0&12& !+$&134&$%0)5+6&)+,%5!,)-+&!+$&78)59,& - ·...
TRANSCRIPT
ARCADEEXPERIMENTONBOARDBEXUS13
AND17:DESIGN,INTEGRATIONANDFLIGHT
OFATECHNOLOGYTESTPLATFORMWITHIN
ASTUDENTBALLOONPROGRAMME
MarcoBARBETTA,FrancescoBRANZ,AndreaCARRON,
LorenzoOLIVIERI,FrancescoSANSONE,LiviaSAVIOLI,
FabioSPINELLO,AlessandroFRANCESCONI
1st SymposiumonSpace
EducationalActivities
Padova,9-11December2015
CISASG.Colombo, University ofPADOVA,
ViaVenezia15,35131Padova(ITALY)
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 2
CONTENTS
Ø EXPERIMENTOBJECTIVES
Ø EXPERIMENTOVERVIEW(2013)
• DockingSubsystem
• MotionControlSubsystem
• ProximityNavigationSubsystem
Ø ARCADEEVOLUTION
Ø FLIGHTRESULTS
Ø LESSONSLEARNED
Ø CONCLUSIONS
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 3
EXPERIMENTOBJECTIVES
PrimaryObjectives:
• Totestinnovativesolutionsforproximitynavigation,attitudecontroland
docking suitedforminiatureautonomousspaceandaerialvehicles
• Toevaluatedisturbancesaffectingoperationsatdifferentaltitudesonboarda
stratosphericballoonofferedbytheREXUS/BEXUSprogramme
• Torelateperformancestodisturbances
SecondaryObjectives:
• Tocollectenvironmentaldata(pressure/temperatureprofiles)
• Todeterminewinddirectionandspeed
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 4
EXPERIMENTOVERVIEW(2013)
MainElements:
• SMAV (SMAll AirVehicle)
• PROXBOX(PROXimity BOX)
• STRUT(STRUcTure)
• DockingSubsystem
• NavigationSubsystem
• WindSensors
• Webcam
SMAV
PROXBOX
STRUT
Balloon
frame
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 5
DOCKINGSUBSYSTEM
• BasedonSoyuzandATVprobe-drogue configuration
• Probelengthof10cm(SMAV size:20x20x20cm)
• Upto10° ofallowablemisalignment
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 6
MOTIONCONTROLSUBSYSTEM
MainGoal&Architecture:
• ActivelycontrolSMAVyawmovements
• Mainactuator:customreactionwheel
• Backupsolution:DCmotorb/wSMAVandSTRUT
State-SpaceControl
• Statefeedback+integralcontroller
• Disturbancesrejectedoutsidefeedbackloop
• Linearmovementsnotinfluencing attitude
• Backupsolution:manual-tunedPIDcontrollerSMAVReaction Wheel
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 7
PROXIMITYNAVIGATIONSUBSYSTEM
Sensorselection:
• Compactness(minorpartofSMAVvolume)
• Simplicity (hardwarecomponents&softwarecomputationalburden)
Sensorlayout:
• IRLEDemitter(pulsed at10kHz)onthePROXBOX
• TwoIRreceiversontheSMAV
• Reconstructionofrelativerangeρ andyawangleψ
customrelativenavigationIRsensorbasedon
radiationintensitymeasurement
SMAV
IRRECEIVERS
IRLED
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 8
ARCADEEVOLUTION2010- 2013
1)SelectionWorkshop 2)PDR 3)CDR
DESIGNPHASE
(10/2010– 6/2011)
1)Conceptdefinition
2)Baselineconfigurationselection
3)Detaileddesign
4)IPR&EAR
5)BEXUS13flight- 2011
INTEGRATION&TESTPHASE
(6/2011– 9/2011)
4)Integrationandacceptance
5)LaunchCampaign
(October2011)
6)BEXUS17flight- 2013
RE-FLIGHT
(11/2012– 10/2013)
• Substitution of
damagedorobsolete
h/w
• Completere-writingof
software
• Otherdesignupgrades
• Massreduction
Unsuccessfulflight because
ofcriticalsoftwarefailure Successful flight!!!
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 9
FLIGHTRESULTS(1/2)
Dockingsystem
• SuccessfulreleaseoftheSMAV
• Thermaldeformation: in-flight
modificationofactuatorsstroke
• Twocompletedockingandrelease
procedures
Motioncontrolsystem
• Backupmotor successfullypointingandmoving theSMAV
• ReactionwheelsuccessfullytestedwithbothPIDandState-Spacecontrols
PIDControllerManoeuvreState-SpaceControllerManoeuvre
1 2 3 4
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 10
FLIGHTRESULTS(2/2)
Proximitynavigationsystem
• Automaticcalibrationofphotodiodes
electronics(temperature-dependant)
• Real-timeestimationwithon-boardsoftware:
accuracyof17mm– 2.7deg
• Postprocessing:accuracyof5mm– 1.5deg
Thermalcontrolsystemandwindsensors
• Experimenttemperaturealwayswithinoperationalrange
• Estimationofwindtorqueson thevehicle
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 11
LESSONSLEARNED(1/3)ExperimentDesign
• Don’t fallinlovewithdesign ideasbut
asktoexpertsforwhatalreadyexists
• Thesimpler thebetter:asimple
solution, although lesselegant,is
preferable
• AlwaysoptinfavourofCOTSagainstself-
builtcomponents
• Don’tunderestimatetimetoallocateto
softwaredeveloping. Eveninintegration
isincomplete
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 12
LESSONSLEARNED(2/3)LaunchCampaign
• Finalizeasearlyaspossible theintegration.
Worstproblemshappenat99%ofprogress.
Dropthings ifneeded
• Don’tchangesoftwareatlastevenifit’ssoooo
easy
• Havesparepartsboth forCOTSandself-built
components
• Makesystemsserviceable
• Don’t relyontelecommand forthesuccessof
theexperiment
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 13
LESSONSLEARNED(3/3)
ProcurementandShipping
• Freezelong leadtimecomponentsasearlyaspossible
• Usecomponents frombigdistributors
• ConsiderLi-SOCl2batteryshipping.Couriersarescaredofhazmat!
Testing
• Testflightconfiguration inthemostrealisticway
• Givetestsapriority.Testfirstthingswhichare
likelytohaveproblems inyourmind
OutreachandFunding
• Goodoutreachmeansfunding
• Goodoutreachdevotesafull-timeperson– orevenmore.
Padova- 9/12/2015 1stSymposiumonSpaceEducationalActivities 14
CONCLUSIONS
• Importantscientific andtechnologic results
• Testedcriticaltechnologies for:
• Docking
• Relativenavigation
• Attitudecontrol
• Know-howoftheteamseriously improved
• Bigexperienceaboutspaceprogramsanddeadline-driven teamwork
HOWMANYERRORSBEAVOIDED
THANKSTOTHISEXPERIENCE?
THANKYOUFORATTENTION!
1st SymposiumonSpace
EducationalActivities
Padova,9-11December2015
CISASG.Colombo, University ofPADOVA,
ViaVenezia15,35131Padova(ITALY)