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Technical Briefs

Fast and Robust Synchronization of Twin-Gyro Systems

[+] Author and Article Information
S. M. Shahruz1

 Berkeley Engineering Research Institute, P.O. Box 9984, Berkeley, CA 94709shahruz@cal.berkeley.edu

1

Corresponding author.

J. Dyn. Sys., Meas., Control 131(1), 014504 (Dec 05, 2008) (5 pages) doi:10.1115/1.3023136 History: Received January 26, 2007; Revised July 31, 2008; Published December 05, 2008

In this paper, design of control laws for V-gimbaled control-moment-gyro (CMG) devices is studied. Such a device has two gyros that are used to control the slewing motion of space truss arms. Control laws are designed to make the gyros of a CMG device track a desired function of time synchronously. Synchronous tracking makes the angular displacement of a truss arm track a desired function of time. Application of the synchronizing control laws to two-gyro systems in the absence and presence of parametric uncertainties and disturbances is studied. In both cases, the designed control laws achieve the desired goals.

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Figures

Grahic Jump Location
Figure 1

Time histories of t↦β1(t), t↦β2(t), and t↦βd(t): (a) β1(⋅) and β2(⋅) evolve from the initial conditions β10 and β20, respectively, and lock into βd(⋅) at t*≈0.83s; (b) β1(⋅) and β2(⋅) remain locked to βd(⋅) after t*

Grahic Jump Location
Figure 2

Time histories of t↦θ(t) and t↦θd(t); they overlap

Grahic Jump Location
Figure 3

Time histories of t↦β1(t) and t↦β2(t), and t↦βd(t) in the presence of parametric uncertainties and disturbances: (a) β1(⋅) and β2(⋅) evolve from the initial conditions β10 and β20, respectively, and lock into βd(⋅) at t*≈0.9s; and (b) β1(⋅) and β2(⋅) remain locked to βd(⋅) after t*

Grahic Jump Location
Figure 4

Time histories of t↦θ(t) and t↦θd(t); they overlap even in the presence of parametric uncertainties and disturbances

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