Is this project an undergraduate, graduate, or faculty project?
Undergraduate
Project Type
group
Campus
Daytona Beach
Authors' Class Standing
John Olafson, Senior Jasmine Johnson, Senior Sean Miller, Senior Bryce Henson, Senior Michael Murphy, Senior
Lead Presenter's Name
John Olafson
Faculty Mentor Name
Dr. MacKunis
Abstract
Attitude Determination and Control Systems (ADCS) are used to detect and alter the orientation of spacecraft in orbit. Most spacecraft contain ADCS, but they are especially important for satellites whose onboard instruments require a high degree of directional precision. In satellites, reaction wheels are commonly used as the actuators of the control system. The goal of our capstone project is to apply the same technology to a ground-based system. The Balancing Reactive Inertia Cube (BRIC) is a self-contained cube that uses reaction wheels to balance on a corner. This project is inspired by the Cubli created by the Institute for Dynamic Systems and Control at ETH Zurich. Our project mostly focuses on a prototype that limits the system to a single dimension. The system can be dynamically modeled as an inverted pendulum and using a Linear Quadratic Regulator (LQR) control model we can efficiently achieve inverted balance using an 8-bit microcontroller.
Did this research project receive funding support (Spark, SURF, Research Abroad, Student Internal Grants, Collaborative, Climbing, or Ignite Grants) from the Office of Undergraduate Research?
No
Balancing Reactive Inertia Cube
Attitude Determination and Control Systems (ADCS) are used to detect and alter the orientation of spacecraft in orbit. Most spacecraft contain ADCS, but they are especially important for satellites whose onboard instruments require a high degree of directional precision. In satellites, reaction wheels are commonly used as the actuators of the control system. The goal of our capstone project is to apply the same technology to a ground-based system. The Balancing Reactive Inertia Cube (BRIC) is a self-contained cube that uses reaction wheels to balance on a corner. This project is inspired by the Cubli created by the Institute for Dynamic Systems and Control at ETH Zurich. Our project mostly focuses on a prototype that limits the system to a single dimension. The system can be dynamically modeled as an inverted pendulum and using a Linear Quadratic Regulator (LQR) control model we can efficiently achieve inverted balance using an 8-bit microcontroller.