Steering law design for redundant single-gimbal control moment gyroscopes

Bedrossian, Nazareth; Paradiso, Joseph A.; Bergmann, E.; Rowell, Derek

doi:10.2514/3.20582

Cited by 162 publications

(76 citation statements)

References 3 publications

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“…It follows that the control system defined by (2), (5) and (6) is not controllable on the manifold SO(3) × R 3 × R q . To investigate the controllability of the system (2), (5) and (6) on an angular momentum level set, suppose μ ∈ R 3 .…”

Section: Attitude Dynamicsmentioning

confidence: 99%

Controllability of spacecraft attitude using control moment gyroscopes

Bhat¹

2006

2006 American Control Conference

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Abstract-This paper describes an application of nonlinear controllability theory to the problem of spacecraft attitude control using control moment gyroscopes (CMGs). Nonlinear controllability theory is used to show that a spacecraft carrying one or more CMGs is controllable on every angular momentum level set in spite of the presence of singular CMG configurations, that is, given any two states having the same angular momentum, any one of them can be reached from the other using suitably chosen motions of the CMG gimbals. This result is used to obtain sufficient conditions on the momentum volume of the CMG array that guarantee the existence of gimbal motions which steer the spacecraft to a desired spin state or rest attitude.

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Section: Attitude Dynamicsmentioning

confidence: 99%

Controllability of spacecraft attitude using control moment gyroscopes

Bhat¹

2006

2006 American Control Conference

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“…Jacot and Liska (1966), Margulies and Aubrun (1978), and Oh and Vadali (1991), made contributions by capturing the exact nonlinear equations of satellite motion using CMGs, including single-and double-gimbal configurations, gimbal lock singularities, and CMG steering control laws [64][65][66]. Further accomplishments in the late 1980s and early 1990s by Bedrossian, Paradiso, Bergmann, Rowell, Walker, and others described different CMG singularity avoidance methods [67][68][69][70][71]. This work enabled Ford and Hall's efforts, who were the first to investigate the generic nonlinear equations of motion for momentum exchange devices (i.e.…”

Section: Cmgs/vscmgsmentioning

confidence: 99%

Combines Attitude Control and Energy Storage for Small Satellites using Variable Speed Control Moment Gyroscopes

Lappas¹

2008

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Public reporting burden for this collection of information is estimated to average 1 hour per response, including the time for reviewing instructions, searching existing data sources, gathering and maintaining the data needed, and completing and reviewing the collection of information. Send comments regarding this burden estimate or any other aspect of this collection of information, including suggestions for reducing the burden, to Department of Defense, Washington Headquarters Services, Directorate for Information SPONSOR/MONITOR'S ACRONYM(S) 9. SPONSORING/MONITORING AGENCY NAME(S) AND ADDRESS(ES)EOARD Unit 4515 BOX 14 APO AE 09421 SPONSOR/MONITOR'S REPORT NUMBER(S)Grant 05-3037 DISTRIBUTION/AVAILABILITY STATEMENTApproved for public release; distribution is unlimited. SUPPLEMENTARY NOTES ABSTRACTThis report results from a contract tasking University of Surrey as follows: The Grantee will investigate three areas concerning energy storage and attitude control systems (ESACS) for small satellites: a.) Use of small satellite reference models to determine the relative scales for a combined variable speed control moment gyroscope (VSCMG) energy storage (ES) system. b.) Explore potential imbalances, derive mathematical descriptions of ESACS-imbalance systems and model the ESACS system in MATLAB/Simulink.. c.) Construct experimental hardware for power conversion demonstration: An experimental VSCMG system will be used to demonstrate combined attitude control and energy storage. The imbalances modeled in (b.) will be replicated in the experimental hardware. Derived control solutions to the imbalance problem will be implemented and validated in the experimental hardware. SUBJECT TERMS Government DisclaimerThe views expressed in this article are those of the authors and do not reflect the official policy or position of the United States Air Force, Department of Defense, or the U.S. Government. AcknowledgementsThe ii Summary This work presents the first known energy storage and attitude control subsystem (ESACS) for small satellites, proving this technology to be viable, applicable to more complex, demanding space missions, and laden with substantial benefits, such as agile slewing, robust singularity avoidance, increased lifetime, mass savings, and favourable peak power density. In capturing the key features of this novel system, it investigates the design sizing, feasibility, mission utility, experimentation, and performance benefits for using variable-speed control moment gyroscopes (VSCMGs) to store and drain energy while controlling satellite orientation.First, a novel optimal ESACS sizing algorithm is developed for a practical, miniature spotlight synthetic aperture RADAR (SAR) space mission. When given a set of small satellite agility and energy storage requirements, the design is cast as a constrained nonlinear programming problem using a performance index constructed from subsystem design margins including the attitude torque, peak power, energy capacity, and subsystem mass margins and solved using a reduced-o...

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“…Since singularity is the drawback of SGCMG, the Singularity Robust (SR) inverse steering law has been used in this study due to its simplicity to aid the CMG system avoiding or escaping singular states [8]. Thus, the gimbal angle rate command becomes ̇ ̇ where is the SR invers steering law constant that need to be properly selected.…”

Section: Cmg Dynamicsmentioning

confidence: 99%

“…However, SGCMG has drawback in term of singularity where at certain gimbal angle orientations, the control torque cannot be generated by the CMG cluster thus resulting in a loss of satellite attitude controllability. The singularity problems have lead towards the development of singularity avoidance or steering laws that can avoid or escape the CMG cluster from singular states [8][9][10][11][12].…”

Section: Introductionmentioning

confidence: 99%

Control torque generation of a CMG-based small satellite with MTGAC system: a trade-off study

Salleh

Suhadis

Rajendran

et al. 2018

IOP Conf. Ser.: Mater. Sci. Eng.

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Abstract. In this paper, the gimbal angle compensation method using magnetic control law has been adopted for a small satellite operating in low earth orbit under disturbance toques influence. Three light weight magnetic torquers have been used to generate the magnetic compensation torque to bring diverge gimbals at preferable angle. The magnetic control torque required to compensate the gimbal angle is based on the gimbal error rate which depends on the gimbal angle converging time. A simulation study has been performed without and with the MTGAC system to investigate the amount of generated control torque as a trade-off between the power consumption, attitude control performance and CMG dynamic performance. Numerical simulations show that the satellite with the MTGAC system generates more control torques which leads to the additional power requirement but in return results in a favorable attitude control performance and gimbal angle management. IntroductionControl moment gyroscope (CMG) is a momentum exchange device that controls satellite attitude based on the conservation of angular momentum of the satellite system [1]. It has a torque amplification characteristic which makes it as a perfect actuator for fast slew maneuver and precise attitude pointing control over other actuators such as momentum wheels and reaction wheels. These features increase the operational envelop of the satellites and subsequently increase the return of mission data and reduce payload complexity [2,3]. Control torque is generated by rotating the CMG's gimbal at certain gimbal angle rate. This causes the direction of the flywheel's angular momentum vector to change and results in a generation of control torque, orthogonal to both flywheel's spin and gimbal axes [4]. There are three types of CMG i.e. single gimbal CMG (SGCMG), double gimbal CMG (DGCMG) and variable speed CMG (VSCMG). Among these three, SGCMG is less complex and cheaper than VSCMG and it has more significant torque amplification over DGCMG [5][6][7]. However, SGCMG has drawback in term of singularity where at certain gimbal angle orientations, the control torque cannot be generated by the CMG cluster thus resulting in a loss of satellite attitude controllability. The singularity problems have lead towards the development of singularity avoidance or steering laws that can avoid or escape the CMG cluster from singular states [8][9][10][11][12].Another concern about the CMG system is the gimbal angle offset due to disturbance torques. The constant disturbance torques cause the gimbals to drift away from preferred or reference angles. This situation reduces the repeatability of slew maneuvers and can also drive the CMG cluster into saturation singularity state which most of the steering laws fail to avoid or escape. Since the CMG

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Steering law design for redundant single-gimbal control moment gyroscopes

Cited by 162 publications

References 3 publications

Controllability of spacecraft attitude using control moment gyroscopes

Controllability of spacecraft attitude using control moment gyroscopes

Combines Attitude Control and Energy Storage for Small Satellites using Variable Speed Control Moment Gyroscopes

Control torque generation of a CMG-based small satellite with MTGAC system: a trade-off study

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