Steering law considering biased loads for control moment gyroscopes

A new steering law of a pyramid configuration of four control moment gyroscopes (CMGs) is proposed to suppress radical motion of gimbals, reduce the gimbal angular displacement and level the biased ones of the four CMGs. Additionally analytical findings on the execution timing of the proposed method...

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Autores principales:	Yasuyuki NANAMORI, Masaki TAKAHASHI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	control moment gyros attitude control singularity steering law spacecraft Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/89c75ccd91ed4ef284e017dc7c6a878f
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id	oai:doaj.org-article:89c75ccd91ed4ef284e017dc7c6a878f
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spelling	oai:doaj.org-article:89c75ccd91ed4ef284e017dc7c6a878f2021-11-26T06:30:10ZSteering law considering biased loads for control moment gyroscopes2187-974510.1299/mej.14-00554https://doaj.org/article/89c75ccd91ed4ef284e017dc7c6a878f2015-08-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/5/2_14-00554/_pdf/-char/enhttps://doaj.org/toc/2187-9745A new steering law of a pyramid configuration of four control moment gyroscopes (CMGs) is proposed to suppress radical motion of gimbals, reduce the gimbal angular displacement and level the biased ones of the four CMGs. Additionally analytical findings on the execution timing of the proposed method in relation to multiple attitude maneuvers are newly presented. Because major failure mode of the CMG is the defective lubrication of the spin bearings, resulting from being put on the excessive radial loads by radical motion of gimbals, the proposed method focuses the relation between the gimbal angular displacement of each CMG and the initial condition of gimbal angles. A suitable set of initial gimbal angles is selected using the defined evaluation function in an off-line preliminarily calculation. The evaluation function considers the manipulability of the upcoming maneuver related to the radical motion of gimbals and the biased gimbal angular displacements of four CMGs accumulated during the operational time. Simultaneously, the criteria for judgment and analytical findings on the execution timing of the proposed method in relation to multiple attitude maneuvers are newly presented, which consider the extra load by null motion and the accumulated gaps of gimbal angles between the initial condition and the terminal ones. The dynamics of a typical pyramid configuration of four single-gimbal CMGs was modeled and a numerical simulation in case the CMGs do not pass through the singularity was carried out. Numerical simulation confirmed that the proposed method not only keeps the manipulability greater but also levels the gimbal angular displacements of the CMGs without degrading attitude control.Yasuyuki NANAMORIMasaki TAKAHASHIThe Japan Society of Mechanical Engineersarticlecontrol moment gyrosattitude controlsingularitysteering lawspacecraftMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 5, Pp 14-00554-14-00554 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	control moment gyros attitude control singularity steering law spacecraft Mechanical engineering and machinery TJ1-1570
spellingShingle	control moment gyros attitude control singularity steering law spacecraft Mechanical engineering and machinery TJ1-1570 Yasuyuki NANAMORI Masaki TAKAHASHI Steering law considering biased loads for control moment gyroscopes
description	A new steering law of a pyramid configuration of four control moment gyroscopes (CMGs) is proposed to suppress radical motion of gimbals, reduce the gimbal angular displacement and level the biased ones of the four CMGs. Additionally analytical findings on the execution timing of the proposed method in relation to multiple attitude maneuvers are newly presented. Because major failure mode of the CMG is the defective lubrication of the spin bearings, resulting from being put on the excessive radial loads by radical motion of gimbals, the proposed method focuses the relation between the gimbal angular displacement of each CMG and the initial condition of gimbal angles. A suitable set of initial gimbal angles is selected using the defined evaluation function in an off-line preliminarily calculation. The evaluation function considers the manipulability of the upcoming maneuver related to the radical motion of gimbals and the biased gimbal angular displacements of four CMGs accumulated during the operational time. Simultaneously, the criteria for judgment and analytical findings on the execution timing of the proposed method in relation to multiple attitude maneuvers are newly presented, which consider the extra load by null motion and the accumulated gaps of gimbal angles between the initial condition and the terminal ones. The dynamics of a typical pyramid configuration of four single-gimbal CMGs was modeled and a numerical simulation in case the CMGs do not pass through the singularity was carried out. Numerical simulation confirmed that the proposed method not only keeps the manipulability greater but also levels the gimbal angular displacements of the CMGs without degrading attitude control.
format	article
author	Yasuyuki NANAMORI Masaki TAKAHASHI
author_facet	Yasuyuki NANAMORI Masaki TAKAHASHI
author_sort	Yasuyuki NANAMORI
title	Steering law considering biased loads for control moment gyroscopes
title_short	Steering law considering biased loads for control moment gyroscopes
title_full	Steering law considering biased loads for control moment gyroscopes
title_fullStr	Steering law considering biased loads for control moment gyroscopes
title_full_unstemmed	Steering law considering biased loads for control moment gyroscopes
title_sort	steering law considering biased loads for control moment gyroscopes
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/89c75ccd91ed4ef284e017dc7c6a878f
work_keys_str_mv	AT yasuyukinanamori steeringlawconsideringbiasedloadsforcontrolmomentgyroscopes AT masakitakahashi steeringlawconsideringbiasedloadsforcontrolmomentgyroscopes
_version_	1718409789516546048

Steering law considering biased loads for control moment gyroscopes

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