Gateway To Space ASEN / ASTR 2500 3 PID Control Law Proportional, Integral, Derivative (PID) –Used to control single axis One PID controller for each

Gateway To SpaceASEN / ASTR 2500

http://www.equationsheet.com/eqninfo/Equation-353.html






3

PID Control LawPID Control Law

• Proportional, Integral, Derivative (PID)– Used to control single axis

• One PID controller for each axis

Kd

Kp

err

err

cmd

Kiierr

err = rate error

err = attitude error

ierr = integrated attitude error

Limiter Att Gain Integrator Limiter Int Att Gain

Rate Gain ++

+

4

-1

-0.75

-0.5

-0.25

0

0.25

0.5

0.75

1

0 10 20 30 40 50 60

Time (sec)

Att

itude

Err

or (D

eg)

No Damping Lightly Damped Heavily Damped

PID Control Law Response TimesPID Control Law Response Times

Zero Rate Gain = No Damping

Small Rate Gain = Light Damping

Large Rate Gain = Heavy Damping

5

DATADATA

6

Colorado Space Grant ConsortiumColorado Space Grant Consortium


Class #1


Class #1

How was the first day?

Space?

Space Clip

TodayToday

- Introductions- Introductions

-- What to expect from this courseWhat to expect from this course

- Format for this course- Format for this course

- ““How to get an A”How to get an A”

- Pictures- Pictures

- Space Grant IntroductionSpace Grant Introduction

Who’s out there?

What this class

takes…

Introductions

Who is this Guy?Who is this Guy?

http://en.wikipedia.org/wiki/Image:Martin_Landau%2C_Barbara_Bain_and_Catherine_Schell.JPG



What Experience Do You Have?What Experience Do You Have?

Intern at BallIntern at Ballsummer of 1991summer of 1991

Worked with Worked with Bob PoleyBob Poley

Worked on Worked on RADARSATRADARSAT

Graduated from CU in Graduated from CU in December 1992 with B.S. December 1992 with B.S. in Aerospace Engineeringin Aerospace Engineering

Graduated from CU in Graduated from CU in December 1994 with M.S. December 1994 with M.S. in Mechanical in Mechanical EngineeringEngineering


What Did You Do After College?What Did You Do After College?

Worked at Lockeed Martin from Worked at Lockeed Martin from March 1995 until May 2000March 1995 until May 2000

What Did You Do At Martin?What Did You Do At Martin?

- Classified satellite- Classified satellite- 1,000 people on program- 1,000 people on program- Youngest - Youngest - Reaction Control System - Reaction Control System Mechanical Design LeadMechanical Design Lead- Design done in IDEAS - Design done in IDEAS - Released over 100 - Released over 100 engineering drawingsengineering drawings

- Supervised manufacture, assembly, integration and - Supervised manufacture, assembly, integration and test for 5 satellite buildstest for 5 satellite builds- Last two years, Mechanical Design Lead for the - Last two years, Mechanical Design Lead for the Antenna systemsAntenna systems

- Also worked on Stardust and Genesis - Also worked on Stardust and Genesis

- Worked with many different disciplines and people- Worked with many different disciplines and people

What Did You Do At Martin?What Did You Do At Martin?

Why Did You Leave?Why Did You Leave?

- Many reasons- Many reasons

1. Coming back here was a great opportunity1. Coming back here was a great opportunity

2. Pictures on the wall2. Pictures on the wall

3. Mentor3. Mentor

4. Change4. Change

mm




I live in Arvada, 2 miles east of HWY 93I live in Arvada, 2 miles east of HWY 93


- 12- 12thth time teaching this course time teaching this course


- I have a unique teaching style- I have a unique teaching style- I teach like I wish I had been taught- I teach like I wish I had been taught- Sense of humor- Sense of humor

3826648605151114020661


38 My age26 The age I feel6 Hours I get to sleep a night48 Hours I get to sleep a week60 Average number hours I work a week5 Hours per week I am paid to teach this course15 Average hours per week I actually spend on class12 Times I have taught this course140 Emails I get each day20 Emails I respond to each day66 You1 Me

Your TurnYour Turn

TodayToday

Space…Space…

So why are you here?So why are you here?

We are going to do the following…We are going to do the following…1. Stand up1. Stand up2. Say your name2. Say your name3. Tell me what you hope to learn in the class3. Tell me what you hope to learn in the class4. Why you took the class4. Why you took the class

So Why Are So Why Are You In You In

College?College?

Why You Are HereWhy You Are Here::

- You like Space (Star Trek, Star Wars, etc.)You like Space (Star Trek, Star Wars, etc.)

- You want to get a good job after collegeYou want to get a good job after college

- Good SchoolGood School

- Good GradesGood Grades

- Good ExperienceGood Experience

- This course and Space Grant gets you all threeThis course and Space Grant gets you all three

- Unique point in your life!Unique point in your life!

- $9.7 Billion

- 142,500 Coloradoans

- Expected to double in in the next few years

- “Graying of the workforce”

Space in Colorado:

Premise:Premise:

•54% of the total Aerospace workforce is over 45 years old

• 25% will be eligible to retire in 2008

Sources: The Grayest Generation, Washington Business Forward, NOV 2002Vanishing Act, Aviation Week, FEB 2007

Aerospace Industry Association 22 Dec 2004

•54% of the total Aerospace workforce is over 45 years old

• 25% will be eligible to retire in 2008



Premise:Premise:

• 9% of funded positions going unfilled (2006)

• Only 50% of the needed positions will be able to filled in 2010



• 9% of funded positions going unfilled (2006)

• Only 50% of the needed positions will be able to filled in 2010



Current Workforce:Current Workforce:

“Growth in the Science and Engineering (S&E) labor force has been maintained at a rate well above the rate of producing S&E degrees because a large number of foreign-born S&E graduates have migrated to the United States.”

Source: An Emerging and Critical Problem of the Science and Engineering Labor Force, National Science Board, JAN 2004

“Growth in the Science and Engineering (S&E) labor force has been maintained at a rate well above the rate of producing S&E degrees because a large number of foreign-born S&E graduates have migrated to the United States.”

Source: An Emerging and Critical Problem of the Science and Engineering Labor Force, National Science Board, JAN 2004

Premise:Premise:

• Number of Engineering Degrees - 2004

China 351,537U.S. 137,437*India 112,000

*15 – 30% non-US students

Source: Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005


China 351,537U.S. 137,437*India 112,000

*15 – 30% non-US students

Source: Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005

Premise:Premise:


China 351,537India 112,000U.S. 96,205

In 2005…• 41,000 US Advanced Engineering Degrees

• 50% went to non-US citizens

Source: Vanishing Act, Aviation Week, FEB 2007Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005


China 351,537India 112,000U.S. 96,205

In 2005…• 41,000 US Advanced Engineering Degrees

• 50% went to non-US citizens

Source: Vanishing Act, Aviation Week, FEB 2007Does the US face an engineering gap? , The Christian Science Monitor, December 20, 2005

“At present, there are insufficient methods for students to acquire hands-on experiences in scientific and technical disciplines necessary for space commerce and exploration.”

Source: A Journey to Inspire, Innovate, and Discover, Report of the President’s Implementation of United States Space Exploration Policy, June 2004, page 43.

“At present, there are insufficient methods for students to acquire hands-on experiences in scientific and technical disciplines necessary for space commerce and exploration.”

Source: A Journey to Inspire, Innovate, and Discover, Report of the President’s Implementation of United States Space Exploration Policy, June 2004, page 43.

Premise:Premise:

What To What To ExpectExpect

The ClassThe Class::

Learn the basics of atmospheric and space sciences, space exploration, spacecraft design, rocketry, and orbits.

Hear about the current research in space through lectures from Lockheed Martin, Ball Aerospace, LASP, NOAA, NCAR, and CASA.


Launch a mini-satellite on a high altitude balloon that is designed and built by you and a team of students.



- Interactive

- Interesting

- Applicable

- Fun

What to expect from this classWhat to expect from this class::

- If you are not here because you want to be here, If you are not here because you want to be here, then leave…then leave…

- If you are here because you think this will be easier If you are here because you think this will be easier than GEEN 1400, then leave…than GEEN 1400, then leave…

- If you are a slacker, then leave…If you are a slacker, then leave…

- But if you want to work hard and achieve something But if you want to work hard and achieve something great, then stay…great, then stay…

What to expect from this classWhat to expect from this class::

- Plan on being here for the full class (75 minutes)Plan on being here for the full class (75 minutes)

- Be ON-TIMEBe ON-TIME

- 1 Minute Reports Each Class1 Minute Reports Each Class

- AttendanceAttendance

- Homework (Only 7) Homework (Only 7)

- A lot of workA lot of work

- No cell phones or laptopsNo cell phones or laptops

SyllabusSyllabus

Syllabus:Syllabus:

Syllabus:Syllabus:

How to get How to get an Aan A

How to get an AHow to get an A::

“Everyone starts out with an A”

You have to try really hard to get anything lower than C-

Not in the business of giving bad grades…

…But you get the grade you earn

Please, Please, Don’t Cheat

How to get an AHow to get an A::ASEN 2500 Grades S06,F06,F07

02468

1012141618

40 46 52 58 64 70 76 82 88 94 100

106

112

Raw Score

Fre

qu

en

cy


Grades are based on a normal 100 point scale

There is no curve

Team project and participation are based on your team evaluation and instructor evaluation

Feedback will be slow

Grader – Kristina Wang


Grade Breakdown- 30% Coursework

- Attendance (33)- 1 Minute Reports (~30)

- Homework (1-4,6) - Community service (1)

- 5% Homework 5- 15% Final Exam- 10% Team Proposal- 7% Team Presentations (2)- 7% Team Design Document (3 Revs)- 12% Team Project and Participation- 14% Final Team Report & Presentation

50% You 50% Team

- Attendance will be taken (Signing for friends)- Attendance will be taken (Signing for friends)

- Coming in late… Coming in late…

- Communications via email and this class- Communications via email and this class

- Travel and sick- Travel and sick

MiscellaneousMiscellaneous::

- Mutual Respect “Shut up and be quiet”Mutual Respect “Shut up and be quiet”

- Class seating, move to the front of the roomClass seating, move to the front of the room

- Clap and questionsClap and questions

- Office hours 10:45-11:45 T & Th or by appointmentOffice hours 10:45-11:45 T & Th or by appointment

- Where to Find Me…

- Notes – Take themNotes – Take them

- Book for courseBook for course


Book for courseBook for course

- Typical engineering book cost- Typical engineering book cost $100, $90, $80, $70 $100, $90, $80, $70

This Book…This Book…- $13.95 - $13.95 - Rocket Boys - Rocket Boys

Homer HickamHomer Hickam

Also…Set aside $50 for projectAlso…Set aside $50 for project



WebsiteWebsite::

spacegrant.colorado.edu/space

1 Minute 1 Minute ReportReport

1 Minute Report1 Minute Report::

HomeworkHomework

HomeworkHomework::

Submit via email

- Subject should be in this format“HW_XX_Lastname_Firstinitial”

- Get from Website

First Homework is…

Questions?Questions?

Final WordFinal WordYou’ll Never…

Picture Picture TimeTime

Space Grant?

Vision:Vision:

Providing a diverse group of Colorado students with experiences in space to prepare them for our Nation’s future space programs

Providing a diverse group of Colorado students with experiences in space to prepare them for our Nation’s future space programs

COSGC = Workforce Development

Students Nationally:Students Nationally:

Students Statewide:Students Statewide:

Start Here…Start Here…

Student Training and ManagementStudent Training and Management

Weaknesses:Weaknesses:

Start Here…Start Here…

Weaknesses:Weaknesses:

LYF

UMJP

RUN

LA K

Future

LYF

UMJP

RUN

LA K

LYF

UMJP

RUN

LA K

Future

BalloonSats

Sounding Rockets

CubeSats

LEOSats

Walk, Run, Jump, Fly

- Steps to Career

- Numerous Flight Experiences

- Student Growth and Confidence

89

Background image taken at 100,000 feet by a student BalloonSat

DANDEDANDE

90

Background image taken at 100,000 feet by a student BalloonSat

[email protected] [email protected]

New Projects:New Projects:

RocketSat II- Launched April 28, 2007- Spaceport America- Not yet recovered

RocketSat II- Launched April 28, 2007- Spaceport America- Not yet recovered


Funded in part by New Mexico Space GrantFunded in part by New Mexico Space Grant


RocketSat III- Launch June 21, 2007 from White SandsRocketSat III- Launch June 21, 2007 from White Sands

BalloonSat 1 ImageBalloonSat 1 Launch

Student Research Projects

Hands-On: IntroHands-On: Intro

Gateway to SpaceGateway to Space

Focused Discussion:

Hands-On:Hands-On:

Leader in Starting Student Hardware ProgramsLeader in Starting Student Hardware Programs

1


Interdisciplinary Interdisciplinary

Strengths:Strengths:

Hands-on Discovery Learning Hands-on Discovery Learning



Is It working?Is It working?


Results:Results:

JSC KSC

Results:Results:

Students Highly Recruited By Industry & NASAStudents Highly Recruited By Industry & NASA

Student Outcomes:Student Outcomes:

Students Highly Recruited By Industry & NASAStudents Highly Recruited By Industry & NASA

Experience Matters

Experience Matters:Experience Matters:

Satellite Took Kit

Galileo Mission Control (Just before Crash into Jupiter)


Space Station Robot Arm (Johnson Space Center)


Chandra Mission Control


Mars Observer


Mission Control (Johnson Space Center)


Mars Exploration Rover (JPL)


Kennedy Space Center (Shuttle in background)


Mars Exploration Rover

Proof That Space Grant WorksProof That Space Grant WorksExperience Matters:Experience Matters:







Documents

Gateway To Space ASEN / ASTR 2500 3 PID Control Law Proportional, Integral, Derivative (PID) –Used to control single axis One PID controller for each