Development and prelimirary results of one-axis fpga based attitude control system

Development and prelimirary results of one-axis FPGA based Attitude Control System
M.A. Mendoza1, Miguel Arias2, Esaú Vicente3, J.R. Córdova4 , Hugo Rodríguez5 , E. Vizcaíno6 and E.A. Jiménez7
1,3,4,6,7 1,3,4,6,7

Eléctrica y Computación, 2 C.C.C., 5 Mecatrónica México, D.F. , 2Tonantzintla, Puebla, México

Instituto de Ingeniería, U.N.A.M., 2I.NA.O.E., 5CINVESTAV, I.P.N.
1,3,4,5,6,7

1MMendozaB@iingen.unam.mx, 2ariasmo@ccc.inaoep.mx, 3evv@servidor.unam.mx, 4 jrodrigo_cordova@hotmail.com, 5hrodriguez@cinvestav.mx, 6 mada_reggae@hotmail.com,7factore8@hotmail.com

Abstract— This paper deals about the preliminary advances in the design and development of the Stabilization and Attitude control embedded subsystem utilizing FPGA technology, for an initial application inexperimental validation of a control of stabilization in one axis, using a test-bed suitable for test and evaluation based on an air bearing. The solution will be transferable to small satellital platforms, which will be threeaxis stabilized. The development of the satellite subsystem is approached from two fronts: mathematical modeling and the physical implementation and validation in the embedded systembased on the MicroBlaze microprocessor.

I.

INTRODUCTION

Within the subsystems of a satellite, the Attitude and Determination Control System (ADCS) plays an important role in the behavior of the satellite platform, mainly in those with applications in remote perception and directional communications since they require the compensation of external force pairs, which arise in spaceenvironment, to keep a determined orientation with respect to specific targets. The attitude, in spacecraft, is your orientation in the space with respect a reference frame, which is determinate by the relationship between your axis (yaw, pitch and roll). The traditional architecture in active ADCS mainly considers some basic elements: sensors, actuators and on board computers (OBC) [reference]. The job ofthe OBC is the acquisition of data from sensors and processing inside a control’s scheme to taking decisions about the correction of the satellite’s orientation by mean of actuators. Actually the programmable devices offer a wide gamma of possibilities that overcome the ideal of on board computer for ADCS. The FPGA programmable devices in addition to offering a high range of resources formanaging and processing data at high speed, allowing the possibility of implementing a dynamic computer architecture, which provides at ADCS a polymorphic computing platform feature, making it easier to update and evolution of the proposed architectures, even after having been programmed into the integrated circuit [reference].

This work show the advances in the conformation of an experimentalplatform based on a Spartan 3E FPGA evaluation Board oriented to the design and the development of a ADSC subsystem to HumSat-Mexico and SATEDU satellites; both are satellital platforms to aims of humanitarian assistance, remote perception and technological validation, actually in development at the Instituto de Ingeniería, U.N.A.M. In the SPARTAN 3E board is mounted the embedded microprocessorMicroBlaze to data acquisition from a triaxial magnetometer and compass. The MicroBlaze, process the data into a control scheme and sends commands to DC motor by mean of PWM signal, generated by a PWM IP core, added at microprocessor embedded, to do the corresponding maneuvers, with the inertial wheel, to compensate the perturbating forces pairs. The evaluation board, the support electronics and mechanicalelements, are installed on the test-bed based on an air bearing (MSA), where it simulates the condition of no friction, similar condition in the space environment and where is possible the evaluation of the control of stabilization of satellital platform. II. EMBEDDED SYSTEM ARCHITECTURE OF THE ADCS

An embedded system (ES) is a computational system of specific purpose which have the next...