Yue Baozeng
Beijing Institute of Technology, 100081 Beijing, Peoples Republic of China
Wu Wenjun
Guangxi University of Science and Technology, 545006 Liuzhou, Peoples Republic of China
and
Yan Yulong
Beijing Institute of Technology, 100081 Beijing, Peoples Republic of China
DOI: 10.2514/1.J055110
This paper is mainly focused on the modeling and coupling dynamics of the spacecraft with multiple propellant
tanks. The dynamic boundary conditions on a curved, liquid, free surface under a low-gravity environment are
Downloaded by UNIVERSITY OF LEEDS on June 18, 2016 | http://arc.aiaa.org | DOI: 10.2514/1.J055110
transformed to general simple differential equations by using a FourierBessel series expansion method, and the state
vectors of coupled liquid-sloshing equations are composed by the modal coordinates of a relative potential function
and the modal coordinates of the wave height. The overall coupled dynamic equations for the rigid platform motion
and liquid fuel sloshing are subsequently obtained by means of Lagranges equations in terms of general quasi
coordinates. The orbit thruster firing and attitude momentum wheel controller are applied to the coupled system to
testify to the mathematical model and analyze the coupling dynamics of a coupled fluidspacecraft system. MATLAB
software is used for symbolic manipulation, coupling dynamics, and control simulations. Numerical simulations via
computer are carried out to validate the model derived in this paper.
, x , y , z = Euler angles of spacecraft arbitrary shape. However, this approach is hard to incorporate in
i = cylindrical coordinate along circumfer- stability analysis and control design. Moreover, as the complexity of
ential direction for the ith fuel tank the problem increases, so does the computational expense [13,14].
n1 = roots of J10 n equal to 0 (derivative of For the dynamics of bodies containing fluids, the application of the
first kind of Bessel function) classical methods of analytical mechanics, assumed modes methods
= density of liquid fuel where the displacement or other variables are represented in terms of
= surface tension coefficient shape functions multiplied by time-dependent generalized co-
= potential function ordinates, together with more modern concepts of stability analysis
e = carrier velocity potential function has been presented in a comprehensive and elegant form [1,2,15]. As
r = relative potential function one of the most representative studies on the coupled fluidspacecraft
= wave height of the liquid sloshing model by using analytical methods, the dynamics of a linear
x , y , z = angular velocity of momentum wheel spacecraft model coupled to the nonlinear low-gravity sloshing of a
, x , y , z = angular velocity vector and its compo- fluid in a cylindrical tank is investigated [16]. However, this model
nents of spacecraft only considers the lateral motion of the tank and it cannot be used to
predict the influence of the liquid fuel sloshing on the orbit and
Subscripts attitude motion of spacecraft. The systematical work has been done
for the dynamics and control of spacecraft with flexible appendages
D = index for derivative control by using the assumed modes method [1719]. Nevertheless, in this
I = fuel tank number work, the liquid-sloshing motion is not incorporated into the model.
m, n, s = mode number along radial and circum- Actually, the latter case is a more urgent task for the actual projects
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transformation matrix between them is a unit matrix. The vector where can also be interpreted as time derivatives of the quasi
roi rxi ; ryi ; rzi T is used to represent the position of oi with respect coordinates.
Downloaded by UNIVERSITY OF LEEDS on June 18, 2016 | http://arc.aiaa.org | DOI: 10.2514/1.J055110
8
< vri vx z ryi y rzi zi cos vy z rxi x rzi zi sin
v vx z ryi y rzi zi sin vy z rxi x rzi zi cos z r (6)
: i
vzi vz x ryi y rxi x r sin y r cos
The spacecraft attitude with respect the reference frame is defined According to the principle of superposition, it is possible to split the
by a direction cosine matrix or Euler angles. In our treatment, the total velocity potential function of liquid sloshing into a disturbance
Euler angles are defined as the rotation angles about the body axes as potential function or relative potential function r and a carrier
follows: x , y , and z are the rotation angles, respectively, about axes velocity potential function e [2]. The nondimensional function e
x, y, and z. For convenience, the coordinate transform matrices should be satisfied by Laplaces equation and the nonhomogeneous
are defined to be obtained by transforming axes in the order of boundary conditions at the wall and bottom of the fuel tank:
ox oy oz. So, the coordinate transform matrices between frame
OXYZ and oxyz are
2 e 0 (7)
2 3
cy cz cx sy sx sy cz sx sz cx sy cz
C 4 cy sz cx cz sx sy sz sx cz cx sy sz 5 (1)
sy sx cy cx cy
e
vri ; R1 (8)
R
2 3
cz cy sz 0
D 4 sz cy cz 05 (2)
sy 0 1
e
vzi ; Z H i (9)
where sk sin k and ck cos k , k x, y, z. Consequently, we Z
obtain the following transformation relations
where e e R2i , Z zi Ri , R ri Ri , Hi hi Ri , F
v C R_ (3) fi Ri , i Ri , v ri vri jR1 Ri , and vzi vzi jZHi Ri are
the scaled nondimensional parameters or quantities. Note that the other
nondimensional parameters used in this paper are also scaled by these
similar rules. Then, splitting e into e1 and e2 , to satisfy the Eqs. (7)
D _ (4) and (8), e1 should have the form
4 Article in Advance / BAOZENG, WENJUN, AND YULONG
r e g 1 RR
i3
t Ri i Ri R R 1dFRdR2 32 X
X
2y
c_ n1 t as1 tD5sn1 y D6sn1
1 2n1 1J1 n1
2 0; Z Z0 FR (18) s1 s1
R 1dFRdR2 12 (26)
Article in Advance / BAOZENG, WENJUN, AND YULONG 5
X
g X C. State Equations in Terms of Quasi Coordinates for the Coupled
a_ s1 tD7sn1 cn1 t cs1 tD8sn1 Spacecraft System
s1
Ri s1 For the sake of modularly modeling for spacecraft with multiple
2v_x
_ z Ryi X propellant tanks, the Lagranges equations in terms of quasi coor-
2 D9n1
_y
_y D10sn1 (27) dinates are employed to build the set of the equations for the coupled
n1 1J1 n1 s1 spacecraft system [24]. The coupling dynamics forces and moments
caused by the liquid sloshing in the fuel tanks are considered as the
For brevity, the coefficients in the preceding equations will be external nonconservative forces and moments; accordingly, the set of
detailed in the Appendix. The sloshing force and moment are the the coupled equations is shown as
important sloshing characteristics for the stability and control analy-
sis for the spacecraft. The coupled sloshing forces in the ith tank X
N
mainly include the interfacial tension force acting on the tank wall d L L L tank
CO F0 Foi (33)
along the contact line, and the force is attributable directly to the dt V V R i1
disturbance pressure caused by the disturbance potential function; it
can be displayed as
d L L L L
V DTO 1
Z2 Z2 Zhi dt V
Fx t sin d PjrRi Ri cos dz d X
N
rRi i
tank
i1
(28)
where N tank denotes the number of the fuel tanks aboard the space-
craft. F0 and M0 are, respectively, the external nonconservative
Z2 Z2 Zhi forces and moments, such as control forces and moments. To con-
struct the state equations for the whole coupled liquidspacecraft
Fy t cos d PjrRi Ri sin dz d
rRi i system, put the state vectors of the subsystem in the following order:
0 0 i
N tank N6
(29) z }| { z }| {
12 T
Z2 ZRi (35)
Fz t Pjzhi r d dr (30)
0 0 where
z }| {
6N
Z i a10 ; a20 ; : : : ; aN0 ; c10 ; c20 ; : : : ; cN0 ; a11 ; a21 ; : : : ; aN1 ; b11 ; b21 ; : : : ; bN1 ; c11 ; c21 ; : : : ; cN1 ; d11 ; d21 ; : : : ; dN
where P denotes fluid pressure. Similarly, the sloshing moments are and N is the maximum modal expansion number of liquid sloshing.
shown as Assembling all the modular equations together leads to the whole
coupled system equations in the matrix form
Start
Input parameters
No
Complete the modeling
Fig. 4 Thruster actuation in step driver mode.
Yes
Solve equation Output result End mass of the liquid fuel is 600 kg, the principle moments of inertia
for spacecraft are Jxx Jyy Jzz 1500 kg m2 , the coefficient
Fig. 2 Program flowchart of the numerical simulations for the coupled
spacecraft.
of the free liquid surface tension is 3.39 102 N m1 , the
density of liquid fuel is 0.86 103 kg m3 , and the effective
gravity factor is g 9.8 102 N m2 . To illustrate the effec-
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include partial numerical simulation results in the next section to tiveness of the present method, we consider four cases of the layout of
conform the model and method presented in this paper.
the fuel tanks, as shown in Fig. 3, where R1 0.6 m, R2 0.4 m,
R3 0.3 m, d1 1.2 m, d2 0.2 m, and d3 0.8 m. The space-
III. Numerical Simulations and Discussions craft thruster actuation mode along the orbit direction is shown in
A. Example 1: Influence of Orbit Thruster Actuation on the Coupled Fig. 4. The maximum force Fx max of the thruster is 10 N.
System The numerical simulation results are shown in Figs. 57. From the
Physical parameters for the spacecraft model and liquid fuel are numerical results, it is easily found that the layout of the fuel tanks
chosen as follows: the total mass of the rigid platform is 800 kg, the relative to the main rigid body has certain influences on the spacecraft
Case 1
Case 2
Case 3
Case 4
Fig. 3 Different cases for location layout of liquid fuel tanks (including tank number).
Article in Advance / BAOZENG, WENJUN, AND YULONG 7
dynamics and the coupled sloshing dynamics. For the same total
mass of liquid fuel carried by the spacecraft subject to the step driver
mode, in cases with small-sized tanks, the spacecraft has a more rapid
orbit velocity response (Fig. 5), as well as smaller pitch nutation
angular velocity response (Fig. 6) and fuel sloshing wave height Fig. 9 Translation response of spacecraft (subplot shows the case with
no liquid sloshing).
response (Fig. 7), than in the case with one single large-sized tank.
This means that, in the aspect of dynamic performance, the spacecraft
with a greater number of smaller-sized tanks has more advantages where kpi and kdi are, respectively, the proportional and derivative
over the spacecraft with a lower number of larger-sized tanks. Of control gains (the subscript index i represents, respectively, x, y,
course, for the particular, actual needs of the project, there will be a and z). In this numerical simulation, these gain parameters are,
tradeoff between the number of tanks and the complexity of the respectively, chosen as kpi p Jxx ; J yy ; Jzz T and kdi d J xx ;
installation. Jyy ; J zz T , where p 0.04 and d 0.032. The orbit thruster firing
actuates in the zero-momentum step driver mode, as shown as in
B. Example 2: Influence of Attitude Controller on the Coupling Fig. 8. In this example, the degree of freedom for the whole coupled
Dynamics system must be augmented by three degrees of the freedom, i.e., x ,
To further confirm the reliability of the model and method y , and z .The numerical simulation results are presented in
presented in this paper, the attitude controller using the momentum Figs. 916.
wheel is applied to the coupled spacecraft system. Three momentum The aforementioned simulation results show the following:
wheels are assumed to be located respectively aligned the axes of the 1) Fuel sloshing has a nonnegligible influence on the spacecraft
body-fixed reference frame, and the moments of inertia of the rotor orbital dynamics (see Fig. 9, where the obvious spacecraft translation
are chosen as Jwx Jwy Jwz 0.5 kg m2 . Other param- appears in the orbit plane caused by fuel sloshing because no orbital
eters are the same as in the Sec. III.A. For the well-known PD (i.e., controller is taken into account).
Proportional plus derivative controller) controller, the control 2) The primary planar or nonplanar primary sloshing modal
moments applied to the three axes are given by [25] (m n 1) is the dominant liquid-sloshing mode in most cases
8 (Fig. 12). The coupling between spacecraft pitch nutation and liquid
>
< Mx Jwx kpx x kdx _ x y z z y sloshing causes the permanent response in pitch to exhibit a residual
oscillation that cannot be acceptable for the pointing system. Al-
My Jwy kpy y kdy _ y z x x z
>
: though the primary sloshing modal is efficiently suppressed during
Mz Jwz kpz z kdz _ z x y y x the process of completing the control scheme, the higher planar or
nonplanar modal (m 1, n > 1) is undesirably excited by the
Fig. 7 Response of sloshing wave height at the tank wall. Fig. 10 Response of attitude angle of spacecraft.
8 Article in Advance / BAOZENG, WENJUN, AND YULONG
IV. Conclusions
In this paper, the modeling and coupling dynamics of a spacecraft
with multiple propellant tanks is studied and a computational scheme
for modular modeling and dynamics analysis of a complex spacecraft
consisting of a rigid body with multiple liquid-filled cylindrical tanks
under a low-gravity environment is presented. This study shows that
the number of tanks and the installation layout can exert different
influences on the spacecraft motion. The case study reveals that the
liquidspacecraft coupling effect causes a permanent response in
Fig. 13 Response of wave height of liquid fuel sloshing in tank 1. pitch nutation to exhibit a residual oscillation that cannot be accept-
able for a pointing system, which is an important issue to be taken into
account for attitude control subsystem performance evaluation. Both
controller, and the later influence on the coupled system seems to be the primary dominant mode and the higher-order mode exist simulta-
more difficult to suppress (Fig. 12). neously during the evolution process of the coupling dynamics of the
3) At the initial stage of response, the coupled liquid sloshing coupled fluidspacecraft. It also shows that the disturbance to liquid
exhibits a highly complex dynamic phenomenon. As time goes on, fuel sloshing happening in one fuel tank can cause some different-
the dynamic responses are turned into an undamped and coupling- level disturbances to the liquid motion in other fuel tanks during
forced vibration at the fundamental symmetric sloshing frequency. completion of the control scheme for spacecraft attitude stabilization.
So, it is very important to use the passive or active liquid-sloshing The proposed method in this paper can be easily used to carry out
suppression measures in liquid-filled tanks if the spacecraft needs to rigidliquid coupling dynamics analysis for multiple-tank liquid-
be accurately controlled (Figs. 1013). filled spacecraft with coupled translation and attitude dynamics. The
4) The initial disturbance (this kind of disturbance may happen, for results presented have an important reference value to the overall
example, due to the course of liquid hydrogen shutoff during draining design of the modern spacecraft.
[13]) to liquid fuel sloshing happening in one fuel tank can cause a
different level of disturbance to the liquid motion in other fuel tanks
during completion of the control scheme for spacecraft attitude Appendix: Detailed Expressions for Equation Coefficients
stabilization (Figs. 1416). This phenomenon fully demonstrates the and Sloshing Forces and Moments
existence of the coupling dynamics among the propellant tanks and
attitude control system. The coefficients in the equations for liquid sloshing are displayed
as follows:
0; s 0 or n s
D1ns
1; s 0 and n s
8
>
> R1
>
> 2 0 n0 sinh n0 Zi H i
J0 n0 R
>
> coshn0 Hi
>
>
>
>
< coshn0 Zi Hi J 0 n0 R 0 dF R dR; s0
coshn0 H i dR
D2ns
>
> R
>
> J2 2 01 n0 sinh n0 Zi H i
J 0 n0 R
>
> coshn0 H i
>
>
0 s0
>
> coshn0 Zi Hi J R 0 dF RJ R dR;
Fig. 14 Response of dominant modal coefficients caused by initial : s0
coshn0 H i 0 n0 dR 0 s0
disturbance from a11 0.03.
Article in Advance / BAOZENG, WENJUN, AND YULONG 9
8 Z
> R 22s1 1 4
< n0 Zi H i
D10ns1
coshn0 H 0 J 0 n0 RR dR;
2 01 cosh s0
s1 1J21 s1 n1 2n1 1J1 n1
D3ns R 1 coshn0 Zi H i
2
0
> 2
: J20 s0 coshn0 H i J 0 n0 RRJ 0 s0 RdR; s0
0 sinhn1 Zi
J RRJ 1 s1 R dR
coshn1 H i 1 n1
8
>
> R1
> i 00 0
R0 J 0 n0 R i R3i Q1 J 0 n0 R Q2 J 0 n0 R s0
g
< 2 0 R dR;
D4ns
>
> R1 i 00 0
> 2
: J20 s0 0 R0 J 0 n0 R R3 Q1 J 0 n0 R Q2 J 0 n0 R RJ 0 s0 R dR; s 0
g
i i
32
41 R3
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Q1
vz x Ryi y Rxi ; s0 4 4R3 9R4 2i
F1ns
0; s0
The reaction sloshing forces and moments for the coupled system
are detailed as
1 2
Z 1 Fxi t i R5i v x
_ _ z Ryi _ y Rzi i H i _ y Hi i
2
22s1 n1 sinhn1 Zi H i 2
D5ns1 J1 n1 R X
2s1 1J21 s1 0 coshn1 Hi
i i R4i v_ z _ x Ryi _ y Rxi cn1 tJ1 n1
coshn1 Zi H i dF
J1 n1 R 0 RJ 1 s1 R dR n1
coshn1 H i dR X
4_y sinhn1 i Hi
i R4i
2 2 1
n1 n1 n1
coshn1 H i
X
Ri i cn1 tJ1 n1
Z 1 n1
22s1 4 coshn1 Zi X
sinhn1 i H i
D6ns1 2 J1 n1 R i R4i a_ n1 tJ1 n1
s1 1J 21 s1 0 2n1 1J 1 n1 coshn1 H i n1 coshn1 Hi
n1
4 coshn1 Zi 1 dF
J
1 n1 R RJ 1 s1 RdR
n1 2n1 1J1 n1 coshn1 Hi dR
1
Fyi t i R5i v_ y _ z Rxi _ x Rzi i H i _ x H2i 2i
2
X
Z1 i i R4i v_ z
_ x Ryi
_ y Rxi dn1 tJ 1 n1
22s1 coshn1 Zi Hi n1
D7ns1 J1 n1 RRJ 1 s1 RdR
s1 1J 1 s1 0
2 2 coshn1 H i X
4_x sinhn1 i H i
i R4i
n1
2
n1 2
n1 1 coshn1 Hi
X
Ri i dn1 tJ1 n1
Z
22s1 1 i n1
D8ns1 Q1 J 10 0 n1 R X
sinhn1 i H i
s1 1J21 s1
2
0 i R3i i R4i b_n1 tJ1 n1
n1 coshn1 Hi
Q2 J 10 n1 R Q3 J1 n1 RRJ 1 s1 R dR n1
1 and 11532002) and the research fund for the Doctoral Program of the
Mxi t i R6i v_ y _ z Rxi _ x Rzi H2i 2i Higher Education of China through grant no. 20131101110002. The
2
X authors are also very grateful to the Guangxi Natural Science
1
i R6i _ x H3i 3i R2i i i dn1 tJ 1 n1 Foundation (grant no. 2015GXNSFBA139013).
3 n1
X
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