The PEGASES thruster (Plasma Propulsion with Electronegative Gases) is a novel type of electric thruster for space propulsion. It uses negative and positive ions produced by an inductively coupled radio frequency discharge to create the thrust by electrostatically accelerating the ions through a set of grids. A magnetic filter is used to increase the amount of negative ions in the cavity of the thruster. The PEGASES thruster is not only a source to create a strongly negative ion plasma or even an ion-ion plasma but it can also be used as a classical ion thruster. This means that a plasma is created and only the positive ions are extracted and accelerated making it necessary to neutralize the plasma behind the acceleration stage like in other ion thrusters. The performances of the PEGASES thruster have been investigated mainly in xenon in order to compare the obtained results with RIT-type ion thrusters. The thruster has been investigated with the help of a variety of probes such as a Langmuir probe, a planar probe, a capacitive probe and a RPA (Retarding Potential Analyzer). In addition, an ExB probe has been developed to measure the velocity of the ions leaving the thruster and to differentiate between the ion species present in the plasma.

This thesis explores how an Asteroid Sample Return Mission might make use of solar electric propulsion to send a spacecraft on a journey to the asteroid 1989ML and back. It examines different trajectories that can be used to get an asteroid sample return or similar spacecraft to an interplanetary destination and back in the most fuel-efficient manner. While current plans call for keeping such a spacecraft on the asteroid performing science experiments for approximately 90 days, it is prudent to inquire how lengthening or shortening this time period may affect mission fuel requirements. Using optimal control methods, various mission scenarios have been modeled and simulated. The results suggest that the amount of time that the spacecraft may spend on the asteroid surface can be approximated as a linear function of the available fuel mass. Furthermore, It can be shown that as maximum available thrust is decreased, the radial component of the optimal thrust vector becomes more pronounced.

For the upcoming formation flying technology demonstration mission NetSat a relative orbit propagator as well as a relative orbit controller were developed. The formation will consist of four equal nano-satellites with an electric propulsion system for orbit correction manoeuvres. This demands the use of continuous low-thrust models for relative orbit control, which is a novel field. A software framework was developed which allows orbit simulations of the whole fleet in a fully non-linear environment. The final on-board relative propagator is based on the Gim-Alfriend STM and incorporates eccentricity and the non-spherical shape of the Earth. The controller uses control Lyapunov function-based design and model predictive control, depending on the task. The guidance and control system is able to safely govern the relative motion for one-, two and three-dimensional formation configurations with inter-satellite distances as low as 50m. Based on these results, a complete mission plan is proposed.

This thesis analyses the behavior of an induction motor based on a mathematical model created for its simulation. The model describes the interaction of its several non linear differential equations to present a simulated output of induced torque and mechanical speed. Considering the applications to marine propulsion, it is also the goal of the project to design and test a control system for the speed of the motor by maintaining a specific cruse speed regardless the perturbations. / by Camilo Carlos Roa. / Thesis (M.S.C.S.)--Florida Atlantic University, 2010. / Includes bibliography. / Electronic reproduction. Boca Raton, Fla., 2010. Mode of access: World Wide Web.

The use of electric propulsion for spacecraft primary propulsion, attitude control and station-keeping is ever-increasing as the technology matures and is qualified for flight. In addition, alternative propellants are under investigation, which have the potential to offer systems-level benefits that can enable particular classes of missions. Condensable propellants, particularly iodine, have the potential to significantly reduce the propellant storage system volume and mass. Some of the most widely used electric thrusters are electrostatic thrusters, which require a thermionic hollow cathode electron source to ionize the propellant for the main discharge and for beam neutralization. Failure of the hollow cathode, which often needs to operate for thousands of hours, is one of the main life-limiting factors of an electrostatic propulsion system. Common failure modes for hollow cathodes include poisoning or evaporation of the thermionic emitter material and erosion of electrodes due to sputtering. The mechanism responsible for the high energy ion production resulting in sputtering is not well understood, nor is the compatibility of traditional thermionic hollow cathodes with alternative propellants such as iodine. This work uses both an emissive probe and Langmuir probe to characterize the near-plume of several hollow cathodes operating on both xenon and iodine by measuring the plasma potential, plasma density, electron temperature and electron energy distribution function (EEDF). Using the EEDF the reaction rate coefficients for relevant collisional processes are calculated. A low current (< 5 A discharge current) hollow cathode with two different hexaboride emitters, lanthanum hexaboride (LaB6) and cerium hexaboride (CeB6), was operated on xenon propellant. The plasma potential, plasma density, electron temperature, EEDF and reaction rate coefficients were measured for both hexaboride emitter materials at a single cathode orifice diameter. The time-resolved plasma potential measurements showed low frequency oscillations (<100 kHz) of the plasma potential at low cathode flow rates (<4 SCCM) and spot mode operation between approximately 5 SCCM and 7 SCCM. The CeB6 and LaB6 emitters behave similarly in terms of discharge power (keeper and anode voltage) and plasma potential, based on results from a cathode with a 0.020�-diameter. Both emitters show almost identical operating conditions corresponding to the spot mode regime, reaction rates, as well as mean and RMS plasma potentials for the 0.020� orifice diameter at a flow rate of 6 SCCM and the same discharge current. The near-keeper region plasma was also characterized for several cathode orifice diameters using the CeB6 emitter over a range of propellant flow rates. The spot-plume mode transition appears to occur at lower flow rates as orifice size is increased, but has a minimum flow rate for stable operation. For two orifice diameters, the EEDF was measured in the near-plume region and reaction rate coefficients calculated for several electron- driven collisional processes. For the cathode with the larger orifice diameter (0.040�), the EEDFs show higher electron temperatures and drift velocities. The data for these cathodes also show lower reaction rate coefficients for specific electron transitions and ionization. To investigate the compatibility of a traditional thermionic emitter with iodine propellant, a low-power barium oxide (BaO) cathode was operated on xenon and iodine propellants. This required the construction and demonstration of a low flow rate iodine feed system. The cathode operating conditions are reported for both propellants. The emitter surface was inspected using a scanning electron microscope after various exposures to xenon and iodine propellants. The results of the inspection of the emitter surface are presented. Another low current (< 5 A), BaO hollow cathode was operated on xenon and iodine propellants. Its discharge current and voltage, and plume properties are reported for xenon and iodine with the cathode at similar operating conditions for each. The overall performance of the BaO cathode on iodine was comparable to xenon. The cathode operating on iodine required slightly higher power for ignition and discharge maintenance compared to xenon, as evident by the higher keeper and anode potentials. Plasma properties in the near- plume region were measured using an emissive probe and single Langmuir probe. For both propellants, the plasma density, electron energy distribution function (EEDF), electron temperature, select reaction rate coefficients and time-resolved plasma potentials are reported. For both propellants the cathode operated the same keeper (0.25 A) and discharge current (3.1 A), but the keeper and anode potentials were higher with iodine; 27 V and 51 V for xenon, and 30 V and 65 V for iodine, respectively. For xenon, the mean electron energy and electron temperature were 7.5 eV and 0.7 eV, with bulk drift energy of 6.6 eV. For iodine, the mean electron energy and electron temperature were 6.3 eV and 1.3 eV, with a bulk drift energy of 4.2 eV. A literature review of relevant collisional processes and associated cross sections for an iodine plasma is also presented.

"The pulsed plasma thruster (PPT) is an onboard electromagnetic propulsion device currently being considered for use in various small satellite missions. The work presented in this thesis is directed toward improving PPT performance using a control engineering approach along with externally applied magnetic fields. An improved one dimensional electromechanical model for PPT operation is developed. This slug model represents the PPT as an LRC circuit with a dynamics equation for the ablated plasma. The improved model includes detailed derivation for the induced magnetic field and a model for the plasma resistance. A modified electromechanical model for the case of externally applied magnetic fields is also derived for the parallel plate geometry. A software package with a graphical user interface (GUI) is developed for the simulation of various PPT types, geometric configurations, and parameters The simulations show excellent agreement with data from the Lincoln Experimental Satellite (LES)-6, the LES-8/9 PPT and the Univ. of Tokyo PPT. The control objective employed in this thesis involves the maximization of the specific impulse and thrust efficiency of the PPT, which are each directly related with the exhaust velocity of the thruster. This objective is achieved through the use of an externally applied magnetic field as a system actuator. To simulate an open-loop constant-input controller the modified electromechanical PPT model is applied to the various PPT configurations. In this controller the external magnetic field was applied as constant throughout or portions of the PPT channel. For the Univ. of Tokyo PPT a magnetic field applied over the entire 6-cm long channel increases the specific impulse and thrust efficiency by 10% over the case that the filed is applied in the first 1.75 cm of the PPT channel. The magnitude of these increases compare well with the results of the UOT applied B-field experiments. For the LES-6 and LES-9 PPTs, the simulations predicts significant performance enhancements with approximately linear increases for the specific impulse, thrust efficiency and impulse bit. "

"One of the general processes of interest in Pulsed Plasma Thrusters is the ablation of the solid fuel. In general, ablation occurs when a short pulse of applied energy removes a portion of the fuel surface. Although this ablation process is relatively straight-forward in simple materials that sublimate, ablation in Pulsed Plasma Thrusters is significantly more complicated. This is caused by the transient conditions and the complex behavior of Teflon that does not sublimate but rather undergoes both physical and chemical changes prior to leaving the surface. These two effects combine to make Teflon ablation a highly nonlinear function of heat flux, material property variations, changing molecular weight, and phase transformation behavior. To gain greater insight into the ablation process, a one-dimensional ablation model is developed that addresses the more detailed thermal and thermodynamic behavior of Teflon during simulated operation of a Pulsed Plasma Thruster. The mathematical model is based on the work of Clark (1971), which focused on two-phase, one-dimensional Teflon ablation in the context of thermal protection systems. The model is modified for use in simulated PPT operations and implemented numerically using an adaptive non-uniform grid, explicit finite-difference techniques, and a volume fraction method to capture the interface between the crystalline and amorphous Teflon phases. The ablation model is validated against analytical heat transfer and ablation solutions and compared with previous experimental results. The Teflon ablation model is used to analyze several general ablation scenarios in addition to specific PPT conditions to gain greater insight into long-duration thruster firing, post-pulse material ablation, variable heat flux effects, variable material property effects, and the impact of surface re-crystallization on particulate emission. These simulations are considered in the context of prior experimental investigations of Pulsed Plasma Thrusters. The results of these simulations demonstrate the success of the numerical ablation model in predicting experimental trend and suggest potential paths of moderately improving thruster efficiency and operational repeatability in the future. "

A hollow cathode is an electron source used in a number of different electric thrusters for space propulsion. One important component of the device that helps initiate and sustain the discharge is called the keeper electrode. Cathode keeper erosion is one of the main limiting factors in the lifetime of electric thrusters. Sputtering due to high-energy ion bombardment is believed to be responsible for keeper erosion. Existing models of the cathode plume, including the OrCa2D code developed at Jet Propulsion Laboratory, do not predict these high-energy ions and experimental measurement of the electron energy distribution function (EEDF) could provide useful information for the development of a high fidelity model of the plume region. Understanding of the mechanism by which these high-energy ions are produced could lead to improvements in the design of hollow cathodes. The primary focus of this work is to determine the EEDF in the cathode plume. A single Langmuir probe is used to measure the current-voltage (I-V) characteristic of the plasma plume from a low current hollow cathode in the region downstream of the keeper orifice. The EEDF is obtained using the Druyvesteyn procedure (based on interpretation of the second derivative of the I-V curve), and parameters such as electron temperature, plasma density and plasma potential are also obtained. The dependence of the EEDF and other parameters on the radial position in the plume is examined. Results show that the EEDF deviates from the Maxwellian distribution, and is more accurately described by the Druyvesteyn distribution directly downstream of the cathode. Off-axis measurements of the EEDF indicate the presence of fast electrons, most likely due to the anode geometry. The cathode used in these tests is representative of the cathode used in a 200W class Hall thruster. Data is presented for a hollow cathode operating on argon gas for two cases with different discharge currents.

The development of a Magneto-hydrodynamics (MHD) numerical tool to study high density thermal plasmas in plasma acceleration devices is presented. The MHD governing equations represent eight conservation equations for the evolution of density, momentum, energy and induced magnetic fields in a plasma. A matrix-free implicit method is developed to solve these conservation equations within the framework of an unstructured grid finite volume formulation. The analytic form of the convective flux Jacobian is derived for general unstructured grids. A Lower Upper Symmetric Gauss Seidel (LU-SGS) technique is developed as part of the implicit scheme. A coloring based algorithm for parallelization of this technique is also presented and its computational efficiency is compared with a global matrix solve technique that uses the GMRES (Generalized Minimum Residual) algorithm available in the PETSc (Portable Extensible Toolkit for Scientific computation) libraries. The verification cases used for this study are the MHD shock tube problem in one, two and three dimensions, the oblique shock and the Hartmann flow problem. It is seen that the matrix free method is comparatively faster and shows excellent scaling on multiple cores compared to the global matrix solve technique. The numerical model was thus verified against the above mentioned standard test cases and two application problems were studied. These include the simulation of plasma deflagration phenomenon in a coaxial plasma accelerator and a novel high speed flow control device called the Rail Plasma Actuator (RailPAc). Experimental studies on coaxial plasma accelerators have revealed two different modes of operation based on the delay between gas loading and discharge ignition. Longer delays lead to the detonation or the snowplow mode while shorter delays lead to the relatively efficient stationary or deflagration mode. One of the theories that explain the two different modes is based on plasma resistivity. A numerical modeling study is presented here in the context of a coaxial plasma accelerator and the effect of plasma resistivity is dealt with in detail. The simulated results pertaining to axial distribution of radial currents are compared with experimental measurements which show good agreement with each other. The simulations show that magnetic field diffusion is dominant at lower conductivities which tend to form a stationary region of high current density close to the inlet end of the device. Higher conductivities led to the formation of propagating current sheet like features due to greater convection of magnetic field. This study also validates the theory behind the two modes of operation based on plasma resistivity. The RailPAc (Rail Plasma Actuator) is a novel flow control device that uses the magnetic Lorentz forces for fluid flow actuation at atmospheric pressures. Experimental studies reveal actuation ~ 10-100 m/s can be achieved with this device which is much larger than conventional electro-hydrodynamic (EHD) force based plasma actuators. A magneto-hydrodynamics simulation study of this device is presented. The model is further developed to incorporate applied electric and magnetic fields seen in this device. The snowplow model which is typically used for studying pulsed plasma thrusters is used to predict the arc velocities which agrees well with experimental measurements. Two dimensional simulations were performed to study the effect of Lorentz forcing and heating effects on fluid flow actuation. Actuation on the order of 100 m/s is attained at the head of the current sheet due to the effect of Lorentz forcing alone. The inclusion of heating effects led to isotropic blast wave like actuation which is detrimental to the performance of RailPAc. This study also revealed the deficiencies of a single fluid model and a more accurate multi-fluid approach is proposed for future work. / text

Current state-of-the-art plasma thrusters are limited in power density and thrust density by power losses to plasma-facing walls and electrodes. In the case of Hall effect thrusters, power deposition to the discharge channel walls and anode negatively impact the efficiency of the thruster and limit the attainable power density and thrust density. The current work aims to recreate thruster-relevant wall-interaction physics in a quiescent plasma and investigate them using electrostatic probes, in order to inform the development of the next generation of high-power-density / high-thrust-density propulsion devices. Thruster plasma-wall interactions are complicated by the occurrence of the plasma sheath, a thin boundary layer that forms between a plasma and its bounding wall where electrostatic forces dominate. Sheaths have been recognized since the seminal work of Langmuir in the early 1900’s, and the theory of sheaths has been greatly developed to the present day. The theories are scalable across a wide range of plasma parameters, but due to the difficulty of obtaining experimental measurements of plasma properties in the sheath region, there is little experimental data available to directly support the theoretical development. Sheaths are difficult to measure in situ in thrusters due to the small physical length scale of the sheath (order of micrometers in thruster plasmas) and the harsh plasma environment of the thruster. Any sufficiently small probe will melt, and available optical plasma diagnostics do not have the sensitivity and/or spatial resolution to resolve the sheath region. The goal of the current work is to experimentally characterize plasma sheaths xxvi in a low-density plasma that yields centimeter-thick sheath layers. By generating thick sheaths, spatially-resolved data can obtained using electrostatic probes. The investigation focuses on the effects of electron emission from the wall and several factors that influence it, including wall material, wall temperature, wall surface roughness and topology, as well as the scaling of sheaths from the low-density plasma environment towards thruster conditions. The effects of electron emission and wall material are found to agree with classical fluid and kinetic theory extended from literature. In conditions of very strong emission from the wall, evidence is found for a full transition in sheath polarities rather than a non-monotonic structure. Wall temperature is observed to have no effect on the sheath over boron nitride walls independent of outgassing on initial heat-up, for sub-thermionic temperatures. Wall roughness is observed to postpone the effects of electron emission to higher plasma temperatures, indicating that the rough wall impairs the wall’s overall capacity to emit electrons. Reductions in electron yield are not inconsistent with a diffuse-emission geometric trapping model. Collectively, the experimental data provide an improved grounding for thruster modeling and design.Current state-of-the-art plasma thrusters are limited in power density and thrust density by power losses to plasma-facing walls and electrodes. In the case of Hall effect thrusters, power deposition to the discharge channel walls and anode negatively impact the efficiency of the thruster and limit the attainable power density and thrust density. The current work aims to recreate thruster-relevant wall-interaction physics in a quiescent plasma and investigate them using electrostatic probes, in order to inform the development of the next generation of high-power-density / high-thrust-density propulsion devices. Thruster plasma-wall interactions are complicated by the occurrence of the plasma sheath, a thin boundary layer that forms between a plasma and its bounding wall where electrostatic forces dominate. Sheaths have been recognized since the seminal work of Langmuir in the early 1900’s, and the theory of sheaths has been greatly developed to the present day. The theories are scalable across a wide range of plasma parameters, but due to the difficulty of obtaining experimental measurements of plasma properties in the sheath region, there is little experimental data available to directly support the theoretical development. Sheaths are difficult to measure in situ in thrusters due to the small physical length scale of the sheath (order of micrometers in thruster plasmas) and the harsh plasma environment of the thruster. Any sufficiently small probe will melt, and available optical plasma diagnostics do not have the sensitivity and/or spatial resolution to resolve the sheath region. The goal of the current work is to experimentally characterize plasma sheaths xxvi in a low-density plasma that yields centimeter-thick sheath layers. By generating thick sheaths, spatially-resolved data can obtained using electrostatic probes. The investigation focuses on the effects of electron emission from the wall and several factors that influence it, including wall material, wall temperature, wall surface roughness and topology, as well as the scaling of sheaths from the low-density plasma environment towards thruster conditions. The effects of electron emission and wall material are found to agree with classical fluid and kinetic theory extended from literature. In conditions of very strong emission from the wall, evidence is found for a full transition in sheath polarities rather than a non-monotonic structure. Wall temperature is observed to have no effect on the sheath over boron nitride walls independent of outgassing on initial heat-up, for sub-thermionic temperatures. Wall roughness is observed to postpone the effects of electron emission to higher plasma temperatures, indicating that the rough wall impairs the wall’s overall capacity to emit electrons. Reductions in electron yield are not inconsistent with a diffuse-emission geometric trapping model. Collectively, the experimental data provide an improved grounding for thruster modeling and design.