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Technical Briefs

Nonlinear Attitude Control of Flexible Spacecraft With Scissored Pairs of Control Moment Gyros

[+] Author and Article Information
Jixiang Fan

Department of Control Science and Engineering, Harbin Institute of Technology, Mailbox327, Harbin, China; Department of Electronic Engineering,  Harbin Normal University, Harbin, Chinahwfjx@yahoo.com.cn

Di Zhou

Department of Control Science and Engineering, Harbin Institute of Technology, Mailbox327, Harbin, Chinazhoud@hit.edu.cn

J. Dyn. Sys., Meas., Control 134(5), 054502 (Jun 05, 2012) (5 pages) doi:10.1115/1.4006368 History: Received May 18, 2010; Revised February 15, 2012; Published June 05, 2012; Online June 05, 2012

Dynamic equations describing the attitude motion of flexible spacecraft with scissored pairs of control moment gyroscopes are established. A nonlinear controller is designed to drive the flexible spacecraft to implement three-axis large-angle attitude maneuvers with the vibration suppression. Singularity analysis for three orthogonally mounted scissored pairs of control moment gyros shows that there exists no internal singularity in this configuration. A new pseudo-inverse steering law is designed based on the synchronization of gimbal angles of the twin gyros in each pair. To improve the synchronization performance, an adaptive nonlinear feedback controller is designed for each pairs of control moment gyros by using the stability theory of Lyapunov. Simulation results are provided to show the validity of the controllers and the steering law.

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Copyright © 2012 by American Society of Mechanical Engineers
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References

Figures

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Figure 1

Configuration of scissored pair of CMGs

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Figure 2

Configuration of three orthogonally mounted scissored pairs of CMGs

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Figure 3

Attitude quaternions

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Figure 4

Modal displacement η1

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Figure 5

Modal displacement η2

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Figure 6

Gimbal angles σ1 and σ2

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Figure 7

Synchronization error ɛ1

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Figure 8

Adaptive estimates d̂1 and d̂2

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