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Spacecraft Attitude Dynamics
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From its roots in classical mechanics and reliance on stability theory to the evolution of practical stabilization ideas, this volume covers environmental torques encountered in space; energy dissipation; motion equations for four archetypical systems; orientation parameters; illustrations of key concepts with on-orbit flight data; and typical engineering hardware. 1986 edition.
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SPACECRAFT
ATTITUDE
DYNAMICS
PETER
C.
HUGHES
Emeritus Professor of Space Systems Engineering
Institute for Aerospace Studies
University
of Toronto
DOVER
PUBLICATIONS,
INC.
Mineola,
New
York
Copyriglit
Copyright
Q
1986. 2004 by Peter C. Hughes.
All lights reserved.
Bibliograpliical
Note
This Dover edition. first published in 2004. is an augmented republication of
the work first published by
John
Wiley
&
Sons.
New York. in 1986. Dr. Hughes
has written a new preface and supplied an errata list specially for this edition.
Library
of
Corigress
Catalogirig-iri-Ptiblicatiori
Data
Hughes Peter C. (Peter Carlisle). 1940-
Spacecraft attitude dynamics
I
Peter C. Hughes.
Includes bibliographical references and index.
p. cm.
ISBN 0-486-43925-9 (pbk.)
1. Space vehicles-Attitude control systems.
2.
Space vehicles-Dynamics.
3. Astrodynamics.
I.
Title.
TL1050.HS4 2004
629.47’42-dc22
2004056225
Manufactured in the United States of America
Dover Publications. Inc.. 31 East 2nd Street. Mineola. N.Y. 11501
PREFACE
TO
THE DOVER
EDITION
When I revisited the preface written for the original edition of this book, I was
struck by how much has changed in this
as
in
so
inany other technical fields over
the past two decades. At the same time, much also remains fundamental.
Fortunately, this referencehextbook was written
to
emphasize the latter. New
cohorts of engineering science students each year encounter the problem of how
to
design
a
spacecraft
so
that
it
points in the intended direction. And seasoned
professionals who understand, for their own satellite projects, several levels of
detail beyond what could or should ever be in any single book, occasionally recon-
sider the “fundamentals” for seminal insight, or for some nugget of understand-
ing that may spark an innovation. It is my fervent hope that this Dover edition of
Spacecrqft Attitude Dyrianiics will assist these helpful processes
to
continue.
General
Remarks
When the first artificial satellites were inserted into orbit in the late 1950s-the
word “artificial” being
a
legal technicality required
to
recognize the billion-year
seniority of our natural moon-Spwtriik
I
just tumbled slowly in orbit, and
Explorer
I,
after
a
brave but ill-fated attempt
at
spin stabilization, ending up doing
a
similar slow wobble. Upon these shaky beginnings,
a
highly successful body of
engineering practice has been built: stringent three-axis control of satellite orien-
tation (not
to
mention similarly strict requirements for articulated appendages) is
now commonplace. Indeed, no modern space vehicle, whether
a
low-orbit
resources satellite,
a
geostationary coininunications platform, an interplanetary
probe, or any other man-made space apparatus, can accomplish its mission objec-
tives without
a
properly functioning attitude stabilization and control system.
The Explorer and Spwtriik experiences sparked
a
reexamination of the
(assumed) implications of the classical analyses of Newton, Euler, and Lagrange.
It is noteworthy that, long after the
most
egregious implications of the purely
rigid-body version of classical mechanics were proved erroneous, inany scores of
students were still assaulted with the pre-space-age version of the subject.
Perhaps, in some places, they still are.
All techniques of spacecraft attitude stabilization rest on the twin disciplines
of dyrianiics and
coritrol,
as
adapted
to
the special problem of regulating the ori-
V
vi
PREFACE TO THE DOVER EDITION
entation of relatively sinall but very precious hardware packages that must function
for long periods of time, faultlessly, far beyond reach. This book is about attitude
dynamics. The ever-contiguous issues of
orbital
dynamics, orbital
control,
and
atti-
tude
control
(what attitude dynamics insiders used
to
call “active” attitude control)
are also addressed herein, but only
to
the extent that they interact with attitude
dyna
in
ics.
Target Readers
I
have written this book, in the first instance, for students, especially those who
are comfortable with vector dynamics and linear algebra. Those coininitted
to
a
deeper study of the subject will benefit from the 175 problems posed (end of chap-
ters). These are not simply exercises; they usually contain important extensions
to
the analysis.
I
have also tried
to
incorporate the interests of practicing aerospace engineers,
who deserve credit for making this subject more than just
a
collection of dynamics
analyses. For them, this work should provide
a
handy reference book with
a
coher-
ent exposition in
a
unified notation. Readers interested in the operational applica-
tion of the
most
basic attitude stabilization ideas will especially appreciate the his-
torical “experiments” related in Chapters 9, 10, and
11.
One should never wander
too
far based on analysis alone.
I
was also mindful of those who, through their research endeavors, continue
to
expand the theoretical foundations of the discipline. Whether in universities, gov-
ernment labs, or corporations,
I
hope they find this book
to
be an attractive refer-
ence work. The
350
references cited (up
to
1986) should lead
to
further research
ideas. Teachers should find the problems
at
the end of each chapter
a
helpful
resource.
A
Quick
Look
at Contents
After an introductory chapter
to
set the context, Chapters
3
and
3
provide kine-
matical and dynainical fundamentals. Chapter
4
then examines
a
classical subject-
the torque-free motion of
a
rigid body-from
a
modern viewpoint and Chapter
5
treats the all-important subject of how energy dissipation affects the attitude stabil-
ity of spinning bodies. Chapters 6 and 7, the last of the “torque-free motion” chap-
ters, do for dual-spin systems (systems that include one or more spinning wheels or
rotors) what Chapters
4
and
5
do for monospinners.
Among the
most
characteristic features of spacecraft attitude dynamics are the
subtle traits caused by the sinall environmental torques encountered in space. Even
though weak by conventional standards, their cuinulative effect can be pronounced.
Chapter 8 is set aside for
a
discussion of this topic.
It
includes
a
detailed examina-
tion of gravitational, aerodynamic, and solar-radiation pressure torques.
The ultimate objective of the book-to explicate the dynamics underlying space-
craft attitude stabilization system-is then encountered in Chapters 9, 10, and
11.
They are concerned with gravity-gradient stabilization, spin stabilization, and dual-
spin stabilization (either external rotors or internal momentum wheels), and include
on-orbit experience.
PREFACE
TO
THE DOVER EDITION
vi
i
Funding Acknowledgements
Financial support for this book was provided by the University of Toronto
Institute for Aerospace Studies (UTIAS) and by the Natural Sciences and
Engineering Research Council (NSERC).
Personal Acknowledgements
Finally, and with pleasure, my personal acknowledgements. My academic jour-
ney has witnessed four UTIAS Directors-Gordon Patterson, Jaap de Leeuw,
Rod Tennyson, and Tony Haasz-and all have enabled and encouraged me
to
pur-
sue this and other research initiatives. Grant Harrington was helpful in examining
the book’s contextual evaluation.
Ida Abert created all the figures
at
a
time when less technology was available
and more artistic ability was required. My best thanks
to
Professor Chris Hall of
the Aerospace and Ocean Engineering department
at
Virginia Tech for his con-
tinued interest in this book,
as
best evidenced by his help with making the match
between Dover and myself in general, and with John Grafton in particular.
I learned
most
from my students (including
48
M.A.Sc. and
33
Ph.D. candi-
dates). Working with all these bright, creative individuals endures for me
as
the
greatest pleasure of my professional experience.
Last, and
most
important, my abiding thanks
to
my wife, Joanne, whose expert
typing of the original inanuscript was but the
most
tangible expression of her
unflagging support while I wrote this book.
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