A new steering law for redundant control moment gyroscope clusters

Abstract A new inverse kinematics algorithm is developed that may provide singularity avoidance or may be used for quick transition through a singularity with small torque errors. To avoid singularities, angular momentum trajectory of the control moment gyro cluster during the maneuver is to be simulated in advance for the calculation of singularity free gimbal histories. The steering law proposed accurately generates the required torques making it suitable to be used in a feedback system. The desired gimbal trajectories are also closely followed as long as the difference between the planned and requested angular momentum histories are close. A numbers of approaches suitable for the spontaneous response of the spacecraft for singularity avoidance or quick transition through singularities are proposed and presented as well. It is also shown that the computational requirements of the new steering law are comparable to the other commonly used steering laws.

[1]  O. Tekinalp,et al.  Simulated Annealing for Missile Optimization: Developing Method and Formulation Techniques , 2004 .

[2]  B. Wie,et al.  Singularity Robust Steering Logic for Redundant Single-Gimbal Control Moment Gyros , 2000 .

[3]  J. Douglas Faires,et al.  Numerical Analysis , 1981 .

[4]  Joseph A. Paradiso.  Global steering of single gimballed control moment gyroscopes using a directed search , 1992 .

[5]  S. R. Vadali,et al.  Suboptimal command generation for control moment gyroscopes and feedback control of spacecraft , 1994 .

[6]  Joseph A. Paradiso,et al.  Steering law design for redundant single-gimbal control moment gyroscopes. [for spacecraft attitude control] , 1990 .

[7]  Srinivas R. Vadali,et al.  Preferred gimbal angles for single gimbal control moment gyros , 1989 .

[8]  Hwa-Suk Oh.  FEEDBACK CONTROL AND STEERING LAWS FOR SPACECRAFT USING SINGLE GIMBAL CONTROL MOMENT GYROS , 1988 .

[9]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[10]  Srinivas R. Vadali,et al.  An inverse-free technique for attitude control of spacecraft using CMGs , 1996 .

[11]  A. D. Jacot,et al.  Control moment gyros in attitude control. , 1966 .

[12]  T. Shamir,et al.  Repeatability of redundant manipulators: mathematical solution of the problem , 1988 .

[13]  G. Margulies.  Geometric Theory of Single-Gimbal Control Moment Gyro System , 1978 .

[14]  Bong Wie,et al.  Space Vehicle Dynamics and Control , 1998 .

[15]  J. Paradiso,et al.  Redundant single gimbal control moment gyroscope singularity analysis , 1990 .