Rapid Design of Deployable Antennas for CubeSats

Transcription

1 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. M. Sakovsky, S. Pellegino, and J. Costantine Rapid esign of eployable Antennas fo CubeSats A tool to elp designes copae and select antenna topologies. xxxxxx A novel etodology fo te apid peliinay design of deployable antennas fo CubeSats is poposed in tis aticle. It uses a gapical epesentation of antenna pefoance, consisting of a set of plots of diffeent pefoance etics against antenna geoety paaetes. Coupled electoagnetic and stuctual design pobles ae addessed easily, enabling te apid and diect copaison of diffeent antenna concepts. Tis appoac is deonstated fo a case study at ultaig fequency (UHF), copaing te pefoance of a dipole, a elix, a conical on, and a conical log spial (CS), all based on dual-atix coposite deployable stuctues. Te initial design space of antenna geoeties is educed by two odes of agnitude to a set of constaint-satisfying designs. A gapical use inteface ipleenting te appoac is pesented, and te accuacy of te etod is biefly addessed. igital Object Identifie 0.09/MAP ate of publication: 4 Febuay 07 EPOYABE ANTENNA ESIGN Te ecent gowt in low-cost access to space toug nanosatellites is poviding te ipetus fo inceasing te capabilities of tese platfos, fo exaple, by inceasing te onboad powe and downlink ates fo applications suc as Eat iaging. CubeSats ae a vey popula platfo, available as coecial, off-te-self kits in sizes tat ae in ultiples of te U unit (a 0-c cube). Te liited size of CubeSats iposes stict volue liitations on all subsystes and paticulaly on low-fequency antennas, wic ave to be folded witin te satellite body and deployed afte te launc. Coon coices fo CubeSat antennas ae onopole/dipole and patc antennas, wic ae bot coeically available. Howeve, tese antennas cannot eet te bandwidt and gain equieents iposed by ig bit-ate applications. Ongoing eseac is addessing tis gap by identifying point designs capable of eeting electoagnetic and packaging equieents siultaneously. Many designs ave been ecoended fo deployable elical antennas including te Helios deployable antenna []. Seveal concepts ave been poposed fo /7 07IEEE apil 07 IEEE Antennas & PoPAgation Magazine

2 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. CubeSat paabolic eflectos including te Ulta-Copact Ka- Band Paabolic eployable Antenna developed at NASA s Jet Populsion aboatoy [] and te es eflecto developed by BS Panto Woks []. A deployable Yagi Uda antenna as also been suggested [4]. In geneal, te design of deployable antennas equies te optiization of pefoance subject to bot electoagnetic and stuctual constaints. Te estiation of electoagnetic pefoance is usually caied out wit nueical siulatos, suc as ANSYS Electonics esktop [5], CST [6], and FEKO [7]. esigne intefaces, including a catalog of vaious antenna stuctues, ave been added to seveal siulation tools, suc as te Antenna Magus tool [8], an add-on inteface to CST and FEKO, and te ANSYS HFSS Antenna esign Kit [5]. Even wit tese aids, an electoagnetic pefoance optiization and a concept copaison ust still be caied out anually. Stuctual siulations ae also necessay, usually caied out wit finite eleent softwae, suc as Abaqus [9]. In te stuctues and ateials counity, existing databases of ateial popeties allow ecanical enginees to quickly copae ateial pefoance. An exaple is te CES Selecto, wic copaes ateials by gapically epesenting tei pefoance accoding to diffeent etics [0], []. No existing tools conside deployent concepts, wic is a paaete citical to te pesent application. Futeoe, consideing electoagnetic and stuctual equieents sepaately esults in any iteations to coplete te design. Tese gaps ae addessed ee toug a novel etodology fo coupled electoagnetic and stuctual design of deployable antennas, fo te specific case of CubeSats. A tecnique fo te gapical epesentation of antenna pefoance as a function of geoety using a set of two-diensional plots is pesented, wic allows any antenna concepts to be diectly copaed. Tese plots allow designes to quickly naow down te design space to te antenna geoeties tat eet all te equieents. METHOOOGY Te poposed apid design etodology consists of te following steps: ) identifying a set of antenna concepts elevant to te paticula application of inteest ) fo eac antenna type, identifying one o oe stuctual acitectues and packaging scees ) obtaining, fo eac antenna concept, design elationsips between te geoety of te antenna and te coesponding electoagnetic and stuctual pefoance paaetes 4) geneating gapical epesentations of te design space, toug plots of eac geoetic design paaete vesus all pefoance paaetes, including all consideed antenna concepts 5) seacing fo a ange of geoetic design paaetes tat allows all equieents to be et, fo eac of te selected antenna concepts. Tis etodology is pesented fo te specific case of antenna types and packaging scees ecoended fo CubeSats, but it can be extended beyond tis application. (a) (d) (f) (b) ANTENNA TYPES Te antenna types selected fo deonstating te etodology ae sceatically sown in Figue. Te alf-wavelengt dipole as been selected fo pefoance copaison because it is aleady a widely used antenna on CubeSats and can be consideed as te fundaental antenna. Te fixed patc antenna is a nondeployable efeence also available coecially. Te elical and CS antennas ave been identified as potential concepts fo CubeSats in [], and tey exibit good electoagnetic and stuctual pefoance as sown in [] and []. Te conical on and Yagi Uda antennas ave been cosen to epesent fequency opeation beyond te UHF bands [4]. Te space fo te antenna design poble is defined ee as te set of antenna geoeties tat esult in acceptable electoagnetic opeation. Te constaints on te design space ae witten as a function of antenna eigt,, and diaete,. Fo te alf-wavelengt dipole, tee is a unique design fo eac wavelengt,, wit te eigt,, given by =. () Te lengt of te dipole is efeed to ee as te dipole eigt, fo consistency wit ote antenna types. (e) (c) (g) FIGURE. Te geoety of antennas cosen fo te study: (a) dipole, (b) patc, (c) CS, (d) elix, (e) paabolic eflecto, (f) conical on, and (g) Yagi Uda. α θ 0 θ... IEEE Antennas & PoPAgation Magazine apil 07

3 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. Fo te patc antenna, opeation as a boad-side adiato equies tat " t 005., + ', () wee t is te patc tickness. Equivalent constaints on esult in a oe coplex expession. Te constaints fo te elix ae deived fo te desied opeation in te endfie ode wit cicula polaization [4]. Te ain design paaetes ae te diaete, conducto pitc, and nube of tuns of te elix, wic can be expessed in tes of te diaete and eigt ' = + ' tanc 0 tan 4c. () 4 Geoeties fo te conical on antenna and te paabolic eflecto ae defined to iniize antenna losses [4]. Fo te on, tan tan $ 5c 0c. + ' = c -` j. (4) Fo te eflecto, " 065. e 080., " 50, (5) ap + wee e ap is te apetue efficiency, used ee as explicit constaints on te eflecto eigt ae too coplex. Fo te CS, tee ae no explicit equations tat define te ange of acceptable geoeties. Teefoe, te expeiental data in [5], pesented in tes of te cone angle, i, and wap angle of te conductos aound te cone, a, is used. Typical constaints on tese paaetes, to acieve a diectional adiation patten, ae " c i 45c, + " 45c a 90c,. (6) Given i and a, te uppe and lowe adii of te cone and its eigt can ten be intepolated fo expeiental data. Finally, to acieve a diectional adiation patten, te Yagi Uda aay is typically designed suc tat [0] " , + " 0. 6,. (7) STRUCTURA ARCHITECTURES AN PACKAGING SCHEMES Stuctual acitectues tat allow efficient packaging exist fo all of te afoeentioned antennas; ost of wic ae developed specifically fo CubeSats. A siple acitectue, suitable fo te dipole antenna, is a single ecanical inge suppoting a stiff conducting eleent. Te inge allows te conducting eleent to be folded paallel to te wall of te CubeSat. A siple and popula altenative is te etallic tape-sping (i.e., a stuctue siila to a tape easue) tat is elastically bent nea te oot to fold te est of te tape sping paallel to te CubeSat, as in [6]. Tape spings can also be used to fold linea aays suc as te Yagi Uda antennas [8]. A oe coplex acitectue, suitable fo te elix antenna, is a cylindical lattice stuctue of nonconducting, stuctual elices connected to conducting elices by scisso joints. Tis stuctue beaves as a elical pantogap [] and teefoe as a soft defoation ode tat allows axial copaction [Figue (a)]. Altenatively, elical conductos can be suppoted at te base and copacted axially via otation, esulting in coiling of te conductos aound te base, as in [] and [7] [Figue (b)]. Anote appoac uses dual-atix coposite tin sells ade fo lainated tin seets of continuous quatz fibes ebedded in two diffeent plastic ateials a stiff epoxy esin and a soft elastoe tat suppot a set of ebedded conducting eleents []. Te egions wit soft elastoe atix fo inge egions aanged accoding to an oigai fold patten tat allows te sells to be folded tigtly witout daaging te fibes. Copaction in a single diection can be acieved using te Z-folding patten [Figue (c)], and copaction in two diections can be acieved using te Miua Oi oigai patten. Paabolic eflecto antennas equie unique packaging scees due to te doubly cuved suface of te ain dis. Typically, tese consist of a es conducto saped by suppoting cuved ibs. Te ibs can be igid wit seveal inges allowing te to fold alongside a cental ub suppoting te antenna feed ([Figue (d)] []. Altenatively, te ibs can be elastic, allowing te es to wap aound te cental ub using an oigai packaging scee [Figue (e)] []. Table suaizes te antenna concepts used in te pesent study. PREICTING ANTENNA PERFORMANCE Having paaetized te geoety of te cosen antennas in tes of two coon paaetes, and, te pefoance of eac antenna can be pedicted. Te electoagnetic pefoance is caacteized by tee etics: axiu antenna gain, factional bandwidt, and polaization. Tese etics can be coputed fo textbook equations [4] and expeiental data [5]. Te factional bandwidt fo te on is deived fo te pefoance ange of coecially available antennas. Tese esults ae suaized in Table. It is ipotant to note tat te electoagnetic pefoance of te cosen antennas depends also on nongeoetic paaetes, including ateial popeties, te feeding tecnique, and vaious ote factos. Howeve, in an initial design, it is acceptable to pedict pefoance based only on geoety; aking specific, altoug peliinay, assuptions about tese vaious effects is sufficient. Te key etic fo stuctual pefoance of a deployable antenna is its ability to acieve and aintain its deployed configuation, wic is best captued by te stiffness of te deployed stuctue in its softest ode of defoation. Te fundaental fequency of vibation in te deployed configuation captues tis effect and is, teefoe, a key design etic. Futeoe, te packaging pefoance associated wit a given folding scee is caacteized by te diensions of te envelope of te folded stuctue. In addition, a packaging atio is intoduced to easue te atio of te enclosed volues in te deployed and folded configuations. 4 apil 07 IEEE Antennas & PoPAgation Magazine

4 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. Conducting Helices Rigid Sell Elastoe Hinges Suppot Helices Conducto (a) Feed Suppot Hinges Rigid Ribs (b) (c) Copliant Ribs (d) (e) Conductive Mes FIGURE. Packaging scees fo CubeSat antennas: (a) te elical pantogap, (b) coilable conductos, (c) dual-atix coposite sells, (d) inged ibs, and (e) te wapped es. ipole X X TABE. A SUMMARY OF ANTENNA AN EPOYMENT ARCHITECTURES used in te pesent study. Hinge Tape-Spings Helical Pantogaps Z-Folded Sells Miua Oi Sells Coilable Conductos Hinged Ribs Wapped Mes Helix X X X X CS X X Hon X X Patc Reflecto X X Yagi Uda X TABE. THE ESIGN EQUATIONS FOR EECTROMAGNETIC PERFORMANCE METRICS. Antenna Type Gain, G Factional Bandwidt, BW (%) Polaization Half-wavelengt dipole.64 inea Single elix 5( ) 56 Cicula CS Intepolated fo expeiental data in [5] Intepolated fo expeiental data in [5] Cicula Conical on Patc Reflecto Yagi Uda 0 log` j -,;, =. 9 fo optiu 40 BW 75 inea/cicula e - t inea/cicula ` j 5Gad e ` j eap Intepolated fo expeiental data in [0] 5 BW 0 Vaious Intepolated fo expeiental data in [0] inea IEEE Antennas & PoPAgation Magazine apil 07 5

5 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. TABE. THE ESIGN EQUATIONS FOR STRUCTURA PERFORMANCE METRICS. Antenna Type Folding Scee Packaged iensions,,, Packaging Ratio, p Fundaental Fequency, f0 ipole Hinge = ; = = wie. 56 EI Tape-spings tl = ; i = = wie Helix Helical pantogaps Coilable conductos Z-Folding Miua Oi = = a ` j + ` j-` j N = wie = Nwie = = ( ) + ` j -4 N wie wie E Nwie 4N t( + o) ; = = ; ti i = C E - C = 50 8 ta( o ) ; tan = = = z + i i j Conic on/cs Z-Folding g cot i = 8 + ` - j Miua Oi ` -cos i 0 jb i g cot i i0 = sin ; = ti i g tan ; tan i = i = i0 = g = = i tan = z + + i j 4 Patc Fixed = ; = ; = t Reflecto Hinged ibs Wapped es = = 0 = tan - ` j - 6 = i = = ub + tcot i C C = i 4 4sin i ` - ` jj 5 4 wee tan i = E t( -o ) a Et t( -o ) a = f ` j can be found in [9] in t E g c, t g E 8 ub tub( + o) g g = f( i0) can be found in [4] Yagi Uda Tape-spings = wie ^ + = wie; = wie wie( + ) 0. 6 Et t wie l 6 apil 07 IEEE Antennas & PoPAgation Magazine

6 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. A suay of te equations used to copute te stuctual pefoance is pesented in Table. Te fundaental fequency of te vibation of eac antenna as been appoxiated using equations available in [9]. Te packaged lengts and packaging atios ave been deived fo [] o coputed diectly. Te stuctual etics depend on te geoety as well as ateial paaetes fo wic specific assuptions ae ade based on existing antenna pototypes. Tese include te Young s odulus, E, Poisson s atio, o, linea/aeal density, t, te nube of tuns in te elix, N, te nube of panels in te packaging scee, ij,, along te axis and te cicufeence of te antenna, te Miua Oi panel angle, z, te conducto diaete, wie, and te cental ub diaete, ub. Fo Concepts :n POTS OF PERFORMANCE METRICS Te design poble is foulated as follows. Given a desied opeating fequency fo te antenna, one calculates te coesponding wavelengt. Ten, a set of n antenna concepts is selected, and pefoance etics ae Antenna coputed witin fou nested loops as a function of and, as illustated in Figue. Te liits in, ax, in, and ax ae coputed fo eac antenna concept using te constaints in te Antenna Types section, and te etics ae evaluated using te equations in Tables and. Note tat tis is a bute-foce appoac, wic can be sped up only toug coase discetization of te ange of and fo eac antenna. A oe efficient algoit will be developed in te futue to accoodate copaisons between a lage nube of concepts. Te algoit in Figue geneates te set of plots sown in Figue 4; te layout of wic is inspied by Asby s quad-cats [0]. Figue 4(a) and (b) sow te ange of eac pefoance etic tat can be acieved, fo eac antenna, by vaying te antenna eigt. Siilaly, Figue 4(c) and (d) sow te effects of vaying te antenna diaete. Fo eac antenna, te locus of pefoance is sown as an ellipse, altoug te egion ay be nonconvex o disjoint. Moving acoss Figue 4, te y-axis value eains constant, weeas oving down, te x-axis eains constant. Tis allows te tacking of a paticula design of a cosen antenna acoss te wole cat, as illustated by eans of ed stas in Figue 4. In eac plot, te saded ectangles identify te egion of te antenna pefoance tat satisfies Antenna Heigt () Antenna iaete () Antenna Fo Metics : Antenna (a) (c) Fo in : ax Antenna Possible esign Metic Antenna Antenna Metic Fo in : ax Meets Requieents Copute Metic FIGURE. Te algoit fo estiating antenna pefoance. Antenna Heigt () Antenna iaete () Plot Metic Vesus and Antenna Antenna Antenna Antenna Metic (b) Antenna Antenna Metic (d) FIGURE 4. (a) (d) A sceatic cat fo copaing antenna pefoance. a equieent pescibed fo tat etic. Tose pats of te elliptical loci tat lie witin te saded egion epesent designs tat satisfy te equieents fo tat etic. By looking acoss seveal plots, as well as up and down, designes can find subsets of te design space tat eet te equieents on all etics. Teefoe, te final esult is a set of antenna geoeties, paaeteized in tes of and, tat ae capable of eeting all equieents. Tis set can be used fo a follow-on, detailed optiization. PREIMINARY ESIGN TOO A design inteface is developed to ipleent te suggested etodology in MATAB. Te tool allows one to ente te equieents fo te design poble and te antenna concepts to be copaed, as sown in Figue 5. Te use can copae diffeent antenna types o a single antenna packaged using seveal scees, fo an abitay nube of paaetes. Te tool allows designes to select and copae vaious antenna topologies against ultiple deployent appoaces befoe selecting an optial solution tat will ten be odeled using any of te IEEE Antennas & PoPAgation Magazine apil 07 7

7 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. FIGURE 5. Te concept selection tool input sceen. nueical siulatos available fo detailed adiation caacteistic and electoagnetic pefoance evaluation. As a esult, te tool educes te selection and copaison tie in te peliinay design stages. UHF ANTENNA ESIGN CASE STUY A case study of a UHF antenna opeating at 450 MHz is pesented to deonstate te etodology. Te antenna concepts copaed ae ) a dipole packaged using a ecanical inge and ) a elix, CS, and on all packaged using Z-folding. Te following equieents ae pescibed on te design: a gain in excess of 5 db, a fundaental stuctual fequency ige tan 0. Hz, a packaged antenna fitting in a ^ U CubeSat TABE 4. THE ESIGN AN OPTIMIZATION SPACES FOR te UHF CASE STUY. Antenna Acitectue Oiginal esign Space () ipole inge = 0. = Single elix Z-folding = 0. Conical on Z-folding CS Z-folding Optiization Space () oes not eet equieents = 0. oes not eet equieents (0# 0# 5 c volue), and a axiu bandwidt. Te equieents define a coupled electoagnetic and stuctual design poble appopiate fo te afoeentioned etodology. Te geoetic constaints on te eigt and diaete ae calculated fo (), (), (4), and (6), espectively, fo te fou antennas and ae given in te second colun of Table 4. Te gain, factional bandwidt, fundaental fequency, and packaged diensions ae coputed fo te equations in Tables and, fo te full ange of geoetic paaetes. Tese etics ae plotted against te antenna geoety as descibed in te Plots of Pefoance Metics section, and te esult is sown in Figue 6. To select specific antenna acitectues tat eet all te equieents, stat fo Figue 6(a). Tis plot identifies designs eeting te gain equieent; teefoe, te egion wit gain ige tan 5 db (.6 diensionless) is saded gay in te plot. Te locus fo te dipole antenna (wic is a single point) falls outside te saded aea, indicating tat it does not eet te gain equieent. Note also tat te entie locus fo te conical on antenna falls inside te saded aea, sowing tat it eets te gain equieent. Regading te loci fo te single elix and te CS, only subsets fall witin te saded aea. Te eigt anges coesponding to tese subsets identify viable CS antennas, wit any eigt, and elical antennas wit 0... Moving to te igt fo Figue 6(a), te sae pocess can be epeated fo plots in Figue 6(b) (f). Figue 6(b) iposes no new constaints on te design as no equieent is specified fo te bandwidt. Howeve, it can be seen tat te CS axiizes te factional bandwidt. In Figue 6(c), it is found tat only conical on antenna eigts in te ange 4.. eet te stuctual fequency equieent, weeas tee is no liitation on te elical and CS antennas. Poceeding to Figue 6(d), intoducing a constaint on te lagest packaged lengt of 0., eliinates te conical on antenna (indicating tat te cosen packaging scee is not acceptable). Of te eaining two viable concepts, te caacteistic lengt equieent is et by elical antennas wit and CS antennas wit Siilaly, Figue 6(e) iposes tat 0.. fo te CS. No additional constaints ae given by Figue 6(f). Te analysis of te fist ow of plots in Figue 6 as led to te conclusion tat te dipole and conical on cannot eet all te equieents. At tis point, an analysis siila to tat descibed peviously, but using Figue 6(g) (l), povides te ange of viable diaetes fo te elix and CS. Te outcoe of te analysis is te and anges eeting all equieents pesented in te 8 apil 07 IEEE Antennas & PoPAgation Magazine

8 05 Helix apil Antenna Heigt () 05 (i) Stuctual Fequency (Hz) (j) () (d) () (k) () (e) () (l) () 0 (f) () 0 FIGURE 6. (a) (l) Te concept selection cat fo te design of a ig-pefoance UHF antenna opeating at 450 MHz tat folds in alf of a U CubeSat. Te ed and black dots indicate elix and CS antennas, espectively, designed using nueical siulations. () (c) Stuctual Fequency (Hz) (b) Factional Bandwidt (%) (g) ipole Helix CS 0 Factional Bandwidt (%) Gain (iensionless) (a) Gain (iensionless) ipole CS Hon Hon IEEE Antennas & Popagation Magazine Antenna iaete () 0 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. 9

9 Tis aticle as been accepted fo inclusion in a futue issue of tis jounal. Content is final as pesented, wit te exception of pagination. tid colun of Table 4. At tis point, detailed siulations can be caied out to coplete te design optiization. Antenna designs geneated independently via nueical siulations in ANSYS HFSS fo tis case study ae denoted by ed and black akes in Figue 6 fo te elix and CS antennas, espectively. A good ageeent is seen between tese and te designs tat ae pesented by te etodology ee. CONCUSIONS A etodology fo te apid peliinay design of deployable antennas fo CubeSats is poposed. Using a novel visual epesentation etod of antenna pefoance consisting of a coodinated set of plots of antenna pefoance etics against te antenna geoetic paaetes, it can easily addess coupled electoagnetic and stuctual design pobles. Tis appoac enables a diect copaison of antenna concepts and allows te designe to apidly identify concepts tat eet equieents and to naow down te design space befoe tackling te poble wit detailed nueical siulations. Te design of a UHF antenna opeating at 450 MHz is used to deonstate te etod. Te tecnique eliinates antenna designs unable to eet equieents, wic acieves a eduction of te oiginal design space by seveal odes of agnitude. Te esults agee well wit te antenna designs optiized using nueical siulations. Te etodology is deonstated using a elatively sall nube of antenna types, packaging scees, and pefoance etics. Howeve, te etod itself is quite geneal and can be extended fute. Fo exaple, an antenna ass pefoance etic and ateial selection can be incopoated in te tool. Te softwae tool tat as been developed could also be cobined wit existing databases of antenna and stuctual pefoances to povide apid designs ove uc lage design spaces. ACKNOWEGMENTS Tis eseac was suppoted by te Ai Foce Office of Scientific Reseac (awad no. FA ). AUTHOR INFORMATION M. Sakovsky (sakovsk@caltec.edu) is wit te Gaduate Aeospace aboatoies at te Califonia Institute of Tecnology, Pasadena. He eseac inteests lie in deployable coposite stuctues fo space applications. S. Pellegino (segiop@caltec.edu) is wit te Gaduate Aeospace aboatoies at te Califonia Institute of Tecnology, Pasadena. His cuent eseac inteests include te ecanics of ligtweigt stuctues, wit a focus on packaging, deployent, sape contol, and stability. J. Costantine (jcostantine@ieee.og) is wit te Electical and Copute Engineeing epatent, Aeican Univesity of Beiut, ebanon, and also wit COSMIAC, Albuqueque, New Mexico. His ajo eseac inteests ae in econfiguable antennas fo wieless counication systes, cognitive adio, antennas fo bioedical applications and deployable antennas fo sall satellites. REFERENCES [] Helios Counication Tecnologies. Helios deployable antenna. [Online]. 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