Optimization study of a single three-gimbaled control moment gyro Final report
Feasibility of using single three-gimbaled control moment gyro for control of orbital spacecraft modules
Kashiwagi, Y.↗
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Miniature, Variable-Speed Control Moment Gyroscope
The Miniature Variable-Speed Control Moment Gyroscope (MVS-CMG) was designed for small satellites (mass from less than 1 kg up to 500 kg). Currently available CMGs are too large and heavy, and available miniature CMGs do not provide sufficient control authority for use on practical satellites. This primarily results from the need to greatly increase the speed of rotation of the flywheel in order to reduce the flywheel size and mass. This goal was achieved by making use of a proprietary, space-qualified, high-speed (100,000 rpm) motor technology to spin the flywheel at a speed ten times faster than other known miniature CMGs under development. NASA is supporting innovations in propulsion, power, and guidance and navigation systems for low-cost small spacecraft. One of the key enabling technologies is attitude control mechanisms. CMGs are particularly attractive for spacecraft attitude control since they can achieve higher torques with lower mass and power than reaction wheels, and they provide continuous torque capability that enables precision pointing (in contrast to on-off thruster control). The aim of this work was to develop a miniature, variable-speed CMG that is sized for use on small satellites. To achieve improved agility, these spacecraft must be able to slew at high rate, which requires attitude control actuators that can apply torques on the order of 5 N-m. The MVS-CMG is specifically designed to achieve a high-torque output with a minimum flywheel and system mass. The flywheel can be run over a wide range of speeds, which is important to help reduce/eliminate potential gimbal lock, and can be used to optimize the operational envelope of the CMG.
Bilski, Steve↗
Simulation of an Electromechanical Spin Motor System of a Control Moment Gyroscope
A two-phase brushless DC motor (BDCM) with pulse-width modulated (PWM) voltage drive is simulated to control the flywheel speed of a control moment gyroscope (CMG). An overview of a double-gimballed control moment gyroscope (DGCMG) assembly is presented along with the CMG torque effects on the spacecraft. The operating principles of a two-phase brushless DC motor are presented and the system's electro-mechanical equations of motion are developed for the root-mean-square (RMS) currents and wheel speed. It is shown that the system is an extremely "stiff" set of first-order equations for which an implicit Euler integrator is required for a stable solution. An adaptive proportional voltage controller is presented which adjusts the PWM voltages depending on several control modes for speed, current, and torque. The simulation results illustrate the interaction between the electrical system and the load dynamics and how these influence the overall performance of the system. As will be shown, the CMG spin motor model can directly provide electrical power use and thermal power output to spacecraft subsystems for effective (average) calculations of CMG power consumption.
Inampudi, Ravi↗
On space vehicle attitude stabilization by passive control moment gyros
Equations of motion for passive control moment gyro stabilization of space vehicle attitude
Schindelin, J. W.↗
The use of magnetic torquing for control moment gyro desaturation
Magnetic torquing system for control moment gyro momentum dumping
Goetz, R. E.↗
A torque balance control moment gyroscope assembly for astronaut maneuvering
A control moment gyroscope assembly is described for use in an astronaut maneuvering research vehicle. This vehicle (backpack) will be used by astronauts inside the orbiting Skylab for evaluation of various maneuvering systems.
David C Cunningham↗
Design, fabrication and test of a 4750 Newton-meter-second double Gimbal control moment gyroscope
The development of a prototype Control Moment Gyroscope (CMG) is discussed. Physical characteristics and the results of functional testing are presented to demonstrate the level of system performance obtained. Particular attention is given to how the man-rated mission requirement influenced the choice of the materials, fabrication, and design details employed. Comparisons are made of the measured system responses against the prediction generated by computer simulation.
Cook, Lewis↗
Integrated Power and Attitude Control for a Spacecraft with Flywheels and Control Moment Gyroscopes
A law is designed for simultaneous control of the orientation of an Earth-pointing spacecraft, the energy stored by counter-rotating flywheels, and the angular momentum of the flywheels and control moment gyroscopes used together as all integrated set of actuators for attitude control. General. nonlinear equations of motion are presented in vector-dyadic form, and used to obtain approximate expressions which are then linearized in preparation for design of control laws that include feedback of flywheel kinetic energy error as it means of compensating for damping exerted by rotor bearings. Two flywheel 'steering laws' are developed such that torque commanded by all attitude control law is achieved while energy is stored or discharged at the required rate. Using the International Space Station as an example, numerical simulations are performed to demonstrate control about a torque equilibrium attitude and illustrate the benefits of kinetic energy error feedback.
Roithmayr, Carlos M.↗
Dynamics and Control of Attitude, Power, and Momentum for a Spacecraft Using Flywheels and Control Moment Gyroscopes
Several laws are designed for simultaneous control of the orientation of an Earth-pointing spacecraft, the energy stored by counter-rotating flywheels, and the angular momentum of the flywheels and control moment gyroscopes used together as an integrated set of actuators for attitude control. General, nonlinear equations of motion are presented in vector-dyadic form, and used to obtain approximate expressions which are then linearized in preparation for design of control laws that include feedback of flywheel kinetic energy error as a means of compensating for damping exerted by rotor bearings. Two flywheel steering laws are developed such that torque commanded by an attitude control law is achieved while energy is stored or discharged at the required rate. Using the International Space Station as an example, numerical simulations are performed to demonstrate control about a torque equilibrium attitude, and illustrate the benefits of kinetic energy error feedback. Control laws for attitude hold are also developed, and used to show the amount of propellant that can be saved when flywheels assist the CMGs. Nonlinear control laws for large-angle slew maneuvers perform well, but excessive momentum is required to reorient a vehicle like the International Space Station.
Roithmayr, Carlos M.↗
Modeling the Spin Motor Current of the International Space Station's Control Moment Gyroscopes
The International Space Station (ISS) attitude control is provided by two means: The Russian Segment uses thrusters and the U.S. Segment uses double-gimbaled control moment gyroscopes (CMG). CMGs are used as momentum exchange devices, providing non propulsive attitude control for the vehicle. The CMGs are very important for the ISS program because, first, they save propellant - which needs to be transferred to the Station in special cargo vehicles - and, second, they provide the microgravity environment on the Station - which is necessary for scientific experiments planned for the ISS mission. Since 2002, when one of the CMG on the ISS failed, all CMGs are closely monitored. High gimbal rates, vibration spikes, unusual variations of spin motor current and bearing temperatures are of great concern, since these parameters are the CMG health indicators. The telemetry analysis of these and some other CMG parameters is used to determine constrains and make changes to the CMGs operation on board. These CMG limitations, in turn, may limit the ISS attitude control capabilities and may be critical to ISS operation. Therefore, it is important to know whether the CMG parameter is nominal or out of family, and why. The goal of this project is to analyze an important CMG parameter - spin motor current. Some operational decisions are made now based on the spin motor current signatures. The spin motor current depends on gimbal rates, ISS rates, and spin bearing friction. The spin bearing friction in turn depends on the bearing temperatures, wheel rates, normal load - which is a function of gimbal and wheel rates - lubrication, etc. The first task of this project is to create a spin motor current mathematical model based on CMG dynamics model and the current knowledge on bearing friction in microgravity.
Pereira, Miguel A.↗
A Feasibility Study on the Control of a Generic Air Vehicle Using Control Moment Gyros
This paper examines feasibility and performance issues in using Control Moment Gyroscopes (CMGs) to control the attitude of a fixed-wing aircraft. The paper describes a control system structure that permits allocating control authority and bandwidth between a CMG system and conventional aerodynamic control surfaces to stabilize a vehicle with neutral aerodynamic stability. A simulation study explores the interplay between aerodynamic and CMG effects, and indicates desirable physical characteristics for a CMG system to be used for aircraft attitude control.
Lim, Kyong B.↗
Use of control moment gyros for the stabilization of a spinning satellite
Control moment gyros for spinning satellite stabilization and attitude control
Fearnsides, J. J.↗
Adaptive control of Space Station with control moment gyros
An adaptive approach to Space Station attitude control is investigated. The main components of the controller are the parameter identification scheme, the control gain calculation, and the control law. The control law is a full-state feedback space station baseline control law. The control gain calculation is based on linear-quadratic regulator theory with eigenvalues placement in a vertical strip. The parameter identification scheme is a recursive extended Kalman filter that estimates the inertias and also provides an estimate of the unmodeled disturbances due to the aerodynamic torques and to the nonlinear effects. An analysis of the inertia estimation problem suggests that it is possible to estimate Space Station inertias accurately during nominal control moment gyro operations. The closed-loop adaptive control law is shown to be capable of stabilizing the Space Station after large inertia changes. Results are presented for the pitch axis.
Bishop, Robert H.↗
Control moment gyro development and test.
Hardware characteristics of control moment gyro /CMG/, determining nonlinearity effects on performance by simulation
APOLLO SPACECRAFT↗
Modern control techniques in active flutter suppression using a control moment gyro
Development of organized synthesis techniques, using concepts of modern control theory was studied for the design of active flutter suppression systems for two and three-dimensional lifting surfaces, utilizing a control moment gyro (CMG) to generate the required control torques. Incompressible flow theory is assumed, with the unsteady aerodynamic forces and moments for arbitrary airfoil motion obtained by using the convolution integral based on Wagner's indicial lift function. Linear optimal control theory is applied to find particular optimal sets of gain values which minimize a quadratic performance function. The closed loop system's response to impulsive gust disturbances and the resulting control power requirements are investigated, and the system eigenvalues necessary to minimize the maximum value of control power are determined.
Buchek, P. M.↗
Steering law for parallel mounted double-gimbaled control moment gyros
Parallel mounting of double-gimbaled control moment gyros (DG CMG) is discussed in terms of simplification of the steering law. The steering law/parallel mounted DG CMG is considered to be a 'CMG kit' applicable to any space vehicle where the need for DG CMG's has been established.
Kennel, H. F.↗
Steering law for parallel mounted double-gimbaled control moment gyros. Revision A
Mounting of double-gimbaled control moment gyros (CMG's) of unlimited outer gimbal angle freedom with all their outer gimbal axes parallel allows drastic simplification of the CMG steering law development hardware. The advantages of the parallel mounting for the CMG steering law development are such that a law could be developed which is applicable to any number of CMG's with arbitrary angular momentum. Parallel mounting of the CMG's in conjunction with the steering law can therefore be considered a CMG kit suitable for many missions of differing momentum requirements. It also means that increasing momentum demands during the design phase of a space vehicle can be easily met by the addition of one or more CMG's of the original momentum capacity rather than a redesign to a larger momentum capacity. Another advantage of the parallel mounting is that the failure of any CMG can be treated like any other, i.e., only one failure mode is possible. The CMG steering law distributes the CMG momentum vectors such that all inner gimbal angles are equal which reduces the rate requirements on the outer gimbal axes. The steering law also spreads the outer gimbals which ensures avoidance of singularities internal to the angular momentum envelope.
Kennel, H. F.↗
Two different approaches for a control law of single gimbal control moment gyros
In the field of momentum exchange attitude control systems, single gimbal control moment gyros (SGCMG) are of increasing interest. A gimbal angle approach and a gimbal rate approach are presented for the SGCMG control law including the singularity avoidance. Both approaches are compared and some illustrative examples are given.
Schiehlen, W. O.↗