox.GLPKisusedtocomputethecontrolacceleration.Aninitialtrajectoryisplannedwithlinearizeddynamics,thecontrolsolutionisfoundandappliedinanopen-loopnonlinearsimulation,andthisnewtrajectoryisusedasthereferenceorbitforthenextiteration.Thefulltransfercalculatedafter6iterationstakes395additionaldaysandmatchestheasteroid’ssemi-majoraxisandeccentricitytowithin1%.TheplotsbelowshowthefinalthrustercontrolcommandsintheLVLHframeaswellasthesixiterationsoftheorbitalelements.

Thrust control vector in LVLH frame

Optimization of the transfer to Apophis using GVE and GLPK

Simulation of Earth escape spiral

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2. Model the spacecraft

ThetrajectorymodelingworkshowsthatwecanreachApophiswith13.5km/sdelta-Vusinga2mNionengine.Wecreatedamodelofthesatellite,witha27kgtotalmass,10.5kgXenon,and1.7kgchemicalpropellantfortheRCSsystem.Thespacecrafthasreactionwheelsforattitudemaintenance,dualarticulatedtelescopesforopticalnavigationandstarsensing,andaminideployablehighgainantenna(Sband).Thereisarobotarmforcollectingasampleoftheasteroid.Wealsomodeledthepowerandcommunicationsubsystem,sizingandlayingoutallthecomponents.TheresultingCADmodelandspacecraftpropertiesarebelow.

Bus dimensions 30 x 40 x 30 cm Total mass 27 kg BOL Power 272.6 W Ion Delta-V 13.5 km/s RCS Delta-V 150 m/s Xenon mass 10.5 kg Xenon tank diameter 19 cm RCS mass 1.7 kg Ion engine power 80 W Antenna diameter >50 cm Transmit power 7 W

3. Near-Asteroid Operations

Apophishasadiameterofonly325mandanmassofabout4×1010kg,sothatatitssurface,thegravitationalaccelerationisstill200✕ smallerthanthatfromthesunat1AU.Asaresult,thisaccelerationcanbeconsideredanegligibledisturbance,andthemotionofthespacecraftaroundtheasteroidisachievedcompletelybytheaccelerationprovidedbytheRCSsystem.Wewrotea6DOFsimulationofproximityoperationsaroundtheasteroidusingrigidbodydynamicswithadoubleintegratorpositionmodel.Acircumnavigationata500mradiusrequirescontinuousthrust,withatangentialimpulseof17Nsrequiredtoinitialthetrajectoryandacontinuousradialforceof0.03Ntomaintainit.Forthenextleveloffidelity,theforcesandtorquesproducedbythissimulationcouldbefurthermodeledusingtheactualreactionwheelandthrusterparameters,suchaswheelfrictionandtachometerloops,thrusterminimumimpulsebit,andpulsewidthmodulation.

RCS force and torque vectors

AsteroidProspector CAD Model




Core Control Toolbox TheCoreControlToolboxprovidesthecontrolandestimationfunctionsofourSpacecraftControlToolboxwithgeneralindustrialdynamicsexamplesincludingroboticsandchemicalprocessing.ThesuiteofKalmanFilterroutinesincludesconventionalfilters,ExtendedKalmanFiltersandUnscentedKalmanFilters.TheUnscentedFiltershaveanewfastersigmapointcalculationalgorithm.Allofthefilterscannowhandlemultiplemeasurementsourcesthatcanbechangeddynamically.Add-onsfortheCoreControlToolboxincludeourImaging,WindTurbine,andTargetTrackingmodules.

Aircraft Control Toolbox TheAircraftControlToolboxisacompletepackagefortheanalysis,designandsimulationofairvehicles.Italsohasprofessionalandacademiceditions,andincludesamoduleonairships;you

canmodelanyairvehicle.Availableaircraftdynamicsmodelsincludeflexibility,actuators,andsensorandenginedynamics.Thereisanintegratednonlinearsimulationwithbuilt-inlinearizationandtrimming–youcanaddasmanydegreesoffreedomasnecessary.Thissimulationincludestheattitudedynamicsoftheaircraft;thereisalsoatrajectory-onlysimulationandevenasetgraphicalcontrolsforcontrollingyouraircraftinflight.Youcanflyentiremissionsfromtakeoffrolltolanding.Subsonic,supersonicandhypersonicvehiclescanallbemodeledseamlessly.

Thetoolboxprovidesextensiveperformanceanalysistools.Theseallowyoutoquicklysizeyouraircraftandperformtradestudies.OurCADtoolsletyoulayoutyouraircraftquicklywithouthavingtousesolidmodelers.

Theextensivelibraryofenginemodelsprovidedencompassesturbojets,turbofansandramjets.Propellermodelsarealsoincluded.Youcangenerateengineperformancetablesforuseinsimulationsorusethefunctionsdirectly.

Thetoolboxhassophisticatedatmospheremodels.Theseincludethestandardatmospherereachingtotheedgeofspaceandwindandgustmodels.

Princeton Satellite Systems

Jet Engine Performance

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Add-On Modules

Wind Turbine Control Module

TheWindTurbineControlModulecanleverageallofthenewcontrol,estimationandmathematicalfunctionsintheCoreControlToolboxtoprovideenhancedwindturbinecontrolsystemdesigncapabilities.

Target Tracking Module

ThismoduleimplementsMultipleHypothesisTesting(MHT)fortrackingofmultipleobjects.Itisessentialforreliabletrackingofobjectsinanoisyenvironment.ApplicationsofMHTincludeautomobileadaptivecruisecontrol,peopletrackingincrowdsandairtrafficcontrol.ThismoduleworkswiththeCoreControlToolboxandcontainsawiderangeofdemos.

Imaging Module (Core only)

Thismoduleincludeslensmodels,imageprocessing,raytracingandimageanalysistools.ThismoduleisincludedwithSCTProfessional.

Formation Flying Module (SCT Only)

Constellationsofsmallsatellitesareprovingtobeacost-effectivewayofsolvingmanyremotesensingproblems.TheFormationFlyingModuleisanadd-ontotheSpacecraftControlToolboxthatgivesyoucuttingedgealgorithms,someofwhichweretestedonthePrismarendezvousrobotsmission!Formationcontrolandplanningtoolsareprovided.

Fusion Propulsion Module (SCT Only)

Thismoduleincludesanextensivelibraryoffunctionsformodelingfusionpropulsionsystems.Itincludesfundamentalplasmaphysicsfunctions,fusionreactorfunctionsandfunctionsspecificallyfordesigningnuclearfusionengines.

Solar Sail Module (SCT Only)

ThismoduleaddssolarsailfunctionstotheSpacecraftControlToolbox.Itincludesafullsetofdesignandtrajectoryanalysistoolsforsailcraft.

Spin Axis Attitude Determination Module (SCT Only)

Spin-axisattitudedeterminationisareliablewayofattitudedeterminationduringtransferorbit.Thismoduleprovidesflight-testedsoftware.Agraphicaluserinterfaceisprovidedtofacilitateuseinreal-time.Itisalsoveryeasytocustomizeforyourownsensorset.Themoduleincludesbatchandrecursiveestimatorsincludingourhighlyreliablenonlinearbatchestimator.

LunarCube (CubeSat/SCT Academic) Thisnewmoduleprovideslunarmissionplanning,lunargravitymodelsandcompletesimulations.IncludedinSCTPro.

Orbit Mini Toolbox (CubeSat) Ahigh-fidelityorbitpropagationmodulewhichcanalsostandalone.




New in Version 2017.1 Over60newfunctionswereaddedinVersion2017.1andupdatestodozensofexistingfunctionsweremadetoimprovetheirperformanceandexpandtheirapplications.

IntheAircraftControlToolboxweaddedaninletlossfunctiontocomputelossesduetoshockwaves.OurUnscentedKalmanFilteralgorithmwasupdated.

Weexpandedoursupportforheliocentricmissions.Thisincludesfunctionstocomputesolareclipsesinheliocentricorbits,heliocentricsphereofinfluence,heliocentrictrajectoryplottingandthermalmodelsforheliocentricspacecraft.

SeveralnewcomponentmodelswereaddedforusewiththeCADmodelingfunctions.TheseincludedaLiquidApogeeEngine,curvedtubesandtriangulartrusses.

Wehaveaddedallnewstaridentificationfunctions.Thesearebasedonapyramidstaridentificationalgorithmusingfourstarsforadefinitivematchduringlost-in-skyconditions.Thealgorithmprovidesreliablestaridentificationwithalmostanystarcatalogandinanyorientation.Wehaveupdatedimageprocessingalgorithmsforstarcentroiddetermination.

Newattitudedeterminationdemosandalgorithmswereaddedformixturesofdifferentsensors,suchassunmeasurements,earthchordsandmagneticfieldmeasurements.YoucancomparetheperformanceofextendedandUnscentedKalmanFilters.Anewsecondorderguidancelawwasaddedforplanetaryandlunarlandingthatprovidesasimpleandeffectivealgorithmforlanders.

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Foundedin1992,PrincetonSatelliteSystemsisaninnovativeengineeringfirmpushingthestate-of-the-artinAerospace,EnergyandControl.Wehelpourcustomersimplementcontrolsystemsthatareeasytouseandunderstand.WehavebeenanintegralpartofthecontrolsystemdevelopmentfortheCakrawarta-1CommunicationsSatellite,NASAATDRS,theGPSIIRsatellitesandthePrismaSpaceRendezvousRobots.OurextensivesatelliteoperationsexperienceincludesAsiasat,TelstarandKoreasat.Wehavepatentedawiderangeofinnovativetechnologies,rangingfromimagingsensorsandspacecraftmaneuveringalgorithms,towindturbinesandnuclearfusionpropulsion.Ourstaffprovidesuser-focusedengineeringtalentindevelopingandapplyingnewandinnovativesolutionstoanysetofcomplexproblems.PSSsellstheMATLABSpacecraft,AircraftandWindTurbineControlToolboxes.

AvarietyofhightechorganizationsusePrincetonSatelliteSystemssoftwareproductsfortheirwork.TheseincludeEnergia(Russia),ESTEC,NASA,theCanadianSpaceAgency,theSwedishSpaceCorporation,Raytheon,GeneralDynamics,LockheedMartin,OrbitalSciencesCorporation,MITLincolnLaboratories,NEC,Boeingandmanycollegesanduniversities.

PrincetonSatelliteSystemsregularlycustomizesandenhancesoursoftwaretomeetspecificclientrequirements;wefindthistobeaneffectivewayofenhancingourproductsandensuringthattheymeetallofourclients’needs.PrincetonSatelliteSystemscombinescustomdevelopmentwithcommercialsoftwarecomponentstoprovidepowerfulcontrolsoftwareinminimaltimeandwithmaximumflexibilitytoadapttothelatestcustomerrequirements.

Formoreinformationpleasecontactusdirectly:

[email protected]

[email protected]

http://blog.psatellite.com

Copyright©2016PrincetonSatelliteSystems.Allrightsreserved.

Toolboxes for MATLAB® - Princeton Satellite Systems · Princeton Satellite Systems sells MATLAB toolboxes for spacecraft, aircraft, wind turbine and ... intended for undergraduate

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