1. Attitude Control System for InnoSAT A Research Collaboration of
UniMAP ACS
Attitude Control System for InnoSAT
A Research Collaboration of

2. Research Members Postgraduate Students PhD 1 MSc 4 TOTAL 5
Leader
Prof. Dr. Sazali Yaacob
Hardware
Assoc. Prof. Abdul Rahman Mohd. Saad
APFLC
Prof. Dr. Nagarajan
APFLC
Associate Prof. Dr. Paulraj M P RA
Muhyi Bin Yaakop RA
Zaridah Mat Zain
Others
Assoc. Prof. Dr. Abdul Hamid Adom
M. Hariharan
Dr. Hazry Desa
Mohd Hafiz Fazalul Rahiman
Muhajir Abdul Rahim
Siti Maryam Sharul
Rosfariedzah Rusli
Abu Hassan Abdullah
Norasmadi Abdul Rahim
APBB
Prof. Dr. Mohd Yusoff Mashor
Postgraduate Students
PhD 1
MSc 4
TOTAL 5
Insert a picture of one of the geographic features of your country. RA
Normah Ahmed
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3. Table of Contents Mission & Objectives Project Development
Introduction
UniMAP ACS
Adaptive Predictive Fuzzy Logic Controller
Adaptive Parametric Black Box Controller
Hardware Development
Testing Results
Conclusion
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UniMAP ACS Properties

4. Mission & Objectives
Mission Statement To design, develop and implement indigenous UniMAP ACS Primary Objectives To test advanced control algorithms for the InnoSAT attitude control To utilize the available attitude knowledge of InnoSAT to provide the attitude control using different control algorithms Secondary Objective To evaluate control algorithm performance with unpredictable conditions
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UniMAP ACS Properties

5. Project Development Scope of Work (SOW) System Design Review (SDR)
Preliminary Design Review (PDR)
Critical Design Review (CDR)
Flight Readiness Review (FDR)
Operation Readiness Review (ORR)
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6. Cont.. Stage Date Status SOW SDR PDR CDR FRR ORR 3/10/2006 Completed
11/8/2006
PDR
CDR
30/7/2007
FRR
24/4/2008
ORR
10/3/2009
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7. Introduction to UniMAP ACS
Innovative Satellite (InnoSAT) is a Pico-class satellite developed by Astronautic Technology (M) Sdn. Bhd. and three local universities.
InnoSAT will be sent into orbit by launch vehicle Falcon 1 from the Kwajalein launch site in the Republic of Marshall Islands to a Near Equatorial Orbit (NEqO) at an altitude of 685 km and 9° inclination.
InnoSAT is a collaboration of university and industry in producing a small satellite to demonstrate local innovative space technology among the institution of higher learning in the space sector.
The Pico-satellite is divided to bus and payload segment and the cube standard by Cal Poly specifies each Pico-satellite as a 10cm cube of 1kg mass. Total weight with payloads are approximately less than 10kg.
The bus segment consist of Structure and Mechanical Subsystem, Thermal Control Subsystem, Attitude Determination Control System (ADCS), Command and Data Handling Subsystem, Electrical Power Subsystem and Telecommunications Subsystem.
The payload segment is divided to three subsystems as follow; Attitude Control System (ACS), Attitude Determination System (ADS) and Attitude Determination and Control System Processor.
Two new control algorithms, Adaptive Predictive Fuzzy Logic Controller (APFLC) and Adaptive Parametric Black Box (APBB) are designed and implemented to the InnoSAT ACS using RCM 3400 Microcontroller.
UniMAP ACS Properties

8. Falcon Launcher
UniMAP ACS Properties

9. Insert a picture of one of the geographic features of your country.
In flight dynamics, the orientation is often described using three angles called roll, pitch and yaw
UniMAP ACS Properties

10. Body Frame with Respect to Orbit Frame
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Body Frame with Respect to Orbit Frame
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11. Insert a picture of one of the geographic features of your country.
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12. Geosynchronous Equatorial Orbit
Low Earth Orbit
Elliptical Orbit
Polar Orbit

13. Insert a picture of one of the geographic features of your country.
External View Of InnoSAT Showing Main External Components With Coordinate System
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14. Exploded View Of InnoSAT Showing Locations Of Main University Payloads
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Exploded View Of InnoSAT Showing Locations Of Main University Payloads
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15. UniMAP ACS UniMAP ACS Properties
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UniMAP ACS Properties

16. Cont.. ADCS Magnetometer Magnetorquer UniMAP ACS Properties
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17. Adaptive Predictive Fuzzy Logic Controller
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18. Adaptive Parametric Black Box
Simple design approach of black box controller and simple structure of the parametric controller.
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19. Hardware Development
RCM 3400
Dynamic C
CubeSat
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20. Frame Communication Manual
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21. Real Time Operation
InnoSAT operate in approximately 97 minutes for one full orbit.
Universities start testing on the 3rd day after the satellite launched to the orbit.
Testing Availability: 14 links per day, 6 links per day required for InnoSAT, 8 links per day available for other CubeSAT.
Time in view: approximate 14.35mins per pass. Payload testing during sunlight presence only.
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22. Testing Results
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23. Attitude Control Axis 1 axis 2 axis 3 axis Reference Data Tested
Step Input
Square Wave
Sine Wave
Y-Thompson Spin
Attitude Angle

24. Roll Axis Roll rate (deg/sec) Roll rate (deg/sec)1 2 3 4 5 6
x 10 -8 -6 -4 -2 8
Time (s)
Roll rate (deg/sec)
DISTURBANCES
2200
2400
2600
2800
3000
3200
3400
3600
3800
4000 -1 1 2 3 4
X: 2991 Y:
X: 3144 Y:
Time (s)
Roll rate (deg/sec)
Disturbance
UniMAP ACS Properties

25. Pitch Axis DISTURBANCES Pitch Rate (deg/sec)) Time (s)1 2 3 4 5 6
x 10
-200
-150
-100
-50 50
100
150
200
Time (s)
Pitch Rate (deg/sec))
DISTURBANCES
3000
3050
3100
3150
-10 -5 5 10
X: 3002 Y:
Time (s)
Pitch Rate (deg/sec)
X: 3155 Y:
Disturbance
UniMAP ACS Properties

26. Yaw Axis DISTURBANCES DISTURBANCES UniMAP ACS Properties1 2 3 4 5 6
x 10
-10 -5 10
Time (s)
Yaw Rate (deg/sec)
DISTURBANCES
2800
2900
3000
3100
3200
3300 -1 1 2 3 4 5 6 7
X: 2997 Y:
X: 3140 Y:
Time (s)
Yaw Rate (deg/sec)
Disturbance
DISTURBANCES
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27. Conclusion
This project is a government effort to gain knowledge and experience in area of space technology.
This research work provides opportunity for student with hands on training and experience on interdisciplinary work and managing projects.
Project planning skills and research techniques were improved further through the successes and failures throughout this research.
We are able to gather useful knowledge on the workings of satellite systems. This can be very valuable for future researches in space technology by giving ideas on how to approach system engineering problems from a system engineer point of view.
UniMAP ACS Properties

28. Special Thanks to: Astronautic Technology (M) Sdn Bhd (ATSB)
National Space Agency (ANGKASA)
Ministry of Science, Technology and Innovation Malaysia (MOSTI)
Universiti Malaysia Perlis (UniMAP)
Universiti Sains Malaysia (USM)
Universiti Teknologi Malaysia (UTM)
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29. Coming together is a beginning. Keeping together is progress
Coming together is a beginning..Keeping together is progress..Working together is success..
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