Publication:
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
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Date of Issue
2017-02-14
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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 gyrocopic singularities during attitude correction to a sytem, 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. lf 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. lf 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.
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Patent
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Patent
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Monterey, California : Naval Postgraduate School
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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.
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