Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth’s Magnetic Field Generation Based on 2.4-Meter Square Helmholtz Coils

Jormpon Chaisakulsurin, Shariff Manuthasna, Tanawish Masri, Thanayuth Panyalert, Kritsada Palee, Pakawat Prasit, Patcharin Kamsing, Peerapong Torteeka

Abstract:	Abstract—This paper proposes a Hardware-in-the-Loop simulation (HiLs) tested via square Helmholtz coils as a relative magnetic field generator. In technical terms, the HiLs is an indispensable tool for engineering design during rapid prototyping of attitude determination and control algorithms for the turning parameters that control the attitude of the satellite, since most of the satellite’s mission relies on its attitude, making this system one of the most essential to the satellite’s operation. Moreover, performing controlled experiments with the parameters for developing adaptive control algorithms improves the overall efficiency of the satellite’s kinematic system. The conceptual design of a proposed system architecture can be composed of the electrical currents of 2.4-meter square Helmholtz coils produced by a low-level microcontroller equipped with a DC-motor driver by a pulse-width modulation (PWM) signal through real-time connection to an orbit propagator using a high-level computer. This research focuses on the attitude dynamic of satellites through the interaction between the Earth’s magnetic field (EMF) and the magnetotorque in the satellite. To apply this phenomenon, the intensity and the direction of the magnetic field must be identified through Biot–Savart’s law. Along with the EMF, the reference position is calculated using the standard general perturbations satellite orbit model (SGP4), and the intensity is modeled based on coefficients from the 13th edition of the International Geomagnetic Reference Field (IGRF). Therefore, this paper presents a detailed development of a HiLs testbed for distributed attitude determination and control systems (hardware and software codesign, protocol, and control theory). Furthermore, it discusses a classic cooperative control case for the output of magnetic field intensity and direction, which was undertaken to explain the integrated simulation process and validate the effectiveness of the co-simulation tested to be a primary experiment. Keywords—Earth’s Magnetic Field simulation, Helmholtz coils, Biot–Savart’s law, Attitude control system, HiLs
Published in:	2023 IEEE/ION Position, Location and Navigation Symposium (PLANS) April 24 - 27, 2023 Hyatt Regency Hotel Monterey, CA
Pages:	829 - 834
Cite this article:	Chaisakulsurin, Jormpon, Manuthasna, Shariff, Masri, Tanawish, Panyalert, Thanayuth, Palee, Kritsada, Prasit, Pakawat, Kamsing, Patcharin, Torteeka, Peerapong, "Hardware-in-the-Loop Simulation Testbed for Three-Axis Earth’s Magnetic Field Generation Based on 2.4-Meter Square Helmholtz Coils," 2023 IEEE/ION Position, Location and Navigation Symposium (PLANS), Monterey, CA, April 2023, pp. 829-834. https://doi.org/10.1109/PLANS53410.2023.10139939
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