Slide 1Slide 2PID Control LawPID Control Law Response TimesSlide 5Slide 6Slide 7DATASlide 9Slide 10Slide 11Slide 12Slide 13Slide 14Slide 15Slide 16Slide 17Slide 18Slide 19Slide 20Slide 21Slide 22Slide 23Slide 24Slide 25Slide 26Slide 27Slide 28Slide 29Slide 30Slide 31Slide 32Slide 33Slide 34Slide 35Slide 36Slide 37Slide 38Slide 39Slide 40Slide 41Slide 42Slide 43Slide 44Slide 45Slide 46Slide 47Slide 48Slide 49Slide 50Slide 51Slide 52Slide 53Slide 54Slide 55Slide 56Slide 57Slide 58Slide 59Slide 60Slide 61Slide 62Slide 63Slide 64Slide 65Slide 66Slide 67Slide 68Slide 69Slide 70Slide 71Slide 72Slide 73Slide 74Slide 75Slide 76Slide 77Slide 78Slide 79Slide 80Slide 81Slide 82Slide 83Slide 84Slide 85Slide 86Slide 87Slide 88Slide 89Slide 90Slide 91Slide 92Slide 93Slide 94Slide 95Slide 96Slide 97Slide 98Slide 99Slide 100Slide 101Slide 102Slide 103Slide 104Slide 105Slide 106Slide 107Slide 108Slide 109Slide 110Slide 111Gateway To SpaceASEN / ASTR 25003PID Control Law•Proportional, Integral, Derivative (PID)–Used to control single axis•One PID controller for each axisKdKpwerrqerrtcmdKiqierrwerr = rate errorqerr = attitude errorqierr = integrated attitude errorLimiter Att Gain Integrator Limiter Int Att GainRate Gain+++4-1-0.75-0.5-0.2500.250.50.7510 10 20 30 40 50 60Time (sec)Attitude Error (Deg)No Damping Lightly Damped Heavily DampedPID Control Law Response TimesZero Rate Gain = No DampingSmall Rate Gain = Light DampingLarge Rate Gain = Heavy Damping56DEMO8DATA9Colorado Space Grant ConsortiumColorado Space Grant ConsortiumGateway To SpaceASEN / ASTR 2500Class #1Gateway To SpaceASEN / ASTR 2500Class #1Today- Introductions- What to expect from this course- Format for this course-“How to get an A”- PicturesClass SizeWho’s Out There?What this class takes...How was the first day?Space?Space ClipWhat to expect…- 15th time teaching this courseWhat to Expect?- I have a unique teaching style- I teach like I wish I had been taught- Sense of humorWhat to expect from this class:-If you are not here because you want to be here, then leave…-If you are here because you think this will be easier than GEEN 1400, then leave…-If you are here because you think this will be easier than Physics III, then leave…-If you are a slacker, then leave…-But if you want to work hard and achieve something great, then stay…The 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.The Class:Launch a mini-satellite on a high altitude balloon that is designed and built by you and a team of students.The Class:The Class:- Interactive - Interesting- Applicable- FunWhat to expect from this class:-Plan on being here for the full class (75 minutes)-Be ON-TIME-1 Minute Reports Each Class-Attendance-Homework (Only 8) -A lot of work-No cell phones or laptopsSyllabusSyllabus:Syllabus:Syllabus:How to get an A?How 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 earnPlease, Please, Don’t CheatHow to get an A:0510152025Up To 4142 To 4344 To 4546 To 4748To 4950To5152To 5354To5556To 5758 To5960 To6162 To6364To 6566 To6768 To 6970 To7172To 7374 To 7576To 7778 To 7980To 8182 To8384To 8586 To 8788To 8990 To 9192To 9394 To 9596To 9798 To 99100To 101102 To103104To 105106 To 107108To 109110 To111112To113CountASEN/ASTRFINALGRADESS06,F07,F08,F09,F10,&F11F D C B AHow to get an A:Grades are based on a normal 100 point scaleThere is no curveTeam project and participation are based on your team evaluation and instructor evaluationFeedback may be slowGrader –Kristen BrennerCo-Teacher - Lia MatthewsHow to get an A:Grade Breakdown- 30% Coursework- Attendance (33)- 1 Minute Reports (~30) - Homework (1-6,8) - Community service (1)- 05% Homework 7- 10% Final Exam- 10% Team Proposal- 08% Team Presentations (3)- 7.5% Team Design Document (2 Revs)- 13% Team Project and Participation- 16.5% Final Team Report & Presentation 45% You 55% Team- Everyone must do a community service activity- Must be something you are not doing for any other class- Preferred if it is related to this class, your college major, or your interest in space- Community service must be completed before last day of class- Form is on the class website and must be signedCommunity Service:- Attendance will be taken (Signing for friends)-Coming in late… - Communications via email and this class- Travel and sick policyMiscellaneous:Guest SpeakersGuest Speakers:- Be attentive and present- Applaud- Thank you letters- Ask questions - extra credit (within reason) if question is called on and answered [first time for this]-Mutual Respect “Shut up and be quiet”-Office hours 10:45-11:45 T & Th or by appointment-Where to Find Me…-Notes – Take them-Book(s) for courseMiscellaneous:The BookBook(s) for course- Typical engineering book cost $100, $90, $80, $70 This Book…- $13.95 - Rocket Boys Homer HickamAlso…Set aside $25 for batteriesMiscellaneous:Book(s) for courseThis Book…- $11.66 - Moondust – In search of the men who fell to Earth Andrew SmithAlso…Set aside $25 for batteriesMiscellaneous:1 Minute Report1 Minute Report:HomeworkHomework:Submit via email- Subject should be in this format“HW XX Lastname Firstinitial”- Send all items to [email protected] Get from WebsiteFirst Homework is…Website:spacegrant.colorado.edu/spaceQuestions?IntroductionsWho is this Guy?Who is this Guy?Who is this Guy?What Experience Do You Have?Intern at Ballsummer of 1991Worked with Bob PoleyWorked on RADARSATGraduated from CU in December 1992 with B.S. in Aerospace EngineeringGraduated from CU in December 1994 with M.S. in Mechanical EngineeringWho is this Guy?What Did You Do After College?Worked at Lockeed Martin from March 1995 until May 2000What Did You Do At Martin?- Classified satellite- 1,000 people on program- Youngest - Reaction Control System Mechanical Design Lead- Design done in IDEAS - Released over 100 engineering drawings- Supervised manufacture, assembly, integration and test for 5 satellite builds- Last two years, Mechanical Design Lead for the Antenna systems- Also worked on Stardust and Genesis - Worked with many different disciplines and peopleWhat Did You Do At Martin?Why Did You Leave?- Many reasons1.