WL
W.A. Lopes
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2 records found
1
A Low-speed, Low-acceleration Controller for Cost-effective Reaction-wheels
Design, Simulation & Implementation
Master thesis
(2021)
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W.A. Lopes, A.J. van Genderen, S.H. Hossein Nia Kani, Bert Monna, J.S.S.M. Wong
With the requirements for CubeSats increasing, a push towards utilizing highperformance equipment has
never been greater. Incorporating these equipment in an environment that is cost, space and
powerconstrained, is challenging. Simultaneously, highperformance equipment require high
pointingaccuracy and lowjitter. This thesis proposes the use of a costeffective reactionwheel, which
utilizes three hallsensors for accurate attitudecontrol. Additionally, the requirements state that the
reactionwheel operates in the lowspeed region, whilst tracking lowacceleration commands. For this, a
controllerstructure is designed, simulated & implemented in order to provide accurate angularvelocity
estimates at a constant rate. Whilst the angularvelocity estimates are within 1% of the measurements, the
angularacceleration tracking performance relies greatly on the noise of the reactionwheel torquefriction.
Nonetheless, the angularacceleration mean error was found to be 0.005 RPM/s, with a variance of 0.3
RPM/s on a 0.01 RPM/s reference
...
With the requirements for CubeSats increasing, a push towards utilizing highperformance equipment has
never been greater. Incorporating these equipment in an environment that is cost, space and
powerconstrained, is challenging. Simultaneously, highperformance equipment require high
pointingaccuracy and lowjitter. This thesis proposes the use of a costeffective reactionwheel, which
utilizes three hallsensors for accurate attitudecontrol. Additionally, the requirements state that the
reactionwheel operates in the lowspeed region, whilst tracking lowacceleration commands. For this, a
controllerstructure is designed, simulated & implemented in order to provide accurate angularvelocity
estimates at a constant rate. Whilst the angularvelocity estimates are within 1% of the measurements, the
angularacceleration tracking performance relies greatly on the noise of the reactionwheel torquefriction.
Nonetheless, the angularacceleration mean error was found to be 0.005 RPM/s, with a variance of 0.3
RPM/s on a 0.01 RPM/s reference
In this thesis it is described how a Battery System and an Output System are designed. This design is part of a Power System for the DeciZebro swarm robot. Two other parts are designed, the Input System and the Control System. A battery pack was designed, together with a Battery Management System. Next the Output System was designed. Finally the whole system, including input and control, were integrated on a PCB. No tests have yet been done, due to financing issues. All designs are based on literature research that has been described at the start of each chapter.
...
In this thesis it is described how a Battery System and an Output System are designed. This design is part of a Power System for the DeciZebro swarm robot. Two other parts are designed, the Input System and the Control System. A battery pack was designed, together with a Battery Management System. Next the Output System was designed. Finally the whole system, including input and control, were integrated on a PCB. No tests have yet been done, due to financing issues. All designs are based on literature research that has been described at the start of each chapter.