DocumentCode :
642995
Title :
Geometric approach to attitude dynamics and control of spacecraft with variable speed control moment gyroscopes
Author :
Sanyal, Amit ; Prabhakaran, V. Sasi ; Leve, Frederick ; McClamroch, N.H.
Author_Institution :
Mech. & Aerosp. Eng., New Mexico State Univ., Las Cruces, NM, USA
fYear :
2013
fDate :
28-30 Aug. 2013
Firstpage :
556
Lastpage :
561
Abstract :
The attitude dynamics of a spacecraft with a variable speed control moment gyroscope (VSCMG), in the presence of conservative external inputs, are derived in the framework of geometric mechanics. A complete dynamics model, that relaxes some of the assumptions made in prior literature on control moment gyroscopes, is obtained. These dynamics equations show the complex nonlinear coupling between the internal degrees of freedom associated with the CMG and the spacecraft base body´s attitude degrees of freedom. General ideas on how this coupling can be used to control the angular momentum of the base body of the spacecraft using changes in the momentum variables of a finite number of VSCMGs, are provided. Placement of VSCMGs in the spacecraft base body is carried out in a manner that avoids singularities in the transformation between VSCMG angular rates and required instantaneous base body angular momentum. A control scheme using n VSCMGs for slew to rest attitude maneuvers in the absence of external torques and when the total angular momentum of the spacecraft is zero, is presented. Numerical simulation results obtained for a spacecraft with three VSCMGs confirm the stability properties of the feedback system.
Keywords :
angular momentum; attitude control; feedback; gyroscopes; nonlinear control systems; space vehicles; stability; vehicle dynamics; VSCMG angular rates; angular momentum control; attitude control; attitude dynamics; attitude maneuver; complete dynamics model; complex nonlinear coupling; conservative external input; dynamics equations; external torque absence; feedback system; geometric approach; geometric mechanics; instantaneous base body angular momentum; internal degrees of freedom; momentum variables; numerical simulation; singularity avoidance; spacecraft base body attitude degree of freedom; stability properties; variable speed control moment gyroscopes; Attitude control; Equations; Gyroscopes; Mathematical model; Rotors; Space vehicles; Vectors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Applications (CCA), 2013 IEEE International Conference on
Conference_Location :
Hyderabad
ISSN :
1085-1992
Type :
conf
DOI :
10.1109/CCA.2013.6662808
Filename :
6662808
Link To Document :
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