VISVESVARAYA TECHNOLOGICAL UNIVERSITY

“JNANA SANGAMA”, BELAGAVI – 590008

INTERNSHIP REPORT
Submitted in Partial Fulfillment for the Award of Degree of

Bachelor of Engineering
In

ELECTRONICS AND COMMUNICATION

Submitted by

KANCHAN SHINDE

USN:
2KL21EC405
Internship Report On
“SINGLE WHEEL REACTION MECHANISM”
Carried Out at At
SERVO CONTROLS Udyambag, Belagavi – 590008.

Internal Guide External Guide

Prof. Sushant Jadhav Pradeep Chikkamath
Assistant Professor Senior Engineer
KLE Dr M. S. Sheshgiri College Servocontrols Pvt.
Ltd of Engineering and Technology

DEPARTMENT OF ELECTRONICS AND COMMUNICATION

KLE Dr M S SHESHGIRI COLLEGE OF ENGINEERING AND TECHNOLOGY

2023 - 2024
 K. L. E. Dr. M. S. SHESHGIRI
COLLEGE OF ENGINEERING AND TECHNOLOGY,
BELAGAVI– 590008

Department of Electronics and Communication Engineering

CERTIFICATE

This is to certify that the “Internship Report” is submitted by Ms. Kanchan Shinde (2KL21EC405), a
bonafide student of KLE Dr M.S. Sheshgiri College of Engineering and Technology, in partial fulfilment
for the award of Bachelor of Engineering Degree in Electronics and Communication of the Visvesvarya
Technological University, Belagavi, during the academic year 2023-2024. It is certified that all
correction/suggestions indicated for internal assessment have been incorporated in the report. The report
of the Internship has been approved as it satisfies the academic requirements in respect of Internship
prescribed for the said Degree.

Signature of Internal Guide Signature of Head of Department

(Prof. Sushant Jadhav) (Dr. Dattaprasad Torse)
Assistant Professor HOD
Guide

EXTERNAL VIVA
External Examiner Signature and Date
1.
2.
K. L. E. Dr. M. S. SHESHGIRI COLLEGE OF ENGINEERING AND TECHNOLOGY

Department of Electronics & Communication Engineering

Vision and Mission of the Department of Electronics and Communication

Engineering are:

VISION
To be the center of excellence for education and research in Electronics and
Communication Engineering

MISSION
1. To achieve academic excellence by encouraging active student-
teacher relation.
2. To groom students with high moral and ethical standards.
3. To promote socially-relevant research and development activities.
4. To collaborate with institutions and industries for knowledge sharing,
employability and entrepreneurship.
5. To encourage life-long learning in developing innovative
products and services.

PROGRAM EDUCTIONAL OBJECTIVES (PEOs)

The educational objectives of the undergraduate program in Electronics and Communication

Engineering are:

1. To impact the knowledge and skills to meet the needs of current and emerging
technologies in Electronics and Communication Engineering.
2. To enable active pursuance of life-long study in Electronics and
Communication Engineering in order to develop innovative technologies
for quality products and services.
3. To cultivate the ethical and socially relevant research and
development activities.
4. To impact effective communication skills for success in interdisciplinary and
multicultural teams.
 K. L. E. Dr. M. S. SHESHGIRI
COLLEGE OF ENGINEERING AND TECHNOLOGY
Department of Electronics & Communication Engineering
Program Outcomes: (POs)
1. Engineering Knowledge: Apply the knowledge of mathematics, science, engineering
fundamentals, and an engineering specialization to the solution of complex engineering
problems.
2. Problem Analysis: Identify, formulate, research literature, and analyze complex
engineering problems reaching substantiated conclusions using first principles of
mathematics, natural sciences, and engineering sciences.
3. Design/development of Solutions: Design solutions for complex engineering problems
and design system components or processes that meet the specified needs with
appropriate consideration for the public health and safety, and the cultural, societal, and
environmental considerations.
4. Conduct Investigations of Complex Problems: Use research-based knowledge and
research methods including design of experiments, analysis and interpretation of data,
and synthesis of the information to provide valid conclusions.
5. Modern Tool usage: Create, select, and apply appropriate techniques, resources, and
modern engineering and IT tools including prediction and modelling to complex
engineering activities with an understanding of the limitations.
6. The Engineer and Society: Apply reasoning informed by the contextual knowledge to
assess societal, health, safety, legal and cultural issues and the consequent
responsibilities relevant to the professional engineering practice.
7. Environment and Sustainability: Understand the impact of the professional
engineering solutions in societal and environmental contexts, and demonstrate the
knowledge of, and need for sustainable development.
8. Ethics: Apply ethical principles and commit to professional ethics and responsibilities
and norms of the engineering practice.
9. Individual and Team Work: Function effectively as an individual, and as a member or
leader in diverse teams, and in multidisciplinary settings.
10. Communication: Communicate effectively on complex engineering activities with
the engineering community and with society at large, such as, being able to comprehend
and write effective reports and design documentation, make effective presentations, and
give and receive clear instructions.
11. Project Management and Finance: Demonstrate knowledge and understanding of
the engineering and management principles and apply these to one's own work, as a
member and leader in a team, to manage projects and in multidisciplinary environments.
12. Life-long Learning: Recognize the need for, and have the preparation and ability to
engage in independent and life-long learning in the broadest context of technological
change.

Program Specific Outcomes :(PSOs)

1. Demonstrate theoretical and practical knowledge of Electronic and Communication
Engineering.
2. Exhibit the technical and soft skills leading to employability.

3. Actively pursue lifelong learning to develop innovative products and services.

 K. L. E. Dr. M. S. SHESHGIRI

COLLEGE OF ENGINEERING AND TECHNOLOGY

Department of Electronics & Communication Engineering

Subject Code: 18ECI85 Subject: Internship

Semester: 8th Coordinator: Prof. Vidyadhar Dodamani

Student Name USN Signature Guide Signature

Kanchan Shinde USN: 2KL21EC405

Technical Seminar PO1 PO2 PO3 PO4 PO5 PO6 PO7 PO8 PO9 PO10 PO11 PO12
Title

SINGLE WHEEL
REACTION
MECHANISM

Mapping of Program Outcomes (POs):

Internship Title PSO1 PSO2 PSO3

SINGLE WHEEL REACTION MECHANISM

 ACKNOWLEDGEMENTS

We would like to express our sincere gratitude to the following individuals and organizations
who have played a significant role in the development of the single wheel reaction
mechanism for satellites:
I take the opportunity to thank our Principal Dr. S.F Patil sir for providing us the opportunity
to undergo the Internship. I would like to thank our Head of the Department Dr. Dattaprasad
Torse sir, for providing us the opportunity to undergo the Internship.
I would like to thank our esteemed Guide Prof. Sushant Jadhav for their keen interest and
concern towards internship.
I take the opportunity to thank our internship coordinator Prof. Vidyadhar Dodamani sir for
providing us the motivation and encouragement.
I would like to thank Pradeep Sir for their invaluable guidance, support, and mentorship
throughout the project. Their expertise and insights were instrumental in shaping the direction
of the single wheel reaction mechanism and ensuring its successful completion.
We acknowledge the contributions of all the team members who participated in this project.
Each team member brought unique skills and perspectives, contributing to the development
of different components of the single wheel reaction system.
We extend our thanks to Servo Control for providing the necessary resources, infrastructure,
and funding to carry out this project. Their support was vital in enabling us to conduct the
required research, acquire relevant datasets, and access computing resources.
I take this opportunity to thank all the staff of Electronics and Communication Department
for their cooperation and suggestions during the internship.
 EXECUTIVE SUMMARY

This is an internship report, undertaken by Mr. Manoj Halkare at Servocontrols Aerospace

India private Limited – Belagavi. The intern started her internship from 17th August to 18th
September, 2023. In fulfilment of the requirement of the Degree, it is mandatory for students
to have a minimum of one (1) month practical industrial experience in their respective fields
of training and organization of their choice. An Industrial attachment is essential requirement
for awarding of Bachelor Degree Certificate in the VTU. The purposes of the internship is to
prepare the student to serve the needs of industry and commerce more effectively upon
graduation. This included providing real life experience and exposure, thus gaining first-hand
exposure of working in the real world, granting the opportunity to learn more about the intern
self potentials and abilities, getting connected and developing professional network.
Internship allows students to harness the skill, knowledge and theoretical practice they learnt
in the University and enabling them to transform theory into practical real-life situations. The
intern’s time with Servocontrols Aerospace India Private Limited has really illuminated his
knowledge and understanding of practical experience of the theories being taught between the
walls of the University lecture halls and in the corporate environment.
 TABLE OF CONTENTS:

CHAPTER 1: ABOUT THE ORGANISATION

1.1 DESCRIPTION…..................................................................................................1
1.2 PRODUCTS...........................................................................................................1
1.3 INTERNSHIP OBJECTIVES................................................................................3
1.4 INTERNSHIP ACTIVITIES AND ACHIEVEMENTS.......................................3
1.4.1 SATELLITE LAB VISIT................................................................................3
CHAPTER 2: INTRODUCTION.....................................................................................5
CHAPTER 3: LITERATURE REVIEW..........................................................................7
CHAPTER 4: SCOPE OF SINGLE WHEEL….............................................................9
REACTION MECHANISM
CHAPTER 5: THEORETICAL CONCEPTS
5.1 ANGULAR MOMENTUM...................................................................................10
5.2 KEPLERS LAWS FOR PLANETARY MOTION
5.2.1 KEPLER’S FIRST LAW (LAW OF ELLIPSES)...........................................11
5.2.2 KEPLER’S SECOND LAW (LAW OF EQUAL AREAS)............................11
5.2.3 KEPLER’S THIRD LAW (LAW OF HARMONIES)...................................11
CHAPTER 6: METHEDOLOGY
6.1 MOTOR..................................................................................................................12
6.2 COARSE SUN SENSOR.......................................................................................12
6.3 MAGNETORQUERS.............................................................................................13
6.4 PID CONTROLLER…...........................................................................................13
CONCLUSION….............................................................................................................15
REFERENCES..................................................................................................................16
 CHAPTER 1: ABOUT THE ORGANISATION

1.1 DESCRIPTION
Servocontrols is the system house of closed-loop controls which was established in April
2002 by two young entrepreneurs, Mr. Deepak and Mr. Dinesh Dhadoti. Mr. Deepak
possesses rich experience in the global market and technology, gained during his tenure at
Moog Incorporation in East Aurora, New York facility, while Mr. Dinesh Dhadoti has
expertise in the local Indian market.
They design and manufacture products/systems to specifications, including Servo Actuators
with Servo Valves, Proportional Valves, Solenoid Valves, FCA, TVC Actuators, IGV
Actuators, Electromechanical Actuators, Manifold blocks, Hydraulic power packs, Wire
harnessing, and structural fabrication/integration/on-site commissioning. Our dedicated team
comprises more than 300 personnel, and we boast a state-of-the-art design and manufacturing
facility, including a 100% EOU Unit, located in Belagavi, Karnataka.

1.2 PRODUCTS
Hydraulic Power Packs: Hydraulic power packs are compact systems designed to generate
hydraulic power, comprising several essential components. At their core lies the hydraulic
pump, which converts mechanical power into hydraulic force by pressurizing fluid. The
motor provides the necessary mechanical energy to drive the pump, with options ranging
from electric to gasoline or pneumatic, depending on the application. Valves play a crucial
role in controlling the direction, flow rate, and pressure of the hydraulic fluid, ensuring
precise operation. Servocontrols designs and manufactures various types of hydraulic power
units for industrial, aerospace, and automotive applications. These power units are designed
with flow ratings ranging from 10lpm up to 450lpm and a maximum working pressure of up
to 315 bar. Servocontrols have expertise in designing and manufacturing power packs to work
with various hydraulic fluids, including mineral oil, MIL-5606H, Skydrol, Water Glycol, etc.

Figure 1: Hydraulic Power Packs

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Manifold Block: A hydraulic manifold is a component that regulates fluid flow between
pumps and actuators and other components in a hydraulic system. It is like a switchboard in
an electrical circuit because it lets the operator control how much fluid flows between which
components of a hydraulic machinery. For example, in a backhoe loader a manifold turns on
or shuts off or diverts flow to the telescopic arms of the front bucket and the back bucket. The
manifold is connected to the levers in the operator's cabin which the operator uses to achieve
the desired manifold behavior.

Figure 2: Manifold Block

Test Rigs: Test rigs are specialized setups crucial for evaluating the performance and
durability of components or systems across industries such as automotive, aerospace, and
manufacturing. A data acquisition system collects and processes data from sensors for
analysis, while a control system regulates test parameters for precision and repeatability.
Servocontrols specialize in the design and manufacture of high performance innovative test
rigs for Automotive and Aerospace industries. Clients include HAL, Collins Aerospace,
Boeing, GE, Wabtec etc. From Concept to Completion, designed from scratch working in
close collaboration with clients who already have specific in-depth specifications.

Figure 3: Test Rigs

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1.3 INTERNSHIP OBJECTIVES
The main objectives of my internship at Servo Controls were:
1. Gain knowledge about how the industries work and provide services to their
customers.
2. Assist in the design and implementation on the project provided to us.
3. Collaborate with the team to solve real-world engineering challenges.
4. Learn about industry best practices and standards.

1.4 INTERNSHIP ACTIVITIES AND ACHIEVEMENTS

During my internship, I was involved in various activities and the project provided to us:
In this internship I had the opportunity to discover and learn more about the space industry,
more specifically I was enlightened about the attitude control of satellites through various
components such as single wheel mechanisms, magnetorquer and other such actuators which
assist in the movement and direction control of satellites. The theory behind satellite
movement involves concepts of physics such as Kepler’s laws, mathematical concepts such
as proportional integral and differential control. I was also a part of a team which built a
prototype attitude control system which used a single wheel reaction mechanism for direction
control of satellites. My experience in this internship has been informative and insightful and
helped me to grow immensely in my journey.

1.4.1 SATELLITE LAB VISIT

On one of the days we visited shri Deepak Dhadoti- Satellite lab located at Motichand
Lengade Bharatesh Polytechnic, Belagavi. The Cubesat present in the lab gave us insights on
how satellites look and function, we were able to understand various components involved in
the making of a satellite.
These components consist of: Reaction wheel mechanism, rotor, temperature sensor, sun
sensor, temperature control plates, solar panels, etc. While the satellite was in its operating
mode, it could be controlled with the help of “COSMOS” software . This satellite can be taken
into low-earth orbit that is about 400km range. The command given from the software is
handled by us where we can decide the speed of the rotator of the reaction wheel through the
COSMOS software. The major concept to be satisfied by the satellite here is the direction
control where in the satellite must rotate clock wise when the wheel is rotating in the opposite
direction which is anti-clockwise and vice-versa.

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 Figure 4: Inner View of Cubesat at Shri Deepak Dhadoti Satellite Lab

Figure 5: Outer View of Cubesat at Shri Deepak Dhadoti Satellite Lab

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 CHAPTER 2: INTRODUCTION

A single-wheel reaction system, also known as a control moment gyroscope (CMG), is a

critical component in the attitude control system of many satellites and spacecraft. It plays a
crucial role in adjusting the orientation or attitude of the satellite in space. Here, I will
provide you with detailed information on the single-wheel reaction system for satellites.
Satellites play a pivotal role in modern society, facilitating communication, navigation, Earth
observation, and scientific research among other critical functions. These spacecraft are
meticulously designed and engineered to operate seamlessly in the harsh environment of
space for extended periods. A fundamental aspect of satellite design and functionality is its
ability to control its orientation, also known as attitude control. Attitude control ensures that a
satellite's sensors, communication equipment, and scientific instruments are properly oriented
toward their intended targets, such as Earth, celestial objects, or specific regions of interest.

Figure 6: Laboratory reaction-wheel assembly

One of the key components involved in satellite attitude control mechanisms is the Single
Wheel Reaction Mechanism (SWM). The SWM is an innovative technology employed in
numerous spacecraft to provide precise and efficient control over a satellite's orientation
without the need for multiple thrusters or complex mechanisms.
This report delves into the significance, design, and operational aspects of the Single Wheel
Reaction Mechanism in satellite systems. Attitude control is indispensable for the proper
functioning of a satellite. It allows satellites to accomplish their mission objectives, whether
that involves taking high-resolution images of Earth's surface, maintaining a stable orbit, or
studying distant celestial bodies. The accuracy and reliability of attitude control systems are

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paramount for ensuring that the satellite operates as intended, as even the slightest deviation
in orientation can have a profound impact on data acquisition and communication.
Historically, satellites have utilized various mechanisms for attitude control, including
reaction wheels, thrusters, and magnetic torquers. While each of these systems has its merits,
the Single Wheel Reaction Mechanism represents a noteworthy advancement in the field. Its
elegant design and simplicity make it an attractive choice for many satellite missions,
particularly those with stringent power and mass constraints. In this report, we will explore
the principles of the Single Wheel Reaction Mechanism, its components, operational modes,
advantages, and limitations.
Additionally, we will examine real-world applications and case studies where the SWM has
been successfully deployed. The following sections will provide a comprehensive overview
of the Single Wheel Reaction Mechanism, shedding light on its functionality, design
considerations, and practical implementations. Ultimately, this report aims to impart a
thorough understanding of the SWM and its role in enabling precise attitude control for
modern satellites, ensuring that they can fulfill their diverse missions in the realm of space
exploration and satellite technology.

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 CHAPTER 3: LITERATURE REVIEW

 Espen Oland and Rune Schlanbusch [1] This paper presents a reaction wheel design
for CubeSats where it takes the limitation of size and mass into consideration. It
presents an overview of which altitudes it is feasible to use magnetic torquers for
momentum dumping as well as presenting equations for customizing reaction wheels
for a CubeSat mission. The reaction wheels are then simulated for different CubeSat
sizes and proved capable of performing attitude maneuvers. During these simulations
a non-linear passivity-based sliding surface controller is used which through
Lyapunov stability theory has been shown to be uniformly asymptotically stable.

 Chen Xue-qin, Ma Yu-hai, Geng Yun-hai, Wang Feng, Ye Dong [2] Attitude tracking
control during staring imaging of agile small satellite configured with double-
gimbaled control moment gyroscope (DGCMG) is investigated. Firstly, considering
the characteristics of agile satellites and the mission requirement of staring imaging,
design the actuators configuration. Then, using the orbit information to computer the
attitude and attitude angular velocity of staring imaging target relative to the satellite
body reference frame, and considering avoidance the singularity of CMG to design
control law and steering law. Finally, setup the agile small satellite attitude and orbit
control simulation system, the mathematical simulation shows that the solution is
simple and effective for staring imaging attitude maneuver control of agile small
satellites, and conclude that the minimum angular rate of gimbals of DGCMG is the
most important factor to determinate the attitude tracking precision.

 Ajayi Michael Oluwatosin, Yskandar Hamam, Karim Djouani [3] This paper presents
the attitude control of a CubeSat in a low earth Circular Orbit using Reaction Wheels.
Although reaction wheels have certain shortcomings, they provide a fast and accurate
approach to achieving attitude stabilization. The objective of this paper is to
investigate the performance of reaction wheels for a CubeSat Attitude Control System
(ACS). This investigation is achieved via a proposed control law (set point regulator)
based on the well known (model independent) PD controller. To validate this
objective, two cases for the attitude manoeuvre were considered using SCILAB
application software. The numerical computation of the ACS thus helps to provide
proper theoretical analysis of the observed results which are provided in this paper to
demonstrate the efficiency of the control method.

 Jaehyuck Cha, Sejong Heo, Chan Gook Park [4] Lunar rover plays a key role in lunar
exploration based on its maneuverability. For the successful operation of the lunar
rover, a high-accuracy navigation technique has to be obtained. In order to perform
high-accuracy inertial navigation, the accuracy of initial alignment is important. In
general, initial alignment can be divided into two processes, coarse and fine
alignment. In the general coarse alignment process, the acceleration and rotation
rate of the

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 stationary rover are used as reference vectors. However, the acceleration and rotation
rate of the Moon are 1/6 and 1/27 times smaller than those of the Earth, respectively.
As a result, even though the same sensors are used, the performance of initial coarse
alignment gets worse on the Moon. In this paper, three coarse alignment methods
using accelerometers and sun sensor, instead of accelerometers and gyros, are
proposed and the associated errors are analyzed.

 Defrandi Renanda Haryadi, Heroe Wijanto, Budi Syihabuddin, Agus D. Prasetyo [5]
Magnetorquer is a type of active control used on nanosatellite. It can be made by
using microstrip line with a circular spiral patch. In previous research, the
magnetorquer system was designed by using a coil of wire wrapped around the cross-
section of conductor. The magnetic field is generated by electrifying the coil of wire.
The torque is produced when the magnetic field generated from magnetorquer
interacts with the Earth's magnetic field. The torque can be controlled to change
nanosatellite orientation in its orbit. In this paper, the magnetorquer is designed with 5
V of voltage consumption and 0.5-1 A of current consumption. By supplying the
magnetorquer with various amount of current, the minimum and maximum values of
magnetic field are 0.811 μT and 1.596 μT respectively.

 Adrian Marosan and George Constantin [6] This paper refers to the design of the
control of an omnidirectional mobile platform, by implementing a PID controller
having as input signal a gyroscope sensor, which will indicate in real time the
orientation angle of the platform. The use of this system follows the position and
angle of orientation to control the angular and linear speed of the omnidirectional
robot. A comparison is made between the system with direct control and the one with
the PID control algorithm based on the gyroscope sensor. The entire system is
controlled by an Arduino Mega 2560 development board, based on an Atmega
microcontroller. Following the tests performed, the controller presented in this paper
offers an optimal solution to minimize the differences between the reference and the
output trajectory. The obtained results demonstrate the effectiveness of the proposed
algorithms in the control of omnidirectional mobile platforms.

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 CHAPTER 4: SCOPE OF SINGLE WHEEL REACTION
MECHANISM

A single-wheel reaction system, also known as a reaction wheel or momentum wheel, is a

crucial component in satellite attitude control. It's used to control a satellite's orientation in
space by adjusting its angular momentum. While reaction wheels have been a staple in
satellite technology for many years, there is still a significant future scope for their
improvement and application. Here are some aspects of the future scope of single-wheel
reaction systems for satellites:
Miniaturization and Weight Reduction: There's a continuous push for making satellites
smaller and lighter. Future reaction wheels need to be miniaturized and lightweight while
maintaining their efficiency and torque capacity. This is important for launching and
maintaining constellations of small satellites.
Power Efficiency: Reducing power consumption is crucial, especially for satellites that rely
on solar panels for energy. More power-efficient reaction wheels would enable longer
missions and more capabilities.
Precision and Reliability: As the demand for precise satellite positioning increases, reaction
wheels must become even more accurate and reliable. This is particularly important for Earth
observation satellites and deep-space missions.
Redundancy and Fault Tolerance: Developing better redundancy systems and fault
tolerance mechanisms is crucial. In case one reaction wheel fails, the satellite should be able
to continue its mission with minimal disruption.
Adaptive Control Algorithms: Implementing advanced control algorithms and AI-based
systems can improve the performance of reaction wheels. They can adapt to changing
conditions and optimize the satellite's attitude control.
Space Debris Mitigation: To address the growing issue of space debris, future reaction
wheels may need to incorporate technologies that allow satellites to quickly change their
orientation to avoid collisions.
Interplanetary Missions: For missions to other planets or deep space, reaction wheels must
be designed to handle the unique challenges of long-duration space travel, extreme
temperatures, and radiation exposure.
International Collaboration: International cooperation in space exploration and satellite
technology may lead to the development of standardized reaction wheel systems that can be
used across various missions and platforms.
Innovative Materials and Manufacturing: Advances in materials science and
manufacturing techniques may lead to more efficient, durable, and cost-effective reaction
wheels.

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 CHAPTER 5: THEORETICAL CONCEPTS

A major concept in satellite attitude control is angular momentum conservation which is

given as follows:

5.1 Angular Momentum (L):

Angular momentum conservation is a fundamental principle in physics that describes the
conservation of the angular momentum of a system when no external torques are acting on it.
Angular momentum is a property of rotating objects and is crucial in understanding the
behavior of various systems, from subatomic particles to celestial bodies.

Figure 7 : Basic principle of Angular Momentum

Angular momentum is a vector quantity that measures the rotational motion of an object.
It depends on two main factors:

Moment of Inertia (I): This represents how the mass of an object is distributed around
its axis of rotation. Objects with a higher moment of inertia require more torque to change
their angular velocity.

Angular Velocity (ω): This is the rate at which an object rotates around its axis.
Mathematically, angular momentum (L) is defined as: L=I⋅ω

Conservation of Angular Momentum: The law of conservation of angular

momentum states that the total angular momentum of a closed system remains constant
unless acted upon by an external torque. In simpler terms, if no net external torque is applied
to a system, the total angular momentum of that system remains constant over time.
This principle is derived from the broader law of conservation of momentum, which states
that in the absence of external forces, the total linear momentum of a system remains
constant. Angular momentum is essentially the rotational analog of linear momentum.

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5.2 Kepler’s Laws of planetary motion:
5.2.1 Kepler's First Law (Law of Ellipses):
Statement: Each planet orbits the Sun in an elliptical path, with the Sun at one of the two foci.
Explanation:
An ellipse is a geometric shape that resembles an elongated circle. In an elliptical orbit, the
distance between the Sun and the planet varies as the planet moves along its path. The Sun is
located at one of the two foci of the ellipse, not at the center. The point in the orbit closest to
the Sun is called perihelion, and the point farthest from the Sun is called aphelion.

5.2.2 Kepler's Second Law (Law of Equal Areas):

Statement: A line segment joining a planet and the Sun sweeps out equal areas during equal
intervals of time.
Explanation: This law states that a planet moves faster in the part of its orbit closer to the
Sun (perihelion) and slower in the part farther from the Sun (aphelion). As a result, the area
covered by the line connecting the planet to the Sun is the same in equal time intervals. This
law demonstrates that a planet's speed varies as it moves along its elliptical orbit.

5.2.3 Kepler's Third Law (Law of Harmonies):

Statement: The square of the period of revolution (the time it takes for a planet to complete
one orbit around the Sun) of a planet is directly proportional to the cube of its semi-major
axis (the average distance from the planet to the Sun).
Explanation: This law quantifies the relationship between a planet's orbital period and its
average distance from the Sun. It means that planets farther from the Sun take longer to
complete an orbit. Kepler's Third Law is vital for determining the relative distances of planets
from the Sun based on observations of their orbital periods.

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 CHAPTER 6: METHEDOLOGY

6.1 Motor

Figure 8 : Figure 4.3: A-max 22 3.5 Watt Brushed DC Motor

A brushed DC motor was used instead of a brushless DC motor in order to be more cost
effective. The motor selected is the “A-max 22”, a 3.5 watt motor from Maxon motors which
is shown in Figure 8. The motor datasheet with the motor dimensions. The motor has a long
axis which is accessible from the back of the motor allowing for the placement of a magnet
on the rear of the axis.

6.2 Coarse Sun Sensor

EyasSAT has four solar cells arranged on the sides of a cube. These are located on the top
facet of EyasSAT, which is called the Yaw Attitude Sensor . Each cell in the sensor is
designated with a name along with the body axes. These solar cells convert the energy of
light that falls onto the cell into electricity.

Figure 9 : Sun Sensor

The CSS generates a unit vector in the BRF that points toward the sun. Analogue sensors,
such as the ones on EyasSAT, are based on solar cells, or photocells. Ideally their current
output is proportional to the cosine of the angle between the light source and the normal of
the photocell. In the ideal case the photocell will output the maximum amount of current
when the light falls perpendicular to the cell surface. The output will decrease following a
cosine function with the amount the angle α diverges from perpendicular in any direction.

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6.3 MAGNETORQUERS
Magnetorquers are devices used in satellites to control their orientation or attitude without the
need for conventional fuel-powered thrusters. When it comes to single-wheel reaction control
systems, magnetorquers play a crucial role in enabling precise adjustments in the satellite's
orientation. In a single-wheel reaction control system, a momentum wheel is typically used to
control the satellite's orientation along one axis. This wheel spins at a constant speed,
carrying angular momentum. By varying the speed of the wheel, the satellite's attitude can be
adjusted. However, maintaining the momentum wheel's speed at the desired level to achieve
accurate control can be challenging due to external disturbances such as solar radiation
pressure, atmospheric drag, and gravitational forces from celestial bodies. This is where
magnetorquers come into play. Magnetorquers consist of electromagnets mounted on
different axes of the satellite. By passing electric currents through these electromagnets, a
magnetic field is generated. When the satellite is in orbit, this magnetic field interacts with
the Earth's magnetic field, creating torque that can be used to adjust the satellite's orientation.

6.4 PID CONTROLLER

A PID (Proportional-Integral-Derivative) controller is a common feedback control
mechanism used in various engineering applications, including satellite attitude control
systems. In the context of single-wheel reaction control for satellites, a PID controller plays a
crucial role in maintaining the desired orientation of the satellite.

Figure 10 : PID Controller

Proportional (P) Control: The proportional term of the PID controller generates a control
signal proportional to the error between the desired orientation and the actual orientation of
the satellite. In the case of single-wheel reaction control, this error is typically measured
using sensors that detect the satellite's attitude relative to a reference frame. The proportional
term provides immediate corrective action based on the magnitude of the error, exerting a
torque on the satellite to bring it closer to the desired orientation.

Dept. of E&C, KLE Dr. MSSCET, Belagavi. Page 13

Integral (I) Control: The integral term of the PID controller accumulates the error over time
and generates a control signal based on the integral of the error. This term helps eliminate
steady-state errors that may persist due to external disturbances or inaccuracies in the system.
In the context of satellite attitude control, the integral term ensures that any long-term drift in
orientation is corrected, contributing to the overall stability of the satellite.
Derivative (D) Control: The derivative term of the PID controller anticipates future changes
in the error by measuring the rate of change of the error over time. This term provides
damping to the control system, preventing overshoot and oscillations in the satellite's motion.
In single- wheel reaction control, the derivative term helps smooth out the control signals,
ensuring that adjustments to the satellite's orientation are gradual and precise.
In a single-wheel reaction control system, the PID controller receives feedback from sensors
monitoring the satellite's attitude and generates control signals to adjust the momentum
wheel's speed or activate other attitude control mechanisms, such as magnetorquers. By
continuously comparing the desired orientation with the actual orientation and applying
appropriate control actions, the PID controller ensures that the satellite maintains its intended
trajectory and orientation throughout its mission.

Dept. of E&C, KLE Dr. MSSCET, Belagavi. Page 14

 CONCLUSION

From learning about the fundamental concepts of angular momentum conservation to

considering the mass of components for building a prototype. The whole process made us get
familiar with various concepts and components like fly wheel, motor driver and other
essential components. This internship helped to bridge the gap between theoretical
knowledge and practical application, hence developing a deeper understanding of space
technology and its fundamental principles. This internship has underscored the importance of
understanding the principles behind single-wheel reaction control systems, including the role
of momentum wheels, magnetorquers, and PID controllers. By diving into the theoretical
framework and practical applications, it has become evident that these systems play a vital
role in maintaining the satellite's orientation, mitigating external disturbances, and optimizing
mission performance. In conclusion, this internship has been a transformative experience,
offering a glimpse into the complexities and opportunities within the realm of single-wheel
reaction mechanisms for satellite attitude control.

Dept. of E&C, KLE Dr. MSSCET, Belagavi. Page 15

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Dept. of E&C, KLE Dr. MSSCET, Belagavi. Page 16