Method and apparatus for singularity avoidance for control moment gyroscope (CMG) systems without using null motion
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Authors
Agrawal, Brij N.
Kim, Jae Jun
Sands, Timothy Andrew
Subjects
Advisors
Date of Issue
2017-02-14
Date
Publisher
The Government of the United States of America, as represented by the Secretary of the Navy, Washington, DC (US)
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Abstract
A method is described for avoiding gyroscopic singularities during attitude correction to a system, such as a spacecraft having a CMG array. The method receives a corrective torque vector µ and gimbal angle values δ for each of at least three gimbal within the CMG array. The method a a Jacobian matrix A as a function of gimbal angle value δ. A. If the determinant is not equal to zero, it is not singular, and the method calculate a gimbal rate δ using a using a pseudo-inverse steering law equation. If the determinant is equal to zero, it is singular, and the method calculate a gimbal rate δ using a singularity avoidance steering law equation. The gimbal rate δ is output and can be applied to a CMG array resulting in applied torque to a spacecraft and attitude correction.
Type
Patent
Description
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
US 9,567,112 B1
NPS Report Number
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Citation
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.