Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems
Attitude control is essential for the operation of satellites, especially in low-cost missions that employ compact technologies such as magnetorquers. To validate these systems, a ground based testing environment capable of accurately simulating the magnetic field to which the satellite will be expo...
- Autores:
-
Romero Florez, Anderson
- Tipo de recurso:
- Trabajo de grado de pregrado
- Fecha de publicación:
- 2025
- Institución:
- Universidad de Antioquia
- Repositorio:
- Repositorio UdeA
- Idioma:
- eng
- OAI Identifier:
- oai:bibliotecadigital.udea.edu.co:10495/48157
- Acceso en línea:
- https://hdl.handle.net/10495/48157
- Palabra clave:
- Artificial satellites - Attitude control systems
Satélites artificiales - Sistemas de control de actitud
Hardware-in-the-loop simulation
Simulación de hardware en el bucle
Cosmic magnetic fields
Campos magnéticos cósmicos
Machine learning
Aprendizaje automático
Helmholtz cage
http://id.loc.gov/authorities/subjects/sh85008207
http://id.loc.gov/authorities/subjects/sh2012002849
http://id.loc.gov/authorities/subjects/sh85079706
http://id.loc.gov/authorities/subjects/sh85079324
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-sa/4.0/
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Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| title |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| spellingShingle |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems Artificial satellites - Attitude control systems Satélites artificiales - Sistemas de control de actitud Hardware-in-the-loop simulation Simulación de hardware en el bucle Cosmic magnetic fields Campos magnéticos cósmicos Machine learning Aprendizaje automático Helmholtz cage http://id.loc.gov/authorities/subjects/sh85008207 http://id.loc.gov/authorities/subjects/sh2012002849 http://id.loc.gov/authorities/subjects/sh85079706 http://id.loc.gov/authorities/subjects/sh85079324 |
| title_short |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| title_full |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| title_fullStr |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| title_full_unstemmed |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| title_sort |
Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems |
| dc.creator.fl_str_mv |
Romero Florez, Anderson |
| dc.contributor.advisor.none.fl_str_mv |
Puerta Ibarra, Juan Francisco |
| dc.contributor.author.none.fl_str_mv |
Romero Florez, Anderson |
| dc.contributor.researchgroup.none.fl_str_mv |
Aerospace Science and Technology ReseArch (ASTRA) |
| dc.subject.lcsh.none.fl_str_mv |
Artificial satellites - Attitude control systems Satélites artificiales - Sistemas de control de actitud Hardware-in-the-loop simulation Simulación de hardware en el bucle Cosmic magnetic fields Campos magnéticos cósmicos Machine learning Aprendizaje automático |
| topic |
Artificial satellites - Attitude control systems Satélites artificiales - Sistemas de control de actitud Hardware-in-the-loop simulation Simulación de hardware en el bucle Cosmic magnetic fields Campos magnéticos cósmicos Machine learning Aprendizaje automático Helmholtz cage http://id.loc.gov/authorities/subjects/sh85008207 http://id.loc.gov/authorities/subjects/sh2012002849 http://id.loc.gov/authorities/subjects/sh85079706 http://id.loc.gov/authorities/subjects/sh85079324 |
| dc.subject.proposal.eng.fl_str_mv |
Helmholtz cage |
| dc.subject.lcshuri.none.fl_str_mv |
http://id.loc.gov/authorities/subjects/sh85008207 http://id.loc.gov/authorities/subjects/sh2012002849 http://id.loc.gov/authorities/subjects/sh85079706 http://id.loc.gov/authorities/subjects/sh85079324 |
| description |
Attitude control is essential for the operation of satellites, especially in low-cost missions that employ compact technologies such as magnetorquers. To validate these systems, a ground based testing environment capable of accurately simulating the magnetic field to which the satellite will be exposed during operation is required. Currently, the University of Antioquia has a Helmholtz cage that can generate a homogeneous magnetic field; however, it has not yet been integrated into a functional testing environment. This project aims to implement and verify an experimental environment based on a Helmholtz cage for the evaluation of atti tude control systems. Initially, the magnetic field generated by the cage will be characterized to identify its effective testing area. Then, orbital simulations will be performed to obtain the satellite’s position and calculate the magnetic field of the Earth to which it is exposed, which will then replicate in the cage through a voltage control system that ensures fidelity in the testing environment. In addition, a test platform will be developed, including the ins trumentation, circuitry, and test protocols necessary to use the Helmholtz cage. This project not only addresses a technical challenge but also establishes a solid foundation for future research and academic activities related to satellite attitude control and the improvement of the experimental environment. |
| publishDate |
2025 |
| dc.date.accessioned.none.fl_str_mv |
2025-11-07T16:22:27Z |
| dc.date.issued.none.fl_str_mv |
2025 |
| dc.type.none.fl_str_mv |
Trabajo de grado - Pregrado |
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http://purl.org/coar/resource_type/c_7a1f |
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http://purl.org/redcol/resource_type/TP |
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Text |
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http://purl.org/coar/version/c_b1a7d7d4d402bcce |
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info:eu-repo/semantics/bachelorThesis |
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info:eu-repo/semantics/draft |
| format |
http://purl.org/coar/resource_type/c_7a1f |
| status_str |
draft |
| dc.identifier.citation.none.fl_str_mv |
Romero Florez, A. “Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems”, Bachelor’s degree project, Aerospace Engineering, Universidad de Antioquia, El Carmen de Viboral, Antioquia, Colombia, 2025. |
| dc.identifier.uri.none.fl_str_mv |
https://hdl.handle.net/10495/48157 |
| identifier_str_mv |
Romero Florez, A. “Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems”, Bachelor’s degree project, Aerospace Engineering, Universidad de Antioquia, El Carmen de Viboral, Antioquia, Colombia, 2025. |
| url |
https://hdl.handle.net/10495/48157 |
| dc.language.iso.none.fl_str_mv |
eng |
| language |
eng |
| dc.relation.references.none.fl_str_mv |
R. C. da Silva, I. S. K. Ishioka, C. Cappelletti, S. Battistini, and R. A. Borges, “Helmholtz cage design and validation for nanosatellites HWIL testing,” IEEE Transactions on Aerospace and Electronic Systems, vol. 55, no. 6, pp. 3050–3061, 2019. S. S. Nudehi, U. Farooq, A. Alasty, and J. Issa, “Satellite attitude control using three reaction wheels,” in 2008 American Control Conference. IEEE, 2008, pp. 4850–4855. S. A. Z. Gil, S. Z. Henao, S. L. Serna, L. F. M. Quintana, J. C. R. Vásquez, J. F. R. Orozco, and M. C. V. Orozco, “Diseño y construcción de Jaula de Helmholtz para la simulación de entornos espaciales,” Poster, Rionegro, Antioquia, Colombia, 2022, asesor: Jorge M. Zamora Vélez. F. Piergentili, G. P. Candini, and M. Zannoni, “Design, manufacturing, and test of a real-time, three-axis magnetic field simulator,” IEEE Transactions on Aerospace and Electronic Systems, vol. 47, no. 2, pp. 1369–1379, 2011. P. G. Haddox, “The development of a hardware-in-the-loop attitude determination and control simulator for IlliniSat-2,” in 52nd Aerospace Sciences Meeting, 2014, p. 0007. S. P. Hughes, “General mission analysis tool (gmat),” NASA, Tech. Rep., 2016. S. P. Hughes, D. J. Conway, and J. Parker, “Using the general mission analysis tool (GMAT),” in AAS Guidance and Control Conference, no. GSFC-E-DAA-TN39043, 2017. A. Chulliat, W. Brown, P. Alken, C. Beggan, M. Nair, G. Cox, A. Woods, S. Macmillan, B. Meyer, and M. Paniccia, “The US/UK world magnetic model for 2020-2025: Technical report,” NOAA, 2020. R. Boynton, “Using a spherical air bearing to simulate weightlessness,” Weight Enginee ring, vol. 56, no. 2, pp. 37–47, 1996. R. C. d. Silva, F. C. Guimarães, J. V. L. d. Loiola, R. A. Borges, S. Battistini, and C. Cappelletti, “Tabletop testbed for attitude determination and control of nanosatelli tes,” Journal of Aerospace Engineering, vol. 32, no. 1, p. 04018122, 2019. K. K. Tan, S. Huang, W. Liang, A. Al Mamun, E. K. Koh, and H. Zhou, “Development of a spherical air bearing positioning system,” IEEE Transactions on Industrial Electronics, vol. 59, no. 9, pp. 3501–3509, 2011. R. Yeşilay, A. Ankarali, and M. A. Afşar, “A review paper: The dynamics, kinematics, design and control of satellite simulators with spherical air bearing,” in Proceedings of GLOBCER’21, Global Conference on Engineering Research, 2021. D. S. Batista, F. Granziera, M. C. Tosin, and L. F. de Melo, “Three-axial Helmholtz coil design and validation for aerospace applications,” IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 1, pp. 392–403, 2017. A. R. Al-Abri, N. I. Al-Khoori, M. S. Al-Marri, A. A. Al-Hamed, and P. Sreekumar, “Helmholtz cage for attitude testing of cubesat,” in 2022 Advances in Science and En gineering Technology International Conferences (ASET). IEEE, 2022, pp. 1–6. M. Pastena and M. Grassi, “Optimum design of a three-axis magnetic field simulator,” IEEE Transactions on Aerospace and Electronic Systems, vol. 38, no. 2, pp. 488–501, 2002. B. Walleshauser, N. Boerger, and M. C. Bazzocchi, “CubeSat Attitude Control Emu lation Platform with Three-Axis Gimbal and Helmholtz Cage,” IEEE Aerospace and Electronic Systems Magazine, 2025. C. Knospe, “PID control,” IEEE Control Systems Magazine, vol. 26, no. 1, pp. 30–31, 2006. R. P. Borase, D. Maghade, S. Sondkar, and S. Pawar, “A review of PID control, tuning methods and applications,” International Journal of Dynamics and Control, vol. 9, no. 2, pp. 818–827, 2021. P. Ukakimaparn, M. Khwunthong, T. Trisuwannawat, and P. Pannil, “Discrete-time PIDA controller designed by Tustin’s method with and without frequency pre-warping,” in 2018 3rd International Conference on Control and Robotics Engineering (ICCRE). IEEE, 2018, pp. 119–124. D. Maulud and A. M. Abdulazeez, “A review on linear regression comprehensive in machine learning,” Journal of applied science and technology trends, vol. 1, no. 2, pp. 140–147, 2020. H. A. Salman, A. Kalakech, and A. Steiti, “Random forest algorithm overview,” Baby lonian Journal of Machine Learning, vol. 2024, pp. 69–79, 2024. H. Taud and J.-F. Mas, “Multilayer perceptron (MLP),” in Geomatic approaches for modeling land change scenarios. Springer, 2017, pp. 451–455. J. Myers, “pyGeoMag (Version 1.1.0) [Software],” https://pygeomag.readthedocs.io/en/ latest/, Dec 2024, accessed: Sept. 26, 2025. STMicroelectronics, LIS3MDL: Digital output magnetic sensor: ultralow-power, high performance 3-axis magnetometer, datasheet ed., STMicroelectronics, Apr 2019, docID028308 Rev 2. [Online]. Available: https://www.st.com/resource/en/datasheet/ lis3mdl.pdf Arduino. UNO R3. Arduino. [Online]. Available: https://docs.arduino.cc/hardware/ uno-r3/ P. Developers. (2025) PyVISA: Python bindings for VISA library. PyVISA. [Online]. Available: https://pyvisa.readthedocs.io/en/latest/ NASA. (2025) General Mission Analysis Tool (GMAT) Documentation. NASA. [Online]. Available: https://gmat.atlassian.net/wiki/spaces/GW/overview P. Developers. (2021) PySerial (version 3.5) [software]. PySerial. [Online]. Available: https://pypi.org/project/pyserial/3.5/ Fritzing Project. (2025) Fritzing: The Easy-to-Use PCB Design Software. Fritzing. [Online]. Available: https://fritzing.org/ F. Pedregosa, G. Varoquaux, A. Gramfort, V. Michel, B. Thirion, O. Grisel, M. Blondel, P. Prettenhofer, R. Weiss, V. Dubourg, J. Vanderplas, A. Passos, D. Cournapeau, M. Brucher, M. Perrot, and E. Duchesnay, “Scikit-learn: Machine Learning in Python,” Journal of Machine Learning Research, vol. 12, pp. 2825–2830, 2011. [Online]. Available: http://jmlr.org/papers/v12/pedregosa11a.html |
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Puerta Ibarra, Juan FranciscoRomero Florez, AndersonAerospace Science and Technology ReseArch (ASTRA)2025-11-07T16:22:27Z2025Romero Florez, A. “Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control Systems”, Bachelor’s degree project, Aerospace Engineering, Universidad de Antioquia, El Carmen de Viboral, Antioquia, Colombia, 2025.https://hdl.handle.net/10495/48157Attitude control is essential for the operation of satellites, especially in low-cost missions that employ compact technologies such as magnetorquers. To validate these systems, a ground based testing environment capable of accurately simulating the magnetic field to which the satellite will be exposed during operation is required. Currently, the University of Antioquia has a Helmholtz cage that can generate a homogeneous magnetic field; however, it has not yet been integrated into a functional testing environment. This project aims to implement and verify an experimental environment based on a Helmholtz cage for the evaluation of atti tude control systems. Initially, the magnetic field generated by the cage will be characterized to identify its effective testing area. Then, orbital simulations will be performed to obtain the satellite’s position and calculate the magnetic field of the Earth to which it is exposed, which will then replicate in the cage through a voltage control system that ensures fidelity in the testing environment. In addition, a test platform will be developed, including the ins trumentation, circuitry, and test protocols necessary to use the Helmholtz cage. This project not only addresses a technical challenge but also establishes a solid foundation for future research and academic activities related to satellite attitude control and the improvement of the experimental environment.El control de actitud es esencial para la operación de satélites, especialmente en misiones de bajo costo que emplean tecnologías compactas como los magnetorquers. Para validar es tos sistemas, se requiere un entorno de prueba en tierra capaz de simular con precisión el campo magnético al que estará expuesto el satélite durante su operación. Actualmente, la Universidad de Antioquia cuenta con una jaula de Helmholtz que puede generar un campo magnético homogéneo; sin embargo, aún no se ha integrado en un entorno de prueba funcional. Este proyecto busca implementar y verificar un entorno experimental basado en una jaula de Helmholtz para la evaluación de sistemas de control de actitud. Inicialmente, se caracterizará el campo magnético generado por la jaula para identificar su área de prueba efectiva. Luego, se realizarán simulaciones orbitales para obtener la posición del satélite y calcular el campo magnético terrestre al que está expuesto, el cual se replicará en la jaula a través de un sistema de control de voltaje que garantice la fidelidad en el entorno de prueba. Además, se desarrollará una plataforma de prueba, que incluye la instrumentación, circuitería y protocolos de prueba necesarios para el uso de la jaula de Helmholtz. Este proyecto no solo aborda un desafío técnico, sino que también establece una base sólida para futuras investigaciones y actividades académicas relacionadas con el control de actitud de satélites y la mejora del entorno experimental.COL0164301PregradoIngeniero Aeroespacial73 páginasapplication/pdfengUniversidad de AntioquiaIngeniería AeroespacialDepartamento de Ingeniería MecánicaEl Carmen de Viboral, ColombiaFacultad de IngenieríaCampus El Carmen de Viboralhttp://creativecommons.org/licenses/by-nc-sa/4.0/info:eu-repo/semantics/openAccessAttribution-NonCommercial-ShareAlike 4.0 Internationalhttp://purl.org/coar/access_right/c_abf2Artificial satellites - Attitude control systemsSatélites artificiales - Sistemas de control de actitudHardware-in-the-loop simulationSimulación de hardware en el bucleCosmic magnetic fieldsCampos magnéticos cósmicosMachine learningAprendizaje automáticoHelmholtz cagehttp://id.loc.gov/authorities/subjects/sh85008207http://id.loc.gov/authorities/subjects/sh2012002849http://id.loc.gov/authorities/subjects/sh85079706http://id.loc.gov/authorities/subjects/sh85079324Development of an Experimental Environment Based on a Helmholtz Cage for the Validation of Satellite Attitude Control SystemsTrabajo de grado - Pregradohttp://purl.org/coar/resource_type/c_7a1fhttp://purl.org/redcol/resource_type/TPTexthttp://purl.org/coar/version/c_b1a7d7d4d402bcceinfo:eu-repo/semantics/bachelorThesisinfo:eu-repo/semantics/draftR. C. da Silva, I. S. K. Ishioka, C. Cappelletti, S. Battistini, and R. A. Borges, “Helmholtz cage design and validation for nanosatellites HWIL testing,” IEEE Transactions on Aerospace and Electronic Systems, vol. 55, no. 6, pp. 3050–3061, 2019.S. S. Nudehi, U. Farooq, A. Alasty, and J. Issa, “Satellite attitude control using three reaction wheels,” in 2008 American Control Conference. IEEE, 2008, pp. 4850–4855.S. A. Z. Gil, S. Z. Henao, S. L. Serna, L. F. M. Quintana, J. C. R. Vásquez, J. F. R. Orozco, and M. C. V. Orozco, “Diseño y construcción de Jaula de Helmholtz para la simulación de entornos espaciales,” Poster, Rionegro, Antioquia, Colombia, 2022, asesor: Jorge M. Zamora Vélez.F. Piergentili, G. P. Candini, and M. Zannoni, “Design, manufacturing, and test of a real-time, three-axis magnetic field simulator,” IEEE Transactions on Aerospace and Electronic Systems, vol. 47, no. 2, pp. 1369–1379, 2011.P. G. Haddox, “The development of a hardware-in-the-loop attitude determination and control simulator for IlliniSat-2,” in 52nd Aerospace Sciences Meeting, 2014, p. 0007.S. P. Hughes, “General mission analysis tool (gmat),” NASA, Tech. Rep., 2016.S. P. Hughes, D. J. Conway, and J. Parker, “Using the general mission analysis tool (GMAT),” in AAS Guidance and Control Conference, no. GSFC-E-DAA-TN39043, 2017.A. Chulliat, W. Brown, P. Alken, C. Beggan, M. Nair, G. Cox, A. Woods, S. Macmillan, B. Meyer, and M. Paniccia, “The US/UK world magnetic model for 2020-2025: Technical report,” NOAA, 2020.R. Boynton, “Using a spherical air bearing to simulate weightlessness,” Weight Enginee ring, vol. 56, no. 2, pp. 37–47, 1996.R. C. d. Silva, F. C. Guimarães, J. V. L. d. Loiola, R. A. Borges, S. Battistini, and C. Cappelletti, “Tabletop testbed for attitude determination and control of nanosatelli tes,” Journal of Aerospace Engineering, vol. 32, no. 1, p. 04018122, 2019.K. K. Tan, S. Huang, W. Liang, A. Al Mamun, E. K. Koh, and H. Zhou, “Development of a spherical air bearing positioning system,” IEEE Transactions on Industrial Electronics, vol. 59, no. 9, pp. 3501–3509, 2011.R. Yeşilay, A. Ankarali, and M. A. Afşar, “A review paper: The dynamics, kinematics, design and control of satellite simulators with spherical air bearing,” in Proceedings of GLOBCER’21, Global Conference on Engineering Research, 2021.D. S. Batista, F. Granziera, M. C. Tosin, and L. F. de Melo, “Three-axial Helmholtz coil design and validation for aerospace applications,” IEEE Transactions on Aerospace and Electronic Systems, vol. 54, no. 1, pp. 392–403, 2017.A. R. Al-Abri, N. I. Al-Khoori, M. S. Al-Marri, A. A. Al-Hamed, and P. Sreekumar, “Helmholtz cage for attitude testing of cubesat,” in 2022 Advances in Science and En gineering Technology International Conferences (ASET). IEEE, 2022, pp. 1–6.M. Pastena and M. Grassi, “Optimum design of a three-axis magnetic field simulator,” IEEE Transactions on Aerospace and Electronic Systems, vol. 38, no. 2, pp. 488–501, 2002.B. Walleshauser, N. Boerger, and M. C. Bazzocchi, “CubeSat Attitude Control Emu lation Platform with Three-Axis Gimbal and Helmholtz Cage,” IEEE Aerospace and Electronic Systems Magazine, 2025.C. Knospe, “PID control,” IEEE Control Systems Magazine, vol. 26, no. 1, pp. 30–31, 2006.R. P. Borase, D. Maghade, S. Sondkar, and S. Pawar, “A review of PID control, tuning methods and applications,” International Journal of Dynamics and Control, vol. 9, no. 2, pp. 818–827, 2021.P. Ukakimaparn, M. Khwunthong, T. Trisuwannawat, and P. Pannil, “Discrete-time PIDA controller designed by Tustin’s method with and without frequency pre-warping,” in 2018 3rd International Conference on Control and Robotics Engineering (ICCRE). IEEE, 2018, pp. 119–124.D. Maulud and A. M. Abdulazeez, “A review on linear regression comprehensive in machine learning,” Journal of applied science and technology trends, vol. 1, no. 2, pp. 140–147, 2020.H. A. Salman, A. Kalakech, and A. Steiti, “Random forest algorithm overview,” Baby lonian Journal of Machine Learning, vol. 2024, pp. 69–79, 2024.H. Taud and J.-F. Mas, “Multilayer perceptron (MLP),” in Geomatic approaches for modeling land change scenarios. Springer, 2017, pp. 451–455.J. Myers, “pyGeoMag (Version 1.1.0) [Software],” https://pygeomag.readthedocs.io/en/ latest/, Dec 2024, accessed: Sept. 26, 2025.STMicroelectronics, LIS3MDL: Digital output magnetic sensor: ultralow-power, high performance 3-axis magnetometer, datasheet ed., STMicroelectronics, Apr 2019, docID028308 Rev 2. [Online]. Available: https://www.st.com/resource/en/datasheet/ lis3mdl.pdfArduino. UNO R3. Arduino. [Online]. Available: https://docs.arduino.cc/hardware/ uno-r3/P. Developers. (2025) PyVISA: Python bindings for VISA library. PyVISA. 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