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<p>Prior to the mid-20th century, the idea of electric propulsion had been all but a foreign one that manifested itself in the topic of science fiction. It was around this time when companies and agencies like NASA began to take interest in the topic of space propulsion, as most famously seen in the landing of the Apollo 11 mission on the moon. It was not until the early-1960s where the idea of a pulsed plasma thruster was first realized, with its first test being in 1964 aboard the Russian Zond-2 satellite which contained 6 ablative Polytetrafluoroethylene (PTFE, or “Teflon”) pulsed plasma thrusters.</p> <p>In this paper, a new low-voltage, liquid-fed pulsed plasma thruster was developed, tested, and characterized. This project took influence from the previous low-voltage, liquid-fed pulsed plasma thruster in Purdue’s EPPL and desired to transition it from a current gas-fed system to its intended liquid-fed system. The two main objectives for this project included conducting direct studies of the cathode’s erosion rate using a simple weighing method after simulating a lifetime of discharging the thruster, and completing the initial design of the liquid-fed pulsed plasma thruster using AF-M315E as its propellant while gathering data on its required breakdown voltage, exhaust velocity, and specific impulse.</p> <p>Both objectives were successfully completed, with the following parameters being measured or calculated. The required breakdown voltage was seen to be less than 26kV to keep the ignition spark inside the chamber. For the subsequent results measured however, the breakdown voltage was kept between 10-16kV for all successive tests. The peak current measured for all discharges was an average of 11kA, far exceeding similar geometries such as MPD thrusters. The operational voltage was less than 200V, although an operational voltage closer to 100V is expected after further optimization of the system is completed. The erosion rate of the tungsten cathode at this operational setting was found to be 15.4046 +/- 0.592 microgram/Coulomb which is much less than the cathode spot erosion rate reported for tungsten in literature of about 60 microgram/Coulomb and is beneficial for extending system lifetime. The exhaust velocity was calculated to be 30.6 +/- 4.8km/s which is typical of state-of-the-art PPT electric propulsion devices. The specific impulse was also extrapolated from the ion’s exhaust velocity, calculating to be 3,119 +/- 489 seconds. Future work would require optimization of the propellant injection mechanism to minimize propellant loss.</p>

Les propulseurs de Hall sont l’une des techniques de propulsion fusée par plasma les plus utilisés. Ils possèdent une impulsion spécifique moyenne et un haut rapport poussé sur puissance qui les rend idéal pour une grande partie des applications commerciales et scientifiques. Une de leurs limitations principales est l’érosion des parois du propulseur par le plasma qui réduit leur durée de vie. La topologie dite “d’écrantage magnétique” est une solution proposée pour prolonger cette durée de vie. Elle est ici appliquée à un petit propulseur de Hall de 200W. Dans cette thèse les règles de mise à l’échelle pour les propulseurs de Hall de la gamme de 100 à 200W sont testées expérimentalement. Un propulseur écranté de 200W est comparé avec un propulseur standard similaire. Le comportement des ions dans ces deux moteurs est extrêmement différent. Des mesures de performance ont été réalisées avec des parois en BN-SiO2 et graphite. Le courant de décharge augmente de 25% avec le graphite dans le propulseur non-écranté. Le résultat et un rendement maximum de 38% avec le nitrure de bore mais de seulement 31% pour le graphite. Le propulseur écranté quant à lui n’atteint que 25% de rendement quel que soit le matériau.Cette baisse de performance dans les petits moteurs écrantés peut être attribuée à un mauvais rendement d’utilisation de l’ergol. Analyses des résultats expérimentaux ainsi que la conduite de simulations suggèrent que cela est dû au fait que la zone d’ionisation ne couvre pas l’ensemble du canal de décharge. Un nouveau design pour un petit propulseur de Hall écranté est proposé. / Hall thrusters are one of the most used rocket electric propulsion technology. They combine moderate specific impulse with high thrust to power ratio which makes them ideal for a wide range of practical commercial and scientific applications. One of their limitations is the erosion of the thruster walls which reduces their lifespan.The magnetic shielding topology is a proposed solution to prolong the lifespan. It is implemented on a small200W Hall thruster.In this thesis the scaling of classical unshielded Hall thrusters down to 200 and 100W is discussed. A 200W low power magnetically shielded Hall thruster is compared with an identically sized unshielded one. The ion behavior inside the thruster is measured and significant differences are found across the discharge channel.Both thrusters are tested with classical BN-SiO2 and graphite walls. The magnetically shielded thruster is not sensitive to the material change while the discharge current increase by 25% in the unshielded one. The result is a maximum efficiency of 38% for boron nitride in the unshielded thruster but only 31% with graphite.The shielded thruster achieves a significantly lower efficiency with only 25% efficiency with both materials.Analysis of the experimental results as well as simulations of the thrusters reveal that the performance difference is mostly caused by low propellant utilization. This low propellant utilization comes from the fact that the ionization region doesn’t cover all of the discharge channel. A new magnetically shielded thruster is designed to solve this issue.

Critical automated maneuvers for ships typically require a redundant set of thrusters. The motion control system hierarchy is commonly separated into several layers using a high-level motion controller and a thruster allocation (TA) algorithm. This allows for a modular design of the software where the high-level controller can be designed without comprehensive information on the thrusters, while detailed issues such as input saturation and rate limits are handled by the TA. However, for a certain set of thruster configurations this decoupling may result in poor control performance due to the limited knowledge in the high-level controller about the physical limitations of the ship and the behavior of the TA. This thesis investigates different approaches of improving the control performance, using nonlinear Model Predictive Control (MPC) as a foundation for the developed motion controllers due to its optimized solution and capability of satisfying constraints. First, a decoupled system is implemented and results are provided for two simple motion tasks showing problems related to the decoupling. Thereafter, two different approaches are taken to remedy the observed drawbacks. A nonlinear MPC controller is developed combining the motion controller and thruster allocation resulting in a more robust control system. Then, in order to keep the control system modularized, an investigation of possible ways to augment the decoupled system so as to achieve similar performance as the combined system is carried out. One proposed solution is a nonlinear MPC controller with time-varying constraints accounting for the current limitations of the thruster system. However, this did not always improve the control performance since the behavior of the TA still is unknown to the MPC controller.

"The ablative Teflon pulsed plasma thruster (PPT) is an onboard electromagnetic propulsion enabling technology for small spacecraft missions. The integration of PPTs onboard spacecraft requires the understanding and evaluation of possible thruster/spacecraft interactions. To aid in this effort the work presented in this thesis is directed towards the development and application of Langmuir probe techniques for use in the plume of PPTs. Double and triple Langmuir probes were developed and used to measure electron temperature and density of the PPT plume. The PPT used in this thesis was a laboratory model parallel plate ablative Teflon® PPT similar in size to the Earth Observing (EO-1) PPT operating in discharge energies between 5 and 40 Joules. The triple Langmuir probe was operated in the current-mode technique that requires biasing all three electrodes and measuring the resulting probe currents. This new implementation differs from the traditional voltage-mode technique that keeps one probe floating and requires a voltage measurement that is often susceptible to noise in the fluctuating PPT plume environment. The triple Langmuir probe theory developed in this work incorporates Laframboise’s current collection model for Debye length to probe radius ratios less than 100 in order to account for sheath expansion effects on ion collection, and incorporates the thin-sheath current collection model for Debye length to probe radius ratios greater than 100. Error analysis of the non-linear system of current collection equations that describe the operation of the current-mode triple Langmuir probe is performed as well. Measurements were taken at three radial locations, 5, 10, and 15 cm from the Teflon® surface of the PPT and at angles of 20 and 40 degrees to either side of the thruster centerline as well as at the centerline. These measurements were taken on two orthogonal planes, parallel and perpendicular to the PPT electrodes. A data-processing software was developed and implements the current-mode triple Langmuir probe theory and associated error analysis. Results show the time evolution of the electron temperature and density. Characteristic to all the data is the presence of hot electrons of approximately 5 to 10 eV at the beginning of the pulse, occurring near the peak of the discharge current. The electron temperature quickly drops off from its peak values to 1-2 eV for the remainder of the pulse. Peak electron densities occur after the peak temperatures. The maximum electron density values on the centerline of the plume of a laboratory PPT 10 cm from the Teflon® surface are 6.6x10^19 +/- 1.3x10^19 m^-3 for the 5 J PPT, 7.2x10^20 +/- 1.4x10^20 m^-3 for the 20 J PPT, and 1.2x10^21 +/- 2.7x10^20 m^-3 for the 40 J PPT. Results from the double Langmuir probe taken at r=10 cm, theta perpendicular=70 degrees and 90 degrees of a laboratory PPT showed good agreement with the triple probe method."

In modern low pressure plasma discharges, the electron mean free path often exceeds the device dimensions. Under such conditions the electron velocity distribution function may significantly deviate from Maxwellian, which strongly affects the discharge properties. The description of such plasmas has to be kinetic and often requires the use of numerical methods. This thesis presents the study of kinetic effects in inductively coupled plasmas and Hall thrusters carried out by means of particle-in-cell simulations. The important result and the essential part of the research is the development of particle-in-cell codes. <p>An advective electromagnetic 1d3v particle-in-cell code is developed for modelling the inductively coupled plasmas. An electrostatic direct implicit 1d3v particle-in-cell code EDIPIC is developed for plane geometry simulations of Hall thruster plasmas. The EDIPIC code includes several physical effects important for Hall thrusters: collisions with neutral atoms, turbulence, and secondary electron emission. In addition, the narrow sheath regions crucial for plasma-wall interaction are resolved in simulations. The code is parallelized to achieve fast run times. <p>Inductively coupled plasmas sustained by the external RF electromagnetic field are widely used in material processing reactors and electrodeless lighting sources. In a low pressure inductive discharge, the collisionless electron motion strongly affects the absorption of the external electromagnetic waves and, via the ponderomotive force, the density profile. The linear theory of the anomalous skin effect based on the linear electron trajectories predicts a strong decrease of the ponderomotive force for warm plasmas. Particle-in-cell simulations show that the nonlinear modification of electron trajectories by the RF magnetic field partially compensates the effects of electron thermal motion. As a result, the ponderomotive force in warm collisionless plasmas is stronger than predicted by linear kinetic theory. <p>Hall thrusters, where plasma is maintained by the DC electric field crossed with the stationary magnetic field, are efficient low-thrust devices for spacecraft propulsion. The energy exchange between the plasma and the wall in Hall thrusters is enhanced by the secondary electron emission, which strongly affects electron temperature and, subsequently, thruster operation. Particle-in-cell simulations show that the effect of secondary electron emission on electron cooling in Hall thrusters is quite different from predictions of previous fluid studies. Collisionless electron motion results in a strongly anisotropic, nonmonotonic electron velocity distribution function, which is depleted in the loss cone, subsequently reducing the electron wall losses compared to Maxwellian plasmas. Secondary electrons form two beams propagating between the walls of a thruster channel in opposite radial directions. The secondary electron beams acquire additional energy in the crossed external electric and magnetic fields. The energy increment depends on both the field magnitudes and the electron flight time between the walls. <p>A new model of secondary electron emission in a bounded plasma slab, allowing for emission due to the counter-propagating secondary electron beams, is developed. It is shown that in bounded plasmas the average energy of plasma bulk electrons is far less important for the space charge saturation of the sheath than it is in purely Maxwellian plasmas. A new regime with relaxation oscillations of the sheath has been identified in simulations. Recent experimental studies of Hall thrusters indirectly support the simulation results with respect to the electron temperature saturation and the channel width effect on the thruster discharge.

In modern low pressure plasma discharges, the electron mean free path often exceeds the device dimensions. Under such conditions the electron velocity distribution function may significantly deviate from Maxwellian, which strongly affects the discharge properties. The description of such plasmas has to be kinetic and often requires the use of numerical methods. This thesis presents the study of kinetic effects in inductively coupled plasmas and Hall thrusters carried out by means of particle-in-cell simulations. The important result and the essential part of the research is the development of particle-in-cell codes. <p>An advective electromagnetic 1d3v particle-in-cell code is developed for modelling the inductively coupled plasmas. An electrostatic direct implicit 1d3v particle-in-cell code EDIPIC is developed for plane geometry simulations of Hall thruster plasmas. The EDIPIC code includes several physical effects important for Hall thrusters: collisions with neutral atoms, turbulence, and secondary electron emission. In addition, the narrow sheath regions crucial for plasma-wall interaction are resolved in simulations. The code is parallelized to achieve fast run times. <p>Inductively coupled plasmas sustained by the external RF electromagnetic field are widely used in material processing reactors and electrodeless lighting sources. In a low pressure inductive discharge, the collisionless electron motion strongly affects the absorption of the external electromagnetic waves and, via the ponderomotive force, the density profile. The linear theory of the anomalous skin effect based on the linear electron trajectories predicts a strong decrease of the ponderomotive force for warm plasmas. Particle-in-cell simulations show that the nonlinear modification of electron trajectories by the RF magnetic field partially compensates the effects of electron thermal motion. As a result, the ponderomotive force in warm collisionless plasmas is stronger than predicted by linear kinetic theory. <p>Hall thrusters, where plasma is maintained by the DC electric field crossed with the stationary magnetic field, are efficient low-thrust devices for spacecraft propulsion. The energy exchange between the plasma and the wall in Hall thrusters is enhanced by the secondary electron emission, which strongly affects electron temperature and, subsequently, thruster operation. Particle-in-cell simulations show that the effect of secondary electron emission on electron cooling in Hall thrusters is quite different from predictions of previous fluid studies. Collisionless electron motion results in a strongly anisotropic, nonmonotonic electron velocity distribution function, which is depleted in the loss cone, subsequently reducing the electron wall losses compared to Maxwellian plasmas. Secondary electrons form two beams propagating between the walls of a thruster channel in opposite radial directions. The secondary electron beams acquire additional energy in the crossed external electric and magnetic fields. The energy increment depends on both the field magnitudes and the electron flight time between the walls. <p>A new model of secondary electron emission in a bounded plasma slab, allowing for emission due to the counter-propagating secondary electron beams, is developed. It is shown that in bounded plasmas the average energy of plasma bulk electrons is far less important for the space charge saturation of the sheath than it is in purely Maxwellian plasmas. A new regime with relaxation oscillations of the sheath has been identified in simulations. Recent experimental studies of Hall thrusters indirectly support the simulation results with respect to the electron temperature saturation and the channel width effect on the thruster discharge.

Hall Effect Thrusters (HETs) are a form of electric propulsion device which uses external electrical energy to produce thrust. When compared to various other electric propulsion devices, HETs are excellent candidates for future orbit transfer and interplanetary missions due to their relatively simple configuration, moderate thrust capability, higher thrust to power ratio, and lower thruster mass to power ratio. Due to the short history of HETs, the current design process of a new HET is a largely empirical and experimental science, and this has resulted in previous designs being developed in a narrow design space based on experimental data without systematic investigations of parameter correlations. In addition, current preliminary low-thrust trajectory optimizations, due to inherent difficulties in solution procedure, often assume constant or linear performances with available power in their applications of electric thrusters. The main obstacles come from the complex physics involved in HET technology and relatively small amounts of experimental data. Although physical theories and numerical simulations can provide a valuable tool for design space exploration at the inception of a new HET design and preliminary low-thrust trajectory optimization, the complex physics makes theoretical and numerical solutions difficult to obtain. Numerical implementations have been quite extensively conducted in the last two decades. An investigation of current methodologies reveals that to date, none provide a proper methodology for a new HET design at the conceptual design stage and the coupled low-thrust trajectory optimization. Thus, in the first half of this work, an efficient, robust, and self-consistent numerical method for the analysis of HETs is developed with a new approach. The key idea is to divide the analysis region into two regions in terms of electron dynamics based on physical intuition. Intensive validations are conducted for existing HETs from 1 kW to 50 kW classes. The second half of this work aims to construct a simultaneous design optimization environment though collaboration with experts in low-thrust trajectory optimization where a new HET and associated optimal low-thrust trajectory can be designed simultaneously. A demonstration for an orbit raising mission shows that the constructed simultaneous design optimization environment can be used effectively and synergistically for space missions involving HETs. It is expected that the present work will aid and ease the current expensive experimental HET design process and reduce preliminary space mission design cycles involving HETs.

All satellites need a propulsion system for orbit correction maneuvers. Electric Hall effect thrusters are an interesting technology for space applications. The big advantage compared to chemical propulsion devices is the higher specific impulse Isp, a higher ejection speed and thus a substantial gain in terms of propellant consumption. In a Hall effect thruster the ions are created and accelerated in a low pressure discharge plasma in a magnetic field. The first part of the work concerns scaling laws for Hall effect thrusters. A semi-empirical scaling model based on analytical laws and relying on simplifying assumptions is developed. This scaling model can be used to extrapolate existing thruster technologies in order to meet new mission requirements. In a second part, the influence of the channel width on the thruster performance level is investigated. It has been demonstrated that enlarging the channel width of a low power Hall effect thruster leads to an increase in thruster efficiency. Finally, electron properties are measured by means of electrostatic probes in the plume of different Hall effect thrusters. Experimental data on electron properties is of great interest for the validation of numerical plume models that are essential for the integration of the thruster on the satellite. Time-averaged and timeresolved measurements of the electron properties have been carried out for different operating conditions of the thruster. A fast-moving probe system has been developed in order to perform measurements of the electron properties close to the thruster exit plane.

Chaque satellite nécessite un système de propulsion pour des corrections d’orbite. Les propulseurs électriques à effet de Hall sont une technologie intéressante pour des applications spatiales. Le grand avantage par rapport à la propulsion chimique est une impulsion spécifique Isp plus élevée, une vitesse d’éjection plus élevée et donc un gain substantiel en termes de consommation de carburant. Dans un propulseur à effet Hall les ions sont créés et accélérés dans une décharge plasma à basse pression dans un champ magnétique. La première partie de ce travail concerne les lois d’échelle pour les propulseurs à effet Hall. Un modèle de dimensionnement semi-empirique basé sur des lois analytiques et reposant sur des hypothèses simplificatrices a été développé. Ce modèle de dimensionnement peut être utilisé pour une extrapolation des propulseurs existants afin de répondre aux exigences pour de nouvelles missions. Dans une deuxième étape, l’influence de la largeur du canal sur les performances d’un propulseur est étudiée. Il a été démontré qu’augmenter la largeur du canal conduit à une amélioration de l’efficacité du propulseur. Finalement, les propriétés électroniques ont été mesurées à l’aide de sondes électrostatiques dans la plume de différents propulseurs à effet Hall. Des données expérimentales concernant les propriétés électroniques sont très intéressantes pour la validation des modèles numériques de la plume indispensables pour l’intégration du propulseur sur le satellite. Des mesures moyennées et résolues en temps des propriétés électroniques ont été réalisées pour différents points de fonctionnement du propulseur. Un système de déplacement rapide pour les sondes a été développé afin de pouvoir faire des mesures des propriétés électroniques dans la zone proche du plan de sortie du propulseur. / All satellites need a propulsion system for orbit correction maneuvers. Electric Hall effect thrusters are an interesting technology for space applications. The big advantage compared to chemical propulsion devices is the higher specific impulse Isp, a higher ejection speed and thus a substantial gain in terms of propellant consumption. In a Hall effect thruster the ions are created and accelerated in a low pressure discharge plasma in a magnetic field. The first part of the work concerns scaling laws for Hall effect thrusters. A semi-empirical scaling model based on analytical laws and relying on simplifying assumptions is developed. This scaling model can be used to extrapolate existing thruster technologies in order to meet new mission requirements. In a second part, the influence of the channel width on the thruster performance level is investigated. It has been demonstrated that enlarging the channel width of a low power Hall effect thruster leads to an increase in thruster efficiency. Finally, electron properties are measured by means of electrostatic probes in the plume of different Hall effect thrusters. Experimental data on electron properties is of great interest for the validation of numerical plume models that are essential for the integration of the thruster on the satellite. Time-averaged and timeresolved measurements of the electron properties have been carried out for different operating conditions of the thruster. A fast-moving probe system has been developed in order to perform measurements of the electron properties close to the thruster exit plane.