Geocentric Heliogyro Operational Solar-sail Technology · PDF fileGeocentric Heliogyro Operational Solar-sail Technology (GHOST) Nicholas Busbey, Mark Dolezal, Casey Myers, Lauren

CDR

Geocentric Heliogyro Operational Solar-sail Technology (GHOST)

Nicholas Busbey Mark Dolezal Casey Myers Lauren Persons

Emily Proano Megan Scheele Taylor Smith Karynna Tuan

1

Presentation Sections

bullPurpose and Objectives

bullGHOST Design Solution

bullCritical Project Elements

bullRequirement Satisfaction

bullRemaining Risks

bullVerification and Validation of Design

bullProject Planning

2

2

Heliogyro Background

bull Solar-sails use momentum transfer for propellant-less propulsion

bull Heliogyro sails (blades) are gyroscopically stiffened in place of structural support

bull Greatly reduces mass of satellite simple design scales to a much larger conventional solar sail

bull Blades must be extremely long to provide adequate area for meaningful acceleration

bull Presents a challenge to provide storage and deployment of sails

bull No ground demonstrations of systems capable of packaging and deploying full scale blades currently exist

3

ldquoTraditionalrdquo Solar Sail

Satellite bus

Solar Sail Blades

rotation

rotation

Heliogyro Solar Sail

3 Purpose and Objectives

Objective Statement

GHOST will design build and test a heliogyro solar sail deployment and

pitching mechanism packaged into a CubeSat of up to 12U and capable of

deploying and pitching adequately sized solar sail blades to provide a

characteristic acceleration of 01 mms2

bull Design a storage system for two blades

bull Build and test deployment mechanism for one solar sail

bull Build and test coordinated pitching mechanism for two solar blades using blade-

equivalent masses


Specific Objectives

bull Blades will deploy using motors aided by centrifugal tension

bull Blades will deploy at a controlled rate of 1 ndash 10 cms

bull Verified by deployment test in 1G environment

bull Blade roots demonstrate coordinated pitching motion of 180ordm (plusmn 90ordm)

bull Verified by pitching test in 1G envornment

bull Entire structure must be stowable within a 6U CubeSat

bull System limited to 10 W of power

bull Must show that structure can survive launch


Basics of CubeSat Design Blade Modules Center Module

Front View

Top View

Blade

Launch Tabs

Tip Mass

Blade

Deployment

Motor

Brackets to Secure Blade

Hub to Attach

Center and

Blade Modules

Tip Mass

Brackets to Attach

Walls Together

Front View

Top View Pitching Motors

and Encoders

Motor Drivers

and Electronics

Board

Launch Locks


Deployment and Pitching

Pitching the Blade Modules Deploying the Blades


Blade

Tip Mass

30 Controlled deployment of sails via motors

31 Suspend undeployed blade in 1G

32 Initiate deployment mechanism

33 Controlled sail deployment using motors

50 Pitch solar sail roots

51 Establish connection with

pitching mechanism

52 Send appropriate pitch command

53 Measure resulting pitch angle

531 Record actual pitch angle and

compare to expected pitch angle

532 Ensure both actuators are capable

of generating synchronized ndash

collective frac12 P and 1P cyclic root

pitch deflections

Concept of Operations (ConOps)


Rideshare Opportunity

Spacecraft Adapter (SA)

6U Heliogyro CubeSat has an opportunity to be a

Secondary Payload on Exploration Mission 1 (EM-1) 1st Launch of NASArsquos Space

Launch System (SLS) Launch

Vehicle inserting the unmanned

Orion Multi-Purpose Crew

Vehicle (MPCV) into Lunar Orbit

bull TBA ~ Dec 2017

Orion SLS Configuration

Orion Crew Module

9

See Appendix for CSD Configuration on SLS

Purpose and Objectives

SLS Launch

Lunar Flyby Separation

of Orion from ICPS

ICPS Disposal Burn

Injection of Secondary Payloads GHOST

Low C3 Heliocentric Trajectory

EM-1 Timeline

Moon

Earth

10

Orbit Transfer Capability

bull Heliogyro architecture

bull A component of thrust can be vectored into the

in-plane (119878 ) direction of a solar blade

bull Allows for efficient orbit raising without having

to precess the momentum vector like a

conventional solar sail

Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882

Cyclic 1P Pitch Profile Single Blade In-Plane Thrust vs Blade Pitch






bullRemaining Risks



12

Functional Block Diagram 13 GHOST Design Solution

Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board

Stepper Motor Drivers

Servo Motor Drivers

Launch

Tabs

bull Constrained by 6U design

bull 8 cm ndash 13 cm ndash 8 cm with frac12 cm clearance

bull Deployment modules rotate plusmn 90 to pitch

bull Each Blade Module holds rolled sail and Sanyo

Stepper motor

bull Central Pitch Module holds 2 servo-motorsencoders

4 motor drivers and 1 electronics board

bullExtra 2U for power source communication

systems and scientific instruments

bull Launch Tabs for CSD deployment

14 GHOST Design Solution

Baseline Design Central Pitch Module 1 Servomotor stabilized to outer wall

1Pitching Axle fed through hole in wall

2Driven by servo for consistent low-vibration inputs

3Powered by 5V battery

2 PIC receives input and interfaces with drivers

3 18 in flat aluminum walls

1Corner brackets to resist loadsresist vibration

4 Launch locks to reduce vibrational forces during launch

Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs


Baseline Design Blade Deployment Modules

bull Hub with set-screws to stabilize

and hold deployment axle

bull Service loop to allow full plusmn90

degree motion

bull S-brackets on sides to stabilize

deployment reel

bull Non-motor side utilizes ball bearing

to assist with low-friction

deployment

bull Axle stabilized by motor and

ball bearing

bull Tip mass of sail held on a C-

bracket on the outer side of the

module

bull Held still by holding torque C-

bracket and stainless steel tape

measure material

Blade

Blade

Hub

Service

Loop

S-brackets Ball Bearing

C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC

Baseline Design Electronic System

Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder

Hall Sensor Hall Sensor


Initialization CheckState( )

Emergency Stop bull Block DeployPitch

bull Wait for State 2

bull StorePlace( )

Restart bull Check two

previous states

bull Adapt Algorithm( )

Deployment bull CheckDeployed( )

bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6

Pitching bull CheckDeployed( )

bull Pitch( )

SpinUp bull TapeDeploy()

bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND

Baseline Design Software System


Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112

Mechanical CubeSat plates axles aluminized mylar

stiff steel tip

Electrical Servomotors stepper motors motor drivers

wiring

Structural Brackets braces stabilizers hubs screws

bull If mass goes over-budget triangles can be cut into non-load bearing sections of the CubeSat

bull Reduces mass without compromising structural integrity

bull Slight over-estimation does not account for holes for screwsaxles


Power Budget Individual Components

Power Usage Number per

System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase

Launch Locks 2 -- 28 15 1

PIC18F87K22 1 001 5 005 1 2 3 4

Sanyo Stepper Motor 2 04 35 14 1 2 3 4

Driver DRV8834 2 1phase 5 5 1 2 3 4

Servomotor

FAULHABER 2036

2 02 5 10 2 4

Servomotor Driver 2 01 5 05 24

Encoder AU-

ZSD1000A

2 004 5

095

2 4

Mission Phase Description Power Budget Total Power Used

Pre-deployment (1) Stepper motor holds Launch Locks initiate unlock gt 10 W 2215 W

Initial Spin-Up (2) Stepper releases 5m stepper holds while pitching 10 W 91 W

Deployment (3) Stepper motor rotates to deploy blade 10 W 715 W

Pitch and Hold (4) Servomotor pitches blade root Stepper motor holds 10 W 91 W







bullRemaining Risks



21

21

Critical Project Elements

bull Mechanical

bull Blade Deployment

bull Blade Reel Module can store a sufficiently sized solar sail blade

bull Sized such that will produce a minimum characteristic acceleration of 01 mms^2

bull Motor fits in Blade Reel Module and is capable of a controlled deployment rate of 1 to 10 cms

bull Pitch Actuation

bull Motor can actuate the Blade Reel Module plusmn 90deg

bull Central Module allows for a minimum of 2U (200 cm^3) storage for COMM EPS and scientific payload considerations

bull Structural Integrity

bull Structure can handle shear and tensile stresses present in space and 1G environment

bull Mitigates vibration of external modules on pitch axle and motor

bull Mass amp Volume Budgets

bull Mass and Volume limited by 6 kg and 6U (1 kgU)

22 CPEs


bull Electrical bull MicrocontrollerDriverMotor Connection

bull Functional and wiring sufficiently sized to carry necessary current

bull Inter-module service loop connection

bull Thermal Considerations bull Pitch motor and electronics are sufficiently insulated andor heated by electrical coils

bull Electrical heat dissipation does not overheat internal components

bull Power Budget bull Power usage never exceeds 10 W

bull Software bull Algorithms

bull Integrated with electronics bull Language compatible with microcontroller

bull Capable of producing relevant pitch profiles to be used by pitch motor

bull Control initial deployment deployment rate and confirm deployment status

bull Memory Concerns bull Bus has necessary memory storage on board

23 CPEs


bull Space Concerns

bull Launch Vibrations amp Survivability

bull Structural integrity uncompromised due to launch conditions

bull Launch Locks installed for launch vibration mitigation between external Blade Reel Modules and Internal

Central Module

bull Launch Lock design for support of sail blade tip

bull Canisterized Satellite Dispenser (CSD)

bull CubeSat meets specifications for use in dispenser

bull Initial Spin-Up

bull CubeSat induces rotation of its own accord

bull Use of stainless-steel reinforced sail material at blade tip

24 CPEs


bull Manufacturing and Assembly bull Order of Manufacturing

bull Construction from outside-in

bull Wall Construction bull Thickness sufficient for structural needs and use of fasteners

bull Solar Sail bull Attachment to deployment axle in Blade Reel Module

bull Bonding of stainless-steel supports to sail material

bull Pitching Axle bull Connection between pitch motor and external Blade Reel Module

bull Satisfies tensile and shear stress concerns

bull Minimizes vibration between interfaces

bull Bearings

bull CSD Tabs bull Tabs implemented into construction to allow use in satellite dispenser

25 CPEs


bull Purpose and Objectives

bull GHOST Design Solution

bull Critical Project Elements

bull Requirement Satisfaction

bull Controlled Deployment Rate

bull Pitching

bull Survive Launch

bull ElectronicSoftware Integration

bull Manufacturing the CubeSat

bull Summary

bull Remaining Risks

bull Verification and Validation of Design

bull Project Planning

26

Initial Spin-Up

bull Problem Initially deploy solar sail straight without aid in centripetal forces

bull Hardened stainless-steel support attached along middle of last 5 m of Sail Membrane and acts as a ldquotape-measurerdquo

bull Properties of ldquotape measurerdquo bull Dim 5m x 2cm x 127μm

bull ρ = 7860 kgm3

bull m = 998 g

bull A maximum torque of 0147 mNmiddotm required by deployment motor

bull Conditions to reach Ω = 1 RPM

bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN

27 Controlled Deployment Rate

Centripetal Acceleration

Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28

Rotation Rate Ω = 1 RPM

Orbital Trajectory

Vtip

Ω

Controlled Deployment Rate

Fg

Fc

Fg is negligible

Space to Earth Comparison

29

CubeSat rotating at 1 RPM rarr centripetal acceleration rarr centrifugal tension

Blade is fully deployed rarr maximum centrifugal tension

Simulate same centrifugal tension the blade would experience in space

Total mass of 36 g used in the deployment test

mTotalSpace = 3775 g

F = 217 N

mTotalEarth = 119865

119892 = 2215 g

The holding torque of the motor used must be able to withstand this force

τ = r times F τ = 0011 Nm

Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r

Mounted to Table Side View

Tip

mass

Motor

Blade

Front View

MotorBus

Interface


Deployment Parts List Electronics Part Voltage (V) Current (A) Interface Dimensions (mm) Cost ($)

Sanyo Stepper Motor 35 03 Input 4 (bipolar) 42times42times11 60

DRV8834 Low-Voltage

Stepper Motor Driver

25-108 05phase Output 4

Input 8 (7 IO 1 CCP)

Power 2 (motor and logic)

Ground 2 (motor and logic)

15times20 10


Stepper Motor Stepper Motor Driver

Software Prototype

Deployment

Algorithm

bull Written in MATLAB to prove concept of deployment

bull Need to maintain constant deployment rate

Time Step Passes

Find Rotations Made in Time Step

Calculate Length Deployed

Find new Diameter and

Circumference

Calculate new Rotation Rate

Set Initial Diameter

and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32

The Need for plusmn 90deg Range of Pitch

Blade

Pitch θ

Condition (Profile Description)

0deg Max Thrust (Collective Blade Surface

Normal to Sunlight)

plusmn 35deg Max Torque (Collective) or Max In-Plane

Thrust (1P Cyclic)

plusmn 90deg No Thrust (Collective Blades Edge on to

Solar Wind)

Full 180deg range of motion for blade pitch necessary for spacecraft to have full capabilities of

controlling the thrust vector See Appendix for further information

33 Pitching

Pitching Parts List Electronics

Part Voltage (V) Current (A) Interface Dimensions (mm) Cost ($)

FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1

36times20 (diameter) 230

Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller

bull Bypass LIN input for direct interface with potentiometer

(Serial input use DAC from microcontroller)

35 Pitching

Pitching Software

Pitch Profile Command Sent

Find corresponding

sinusoid equation for pitching

Command servo to turn to angle in

pitching sinusoid

Compare to Encoder Angle

Given a pitch profile the software will

bull Find the corresponding sinusoid command for the

servos

bull Step through those angles over the time period

bull Compare commanded angle to encoder feedback

bull Adjust for accuracy

Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37

Canisterized Satellite Dispenser CSD

bull 6U fits into CSD during launch

bull Gives extra clearance on each side bull Allows for locking mechanism outside the 6U

bull Available with Alum 6061

bull Pushed into orbit on ldquoTabrdquo structure bull Additional tabs added below CubeSat base

bull Able to separate tabs for each separate section

38 Survive Launch

Structural Integrity of Pitching Axle and Selection of

Material

bull Aluminum 6061

bull Lightweight (density of 27gcc)

bull Very strong

bull Inexpensive

bull Pitching Axle ndash rod 1 cm in diameter

bull If made of Aluminum 6061

bull Can withstand shear force of 162 kN (~3600 lbs)

bull Does not take into account ability of motor to withstand torque

F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks

bull Sierra Nevada SP-5025 pin puller

bull 350 lbf (1500 N) of shear load

bull Powered by a single timed power pulse to one of

the redundant heater circuits

bull SP -5025 greatly exceeds budget so manual

screw and bolt sized appropriately simulate

launch locks in the prototype

40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC

Secure Blade Tip Mass

bull C-brackets attached to exterior walls stabilize tip mass vertically and horizontally

bull Cylindrical tip mass fits securely in brackets on both sides

bull Holding torque of stepper motor and tape-measure material holds tip mass in towards rolled blade

bull Within outer limit required by CSD

41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch

bull ElectronicsSoftware Integration


bull Summary




42

Service Loop

Power and input wires needed in for stepper

motor in deployment module

bull 4 12A rated wires AWG 21 D = 073 mm

bull Full loop around pitching axle to allow for

plusmn90deg rotational freedom

bull 1 cm diameter hole through each plate

bull Current must run throughout launch to

keep holding torque

bull Need not worry about freezing later in mission

Wires (red) exit opening in wall loops around

pitching axle enters opening in opposite wall

43 ElectronicsSoftware Integration

Electrical Block Diagram

Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C

5V GND C2 C3 C4 U V W

Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1


Microcontroller PIC18F87K22

Board Requirements

bull Serial output for communication with computer

and servomotor controller

bullDAC used for servomotor communication

bull I0 ports for stepper driver interface

bull CCP port for stepper driver interface

bull Header pins for the encoder interface

Total

18 IO

1 CCP

1 TXRX

bull Would need more IO and CCP ports for a second

stepper motor driver

bull Unused ports 37 IO and 10 CCPECCP

ElectronicsSoftware Integration

PCB Design

bull 2 Layer Board

bull FR4 material

bull 1 oz Copper traces

bull Estimated Dimension = 5times5 cm

bull (See Appendix for Electrical Schematic)

EasyPIC PRO

v7 Pinout

80 Pin Development

Board


Incompatible Industrial Boards







bull Pitching

bull Survive Launch



bull Summary




47

Manufacturing In-House vs Purchasing

48

Part In-House Purchase Details

CubeSat walls Aluminum will be purchased with correct thickness and

manufactured to needed dimensions

Blade and pitching axle Axles can be cut down to needed length

Corner brackets Brackets can be altered to fit needed dimensions

S-brackets and C-brackets Will have to be machined to fit strict dimensions

Tip mass Tip mass can be cut down to needed length

Tape-measure material Purchased from McMaster-Carr

Solar sail blade material Blade material is provided for free by NASA LaRC

Launch Locks Launch locks we will use are a screw and bolt

Launch Tabs for CSD Tabs must meet strict dimensions to fit into CSD from

Planetary Systems Corporation

Hub to attach pitching axle to blade module Will have to be machined to meet needed dimensions

Screwsnutsbolts All can be purchased in various sizes and lengths

Motorsencoders and motor drivers All purchased to meet necessary requirements

Electronics board Will have to be made to accommodate needed electronics

Stabilizers to hold pitching motors Will have to be machined to properly fit around motors

Manufacturing the CubeSat

Assembly Procedure

49 Manufacturing the CubeSat

Bonding Mylar to Spool and Stiff Material

bull Loctite Super Glue Professional

bull Shear strength of 01 Nmm2

bull Cross-Sectional Area = 6575 mm2

bull Shear Stress = 33e-4 Nmm2

bull Blade will retain 4 rolls around axle at

final length

bull Loctite to bond stainless steel stiff

material to Mylar and to spool

F = mg = 217 N

Motor

Blade frac14 of roll glued


Fixing Deployment Motor to S-Bracket

51

bull Deployment stepper motor is attached to S-bracket

bull S-bracket stabilized to back of blade deployment

module and vertical CubeSat walls

bull Motor is capable of being screwed directly to S-bracket

bull S-bracket has thickness of 18 inch

Holes for screws to

stabilize S-bracket

Hole for motor shaft

or press-fit ball

bearing to attach to

blade axle

Holes to screw motor

to S-bracket


Pitching Axle Interfaces

bull Pitching axle to motor axle

bull Motor axle (smaller) fits into pitching

axle (larger) using set-screws

bull Pitching Axle to Blade Reel

Module

bull Axle fixed by set screws inside a hub

52

Pitching Axle

Hub

Motor Axle

4 Set Screws




bull GHOST design solution




bull Pitching

bull Survive Launch



bull Summary

bull Remaining Risks and Mitigations


bull Schedule and remaining work

53

Requirements Satisfaction

Aspect Requirement GHOST Specification

Mass 1 kgU 288 kg

Volume lt= 12U 6U

Life Span 4 months Greater than 4 months

Space Applicable

While design does not need to be

space worthy it should be applicable

to being used in space

All components are picked for

realistic use in space with minimal

cost parts and increased life span

54 Summary



Characteristic Acceleration ac ge 01 mms2 ac = 03868 mms2

Sail Aspect Ratio AR ge 1001 AR = 38931

Sail Deployment Speed 1 cms le 10cms ~5 cms

Pitching Range Ability to pitch blades plusmn 90deg Ability to pitch blades plusmn 90deg

Pitching Coordination Multiple blade coordination when

pitching

Can pitch both blades at once either to

same angle or opposite angles

55 Summary






bullRemaining Risks



56

Design Risks

Severity

Likelihood Marginal Major

Often Pitch angle error root not

following tip

Occasional Power loss COMM loss

Structural survivability

pitching motor failure

Improbable Small tear in Mylar Deploy too fast stowage

and deployment of Mylar

Axle failure

launch fail

space dust

deployment motor failure

57 Remaining Risks

Logistical Risks

Severity

Likelihood Minor Marginal Major

Often Parts delayed due to US

Postal Service

Occasional Structural consultation

unavailable

Ball vibrations test is not

available machine parts

not done on schedule

Government shutdown and

we canrsquot get Mylar or help

from NASA

Improbable No time for pitching test

High Bay in Fleming is

unavailable motors donrsquot

show up

58 Remaining Risks

Financial Risks

Severity


Often Repurchase parts

Occasional Motor breaks Price of shake table

Improbable Hyper inflation

59 Remaining Risks






bullRemaining Risks



60

Deployment System

Validate that the blade is deployed at a constant rate of 1-10 cms in a high bay

room

Verify that the motor can deploy at constant rate

Verify with test that the deployment system does not use more than the maximum power available of 10W

Validate that the blade can successfully deploy a blade with tape measure

material at a constant rate along ground

Verify with demonstration that the tape measure material can extend length of

blade

Verification and Validation


61

Blade Deployment Testing Information

bull Location Prof Frewrsquos High Bay Lab

bull Scheduled MarchApril with late night access to avoid

scheduling conflicts

bull Measurement Tape measure for distance and video

camera for time

bull Power Delivered 6253A Dual DC Power Supply

delivers 0-20 V and 0-3A

Tape measure

marking

distance up

wall

Kinematic Model

bull Torque from motor drives a constant velocity deployment

120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System

Validate that the blade reel modules experience coordinated pitching

Verify that one blade reel module experiences periodic

motion

Verify that the blade reel module rotates to 0deg upon

initialization

Verify that the blade pitches to a given command

angle

Verify that the motorencoder system does not exceed power

available



63

Verify Pitching Angle Experiment Equipment and Specs

bull Use R60D RVIT (Rotary Variable Inductance Transducer) sensor to measure angles attaches to pin (red) in line with pitching axis bull Measures ranges of plusmn60deg rotation

bull Input Voltage = plusmn15 V

bull Output Voltage = plusmn75 V

bull Resolution = 0125 Vdeg

bull 119891119898119886119909 = 20 Hz

bull Use AD524 Precision Amplifier Instrumentation for signal conditioning bull Input Voltage plusmn10 V

bull Output Voltage plusmn10V

bull Requires Supply Voltage plusmn15

bull Use NI 9201 bull Input Voltage plusmn10 V

bull Has a USB output that can connect to a computer where vi program records

Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB

Verification and Validation 64

Verify Periodic Motion Experiment

bull Using the R60D RVIT set-up to measure deflection angles

bull With data of the angle deflection 120579 angular velocity 120596 and angular acceleration 120572 can be measured bull Motor restriction 120591119898119886119909 = 032 Nmiddotm

bull Model restriction 120596119898119886119909 = Ω2 if Ω = 2rpm 120596119898119886119909 = 02094 rads

Validation Model

bull R60D RVIT measures plusmn60deg deflection angles bull Critical condition blade reel module pitches plusmn90deg Ω=2rpm

bull 120572119888 = 00172 rads2 and 120596119898 = 0164 rads thus 120591119898 = 0083 mNmiddotm (119868119898119900119889 = 00048 kgmiddotm2)

120579 119905 120596 119905 120572 119905



Structural System

Validate that the final design can survive launch by using a shake

table

Verify the structural integrity by demonstrating that all stationary parts are

static


Trade Study FEM vs Vibration Table

Cost Time Experience

Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100

67 Verification and Validation

See Appendix for Full Trade Study

Validate Structural Stability

bull Will use a shaker table from Ball Aerospace

bull Cost = $250hr

bull Schedule Time to be determined in April

bull Specifications Peak vibration occurs with 34g at

frequency of 16 Hz (Saturn V)

bull Will be verified by examining the structural integrity

of the manufacturing


CubeSat

Shake Table






bullRemaining Risks



69

Organizational Chart

Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST

Materials Mechanical Electrical Software Documents

Shake Table

Vibration

Analysis

Mechanical

Layout

Power Budget Pitch Control

Algorithm

Deployment

Rate Control

Algorithm SolidWorks

Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget

Work Breakdown Structure (WBS)

Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72

GHOST Spring Schedule

Project Planning

Planned Uncertainty

Key

Test Plan Test Scheduled Facility Specialized Equipment

Verify Pitch Angle 317 ITLL R60D RVIT NI 9201 AD524 Oscilloscope bench

power source

Zero Pitch Angle 317 ITLL R60D RVIT NI 9201 AD524 Oscilloscope bench

power source

Measure power used in

pitchdeployment 317 ITLL Ammeter voltmeter bench power source

Verify constant deployment 324 ITLL Firewire camera bench power source

ASEN2003BallTrackervi

Verify periodic motion 324 ITLL R60D RVIT NI 9201 AD524 Oscilloscope bench

power source

Validate tape measure ground

deployment 331 ITLL

Bench power source tape measure stop watch rollers

for tip mass

Validate coordinated pitching 331 ITLL R60D RVIT NI 9201 AD524 oscilloscope bench

power source

Validate 1g blade deployment 331-414 Prof Frew

high bay

Portable 6253A Dual DC Power Supply ladder tape

measure video camera

Validate launch ready 414 Ball Aero Shake Table

Project Planning 73

Cost Table ndash Structural Components

Part Price per

part NeededVolume Needed Total Price Supplier

Aluminum 6061 Sheet

(18rdquo thick) $ 8976 2ft times 2ft times 18 in $ 8976 The Metals Depot

Aluminum 6061 rod

(14 in diameter) $280 2 ft $280 The Metals Depot

Aluminum6061 rod


Steel Corner Brackets

(34rdquo times 12rdquo)

$197 4

braces 16 $788 Home Depot

Hardened 302 Stainless

Steel $3300 2 cm times 5 m times 127 microm $3300 McMaster-Carr

Total $11834

74 Project Planning

Cost Table ndash Electrical Components

Part Price per

part Needed Total Price Supplier

Sanyo Stepper Motor $ 5995 2 $11990 Pololu Electronics and Robotics

DRV8834 Low-Voltage Stepper

Motor Driver $995 2 $1990 Pololu Electronics and Robotics

FAULHABER 2036 BLDC

Servo Motor $23000 2 $46000 MicroMo Micro Motion Solutions

Atmel ATA6832-DK Brushless

DC Motor Controller $20800 2 $41600 Atmel

Encoder AU-ZSD1000A $22500 2 $45000 MicroMo Micro Motion Solutions

PIC18F87K22 Microcontroller $500 1 $500 Microchip

AD-524 Signal Converter $1767 1 $1767 Agilent

Total $148847

75 Project Planning

Questions

76

References

bull wwwloctiteproductscom

bull Vallado D A Fundamentals of Astrodynamics and Applications

bull Guerrant D Lawrence D Heaton A Earth Escape Capabilities of the Heliogyro Sail AIAA Paper

bull wwwspaceflightnowcom

bull Guerrant D HGVizGuim MATLAB Program

bull httpwwwmicromocombrushless-dc-motorsaspx

bull httpwwwfaulhabercomservletcomitmrwawservletAnzeigefremdaufruf=jaampkdid=40929ampsprachid=1amphtdigurl=n169933i95222html

bull httpwwwpololucom

bull httpasmmatwebcomsearchSpecificMaterialaspbassnum=MA6061t6

bull httpwwwruagcomthermalSpace_Thermal_HardwareMulti_Layer_Insulation

bull Helgesen Bryan Sierra Nevada Corporation

77

GyroSail Launch Configuration and Deployment Sequence

78

1 Launch configuration (6U) 2 Blade reel modules pitch to zero Fits within a 6U or 12U dispenser

3 PV arrays deploy

Other array configurations are possible

williamkwilkienasagov NASA PREDECISIONAL - FOR DISCUSSION PURPOSES ONLY

78 Appendix

GyroSail Primary Bus Systems Based on modified JPLU MichUCLACal PolyUT INSPIRE bus

williamkwilkienasagov

05U cold gas thruster ACS for detumbling

and initial spin-up

(httpwwwaustinsatnet)

05U EPS battery CampDH UHF backup

comms (U Mich) 05U DSN-compatible X-band

communications (JPL)

05U COTS star trackerimager ADC (BCT) sail

module processor (CU)

Klesh A et al 2013 ldquoINSPIRE Interplanetary NanoSpacecraft Pathfinder In Relevant Environmentrdquo Proceedings of the AIAAUSU Conference on Small Satellites Around the Corner SSC13-

XI-8 httpdigitalcommonsusuedusmallsat2013all2013127

NASA PREDECISIONAL - FOR DISCUSSION PURPOSES ONLY

79 Appendix

COMM Subsystem

bull 18 m Ka-band antennas at White

Sands New Mexico

bull Goddard Space Flight Center

Greebelt Maryland USA

supplied the Mulemba Space

Center in Angola

80 Appendix

Orion Crew

Module

6U Canisterized Satellite

Dispenser (CSD) ESPA Ring

Spacecraft

Adapter

Interim Cryogenic Propulsion

Stage (ICPS)

Secondary Payload Attachment to SLS

The SLS design is currently going through CDR An ESPA

ring is not currently in place but is mentioned in the SLS

CONOPS in order to accommodate secondary payloads

81 Appendix

Max Thrust Condition Collective 90deg pitch profile

Max thrust normal to orbital plane

(Halo orbits orbital plane rotation ie

inclination change)

82

Credit to Dan Guerrant

Appendix

Max Thrust Condition

F vs β M vs β

83


Appendix

No Thrust Condition Collective 0deg pitch profile

Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix

Max Torque Condition Collective 35deg pitch profile

Max torque used for spinning up sc

(opposite orientation for despinning)

86


Appendix

Max Torque Condition

F vs β M vs β

87


Appendix

Max In-Plane Thrust Condition Cyclic 35deg pitch profile

Max thrust in in-plane (d2) direction for orbit raising

88


Appendix

Max In-Plane Thrust Condition

F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix

Thermal Space Concerns

bull Material Concerns

bull Aluminum 6061 -196 degC to 160deg C

bull Electronics Concerns

bull Typical Operating Temperature -55 to 80 degC

bull Countermeasures

bull Multi-layer Insulation AAErotherm S10-190

bull (0005 ndash 0035 Wm2K)

bull Battery operated heaters for pre-sail deployment

Multi-layer Insulation

Layer 1 1 x Outer layer

Layer 2 8 x 03 mil VDAPolyimideVDA perf

8 x Woven Polyester netting


Layer 4 1 x Woven Polyester netting

91 Appendix

Rolled Up Blade Reel Calculation Optimal Sail Length 545 m ndash Sail chord of 14 cm

Max Diameter of Spool 598 cm

Diameter of Axle 05 cm

Length of Stiff Material 5 m

Dimension of Stiff Material 5 m times 2 cm times 127 microm

92 Appendix

Torque calculation

bull Note current calculated via T=kI (where T is torque I is amp k is the torque

constant specific to the motor)

T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix

Encoder Dimensions and Interface

bull FAULHABER IE2-1024

95 Appendix

Stepper Motor Torque

96 Appendix

Motor Phases (Stepper)

97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix

ATA6832 Phase Output Chip

103 Appendix

ATA6624 Bypassed Chip

bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge

bull Stepper Motor 26AWG (04 mm diameter)

bull Servomotor 24 AWG (051 mm diameter)

bull Encoder 24 AWG

Voltage Drop () AWG Max Gauge

001 5

01 15

1 25

5 32

NOTE Voltage drop calculated at 1A and 40 cm of wire

106

24 AWG Wire

Appendix

Trade Study ndash FEM vs Vibration Table

Factor 4 3 2 1

Cost No money 0 gt C gt $100 $100 gt C gt $300 $300 lt C

Time 0 min lt T lt 30 min 30 min lt T lt 2 hrs 2 hrs lt T lt 1 day 1day lt T

Experience Everyone has

experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual

Launch Simulate real launch

Doesnrsquot have all

variables experienced

Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any

outside equipment or

help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside

equipment but canrsquot

use

Scoring

107 Appendix

Weighting

Weight () Category Reasoning

5 Cost Have a lot of extra $ in the budget

30 Time Have a strict schedule but not a main focus of the

project

25 Experience If no one has experience it will take a lot of time

20 Similar to Actual Launch Needs to be like actual launch

20 Guaranteed Can Do Needs to be able to accomplish but not the most

important focus

108 Appendix

Finite Element Method (FEM)

Objectives Description ProCon

Cost No money because one of us

would do it Pro

Time A lot of time to learn and then

perform FEM Con

Experience No one in group has FEM

experience Con

Similar to Actual Launch Very similar to actual launch Pro

Guaranteed Can Do All we need is paper pen and

theory to do Pro

109 Appendix

Vibration Table

Objective Description ProCons

Cost $250hr Con

Time A hour on the table should simulate

launch Pro

Experience Donrsquot need experience to run

vibration table Pro

Similar to Actual Launch Actually putting our system through

vibration stress Pro

Guaranteed Can Do No guarantee but most likely can Con

110 Appendix

SpinUp State

1 Check value of SpinUp to see if satellite is already spun up

bull Continue if satellite is not already spun-up

2 Deploy the tape stiffened length of the blade

3 Pitch to the spin up angle

4 Wait until characteristic angular velocity is reached

5 Pitch to pre-deployment position

6 Save SpinUp as completed

Appendix 111

Deployment State

1 Check if satellite has been spun up yet

bull Continue if it has

2 Check if blades are already deployed

bull Continue if they havenrsquot

3 Run deploy algorithm until blades are fully deployed

4 Save value saying blades have been deployed

Appendix 112

Pitching State

1 Check if satellite has been spun up

bull Continue if satellite has been spun up

2 Check if blades have been deployed

bull Continue if blades have been deployed

3 Look at commanded pitch profile

4 Find correlated sinusoid command

5 Command servo to pitch angle for the time in the orbit

6 Continue until given a new pitch command

Appendix 113

Emergency Stop

1 Save which state was interrupted

2 Save last position in interrupted

state

3 Wait until Restart command is

received

1 Check two previous states to see

what is being restarted

2 Look at saved last position in

state being restarted

3 Adapt the algorithm of the state

to continue where left off

Restart

Appendix 114

Comparison with Previous Heliogyro Concepts MIT (1989) NASA (2011) GHOST

Total sail craft mass (kg) 18 84

288 (6)

Characteristic acceleration ac

(mms2) 06 10 03868 (01854)

Sail reflective area (m2) 1200 960 1526

Non-sail mass (kg) 5 5 --

Number of sail blades 8 6 2

Blade chord (m) 15 08 014

Blade length (m) 100 200 545

Rotational period (minutes) 3 3 1

Blade root stress (Pa) 8650 34000 --

Blade root allowable stress (Pa) 55 M 55 M --

Blade root tension load (N) 01 007 --

115 Appendix






bullRemaining Risks



2

2








3


Satellite bus

Solar Sail Blades

rotation

rotation



Objective Statement








equivalent masses


Specific Objectives











Front View

Top View

Blade

Launch Tabs

Tip Mass

Blade

Deployment

Motor


Hub to Attach

Center and

Blade Modules

Tip Mass

Brackets to Attach

Walls Together

Front View


and Encoders

Motor Drivers

and Electronics

Board

Launch Locks





Blade

Tip Mass







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix








3


Satellite bus

Solar Sail Blades

rotation

rotation



Objective Statement








equivalent masses


Specific Objectives











Front View

Top View

Blade

Launch Tabs

Tip Mass

Blade

Deployment

Motor


Hub to Attach

Center and

Blade Modules

Tip Mass

Brackets to Attach

Walls Together

Front View


and Encoders

Motor Drivers

and Electronics

Board

Launch Locks





Blade

Tip Mass







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Objective Statement








equivalent masses


Specific Objectives











Front View

Top View

Blade

Launch Tabs

Tip Mass

Blade

Deployment

Motor


Hub to Attach

Center and

Blade Modules

Tip Mass

Brackets to Attach

Walls Together

Front View


and Encoders

Motor Drivers

and Electronics

Board

Launch Locks





Blade

Tip Mass







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Specific Objectives











Front View

Top View

Blade

Launch Tabs

Tip Mass

Blade

Deployment

Motor


Hub to Attach

Center and

Blade Modules

Tip Mass

Brackets to Attach

Walls Together

Front View


and Encoders

Motor Drivers

and Electronics

Board

Launch Locks





Blade

Tip Mass







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Front View

Top View

Blade

Launch Tabs

Tip Mass

Blade

Deployment

Motor


Hub to Attach

Center and

Blade Modules

Tip Mass

Brackets to Attach

Walls Together

Front View


and Encoders

Motor Drivers

and Electronics

Board

Launch Locks





Blade

Tip Mass







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix




Blade

Tip Mass







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







pitching mechanism








pitch deflections











bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix









bull TBA ~ Dec 2017


Orion Crew Module

9



SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

SLS Launch


of Orion from ICPS

ICPS Disposal Burn



EM-1 Timeline

Moon

Earth

10








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix








Sunlight

Ω

θ = 35deg

θ = -35deg

θ = 0deg

Orbit Raising Pitch

Orientation Profile

θ = 0deg


119865 119904

119865 119899119890119905 119865 119882

ℎ ℎ119901119903119890119888119890119904119904

119878

119877

119882







bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






bullRemaining Risks



12


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Baseline Design

Blade

Blade

Deployment

(Stepper) Motor

Blade Module

Center Module

Pitching

(Servo) Motor

8 cm

8 cm

13 cm

frac12 cm

frac12 cm

Electronics Board


Servo Motor Drivers

Launch

Tabs





Stepper motor















Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix









Servo Motors

Pitching Axle

Encoders

Launch Locks

Corner Brackets

Servo Motor Drivers


Electronics Board

with PIC Launch

Tabs






degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix





degree motion


deployment reel



deployment


ball bearing



module



measure material

Blade

Blade

Hub

Service

Loop


C-brackets


Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Micro-

Controller

Stepper

Driver 2 Stepper

Motor 1

Servo

Driver 1

Servo 1

Encoder

DAC


Stepper

Driver 1 Stepper

Motor 2

Servo

Driver 2

Servo 2

Encoder






bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix




bull StorePlace( )


previous states



bull Deploy( )

1

2

4

Communications

ISR( )

N-1 = 1

N-1 = 1 N-2 = 3

N-1

= 1

N-2

= 4

N-1 = 1 N-2 = 6

3

6


bull Pitch( )


bull Pitch( )

bull EndSpin()

5

Idle bull Idle( )

Emergency Stop

Restart

Deployment

Pitching

SpinUp

LEGEND



Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Mass Budget

Attribute Mass

[kg]

Mechanical 218

Electrical 0429

Structural 0265

Total 288

Total Limit 40

Available 112


stiff steel tip


wiring








System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



System

Supply Current

per System (A)

Supply

Voltage (V)

Power Subtotal

(maximum) (W)

Mission Phase


PIC18F87K22 1 001 5 005 1 2 3 4



Servomotor

FAULHABER 2036

2 02 5 10 2 4


Encoder AU-

ZSD1000A

2 004 5

095

2 4












bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






bullRemaining Risks



21

21


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


bull Mechanical













22 CPEs













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix













23 CPEs


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


bull Space Concerns




Central Module







24 CPEs










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix










bull Bearings


25 CPEs







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







bull Pitching

bull Survive Launch



bull Summary




26

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Initial Spin-Up




bull ρ = 7860 kgm3

bull m = 998 g



bull 120579119901119894119905119888ℎ = 35deg

bull ∆119905119904119901119894119899 119906119901= 184 days

Solar Blade

Steel Spine

CubeSat

Ω = 1 RPM

Rinitial = 5 m

F = 35 μN



Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Deployment

Length

(m)

Centripetal

Acceleration

(ms2)

Sail

Mass

(kg)

Centripetal

Force (N)

5 0055 0014 74times10-5

100 11 0080 0088

200 22 015 033

300 33 022 072

400 44 029 127

500 55 036 197

545 58 038 217

28


Orbital Trajectory

Vtip

Ω


Fg

Fc

Fg is negligible


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


29






F = 217 N


119892 = 2215 g



Space Application

Motor

CubeSat

rotating at 1

RPM

Blade Tip mass

F

Top View

Tip mass trajectory

mTM = 2070 g

F = mg

Ground Deployment

r


Tip

mass

Motor

Blade

Front View

MotorBus

Interface




DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



DRV8834 Low-Voltage






15times20 10



Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Software Prototype

Deployment

Algorithm



Time Step Passes




Circumference



and Circumference

Calculate Rotation

Rate








bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







bull Pitching

bull Survive Launch



bull Summary




32


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Blade

Pitch θ



Normal to Sunlight)


Thrust (1P Cyclic)


Solar Wind)



33 Pitching



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



FAULHABER 2036

BLDC Motor

5 02 Input 3 phase

Sensors 3 HALL

Power 1


Atmel ATA6832-DK

Brushless DC Motor

Controller

5 01 Output 3 phase

Input 1 Serial 2 IO

45times45 208

2 Channel IE2-1024

Encoder

5 04 Output 4 I0

Power 1


34

2036 BLDC Motor

Pitching

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Servo Controller



35 Pitching

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Pitching Software


Find corresponding



pitching sinusoid




servos




Pitching 36







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







bull Pitching

bull Survive Launch



bull Summary




37







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







38 Survive Launch


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Material

bull Aluminum 6061


bull Very strong

bull Inexpensive





F (from Solar

Sail)

τ

39 Survive Launch

Pitching Axle

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Launch Locks








40

SP-5025

SP-5025

Deployed

Stowed

Simulated

Launch Locks

Survive Launch

Credit to SNC






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






41

16 cm

075 cm 2 cm

Survive Launch







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







bull Pitching

bull Survive Launch



bull Summary




42

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Service Loop








keep holding torque






Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Micro-

controller

35 V Supply

Stepper

Driver

Stepper

Motor

H4

H5

H3

H6

Key IO

CCP

Power

Serial

GND

Sensor

VDD

M0

M1

ENABLE

CONFIG

GND

DIR

STEP

E0

E2

B2

B1

A1

A2

VMOT GND VDD

5 V Supply

GND

Servo

Driver 1

Servo 1 TX RX

P G A B C

5V GND U V W Servo

Driver 2

Servo 2

P G A B C


Encoder

J2 J3 J4 J5 J6 J7

VDC G

C0

(Speed Set)

C0

(Speed Set)

RS 232

DAC

A B C

Encoder VDC G A B C

B5 B4

A3

A7

B7

B6

D4

D3

D4 D3

C2 C3 C4

VoutA

VoutB

SCLK CS

DIN

GND

Tin Rout Vin GND

VDD

A4

SLEEP

FAULT H0

E1



Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Board Requirements







Total

18 IO

1 CCP

1 TXRX





PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

PCB Design

bull 2 Layer Board

bull FR4 material




EasyPIC PRO

v7 Pinout

80 Pin Development

Board









bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







bull Pitching

bull Survive Launch



bull Summary




47


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


48



















Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Assembly Procedure








final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







final length



F = mg = 217 N

Motor




51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


51






Holes for screws to

stabilize S-bracket


or press-fit ball


blade axle


to S-bracket







Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






Module


52

Pitching Axle

Hub

Motor Axle

4 Set Screws








bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix







bull Pitching

bull Survive Launch



bull Summary




53



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



Mass 1 kgU 288 kg

Volume lt= 12U 6U


Space Applicable







54 Summary








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix








pitching



55 Summary






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






bullRemaining Risks



56

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Design Risks

Severity



following tip






Axle failure

launch fail

space dust


57 Remaining Risks

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Logistical Risks

Severity



Postal Service


unavailable






from NASA




show up

58 Remaining Risks

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Financial Risks

Severity





59 Remaining Risks






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






bullRemaining Risks



60

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Deployment System


room






blade



61






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






camera for time



Tape measure

marking

distance up

wall

Kinematic Model


120591119898119900119905119900119903 = 120591119903119900119897119897 + 120591119901119906119904ℎ119894119899119892 119879119872 minus 120591119892119903119886119907119894119905119910 119879119872

120591119903119900119897119897 =119889119868119903119900119897119897

119889119905120596119903119900119897119897 + 119868119903119900119897119897

119889120596119903119900119897119897

119889119905

120591119901119906119904ℎ119894119899119892 119879119872 =119889119898119890119909119905

119889119905119903119903119900119897119897119907 + 119898119890119909119905

119889119903119903119900119897119897

119889119905119907

120591119892119903119886119907119894119905119910 119879119872 = 119898119890119909119905119903119903119900119897119897119892 bull 120649119945119952119949119941119946119951119944 = 120782 120782120790120787 N∙m 120649119950119952119941119942119949119950119938119961 = 120782 120782120782120789 N∙m

Power Supply


CubeSat Wire

62

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Pitching System



motion


initialization


angle


available



63






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






bull 119891119898119886119909 = 20 Hz






Experiment Set-Up

R60D RVIT

AD524

NI 9201 PC via USB






Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix





Validation Model



120579 119905 120596 119905 120572 119905



Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Structural System


table


static




Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



Similar to

Actual

Launch

Guaranteed Can

Do Total

FEM 4 1 1 3 4 215

Vibration

Table 2 3 4 4 2 32

Weight () 5 30 25 20 20 100





bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



bull Cost = $250hr







CubeSat

Shake Table






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






bullRemaining Risks



69


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Mark

Dolezal

Emily

Proano

Lauren

Persons

Casey

Myers

Nicholas

Busbey

Taylor

Smith

Karynna

Tuan

Megan

Scheele

Project

Manager

Software

Lead

Electrical

Lead

Systems Test and

Safety

Manufacturing

Lead Mechanics

Lead

CFO and

Materials

Lead

Organizing

team

meetings

Supporting

other leads

Non CPE

Tasks

Deployment

Control

Pitching

Control Motors and

Electronics

Power

Integrate

all system Perform

and Plan

tests

Manufacture

all in-house

parts

SolidWorks

Keep track

of financial

spending

Right

materials

are being

utilized

CubeSat

Assembly

Specific

System

Requirements

70 Project Planning

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

GHOST


Shake Table

Vibration

Analysis

Mechanical

Layout


Algorithm

Deployment

Rate Control


Model

Electrical

Wiring Layout

Thermodynamic

Analysis of

Electronic System

Mass Budget

Prototype of

CubeSat Bus

Motor

Subsystem

CDR

FFR

Spring

Schedule

Financial

Budget


Mylar from

NASA

Spin Up

Algorithm

Emergency

StopRestart System

71 Project Planning

PCB Design

Spring

Documents

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

113 120 127 203 210 217 224 303 310 317 324 331 407 414 421 428

MSR TRR SFR PFR

Time (date)

Purchase

motorsdrivers

Preliminary code

Electronic

integration

Test code

Electronicscode

interface

Purchase

raw materials

Manufacture frame

Assemble bus

Manufacture

remaining parts

Integrate system

Deployment test

Pitching test

Vibration test

Ta

sks

72


Project Planning

Planned Uncertainty

Key



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



power source


power source






power source


deployment 331 ITLL


for tip mass


power source


high bay




Project Planning 73


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Part Price per


Aluminum 6061 Sheet


Aluminum 6061 rod


Aluminum6061 rod




$197 4




Total $11834

74 Project Planning


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Part Price per





FAULHABER 2036 BLDC







Total $148847

75 Project Planning

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Questions

76

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

References












77


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


78


3 PV arrays deploy



78 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix




and initial spin-up










79 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

COMM Subsystem


Sands New Mexico




Center in Angola

80 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Orion Crew

Module



Spacecraft

Adapter


Stage (ICPS)





81 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix




inclination change)

82


Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


F vs β M vs β

83


Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Zero thrust

84


Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

No Thrust Condition

F vs β M vs β

85


Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix




86


Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


F vs β M vs β

87


Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



88


Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


F vs β M vs β

89


Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Orbit Raising

F

90 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix
















91 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix






92 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Torque calculation



T = kI

(k = 005 NmA)

93 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Servo Controller

94 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



95 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


96 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


97 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

98 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

99 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

100 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

101 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Microcontroller

102 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


103 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


bull Bypassed chip

on servo controller

104 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Power Budget

105 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Wire Gauge



bull Encoder 24 AWG


001 5

01 15

1 25

5 32


106

24 AWG Wire

Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix


Factor 4 3 2 1




experience

A couple people

know how to

1 person has

experience

No one has

experience

Similar To Actual




Has only a couple

similarities

No similarities to

launch

Guaranteed Can Do

Donrsquot need any


help

Need outside

equipment but

guaranteed use

Need outside

equipment but own

work at higher

priority

Need outside


use

Scoring

107 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Weighting




project




important focus

108 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix




would do it Pro


perform FEM Con


experience Con



theory to do Pro

109 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Vibration Table


Cost $250hr Con


launch Pro


vibration table Pro




110 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

SpinUp State








Appendix 111

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Deployment State







Appendix 112

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Pitching State









Appendix 113

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix

Emergency Stop



state


received







Restart

Appendix 114



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix



288 (6)


(mms2) 06 10 03868 (01854)










115 Appendix