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2002, Acta Astronautica
In this paper a new Attitude Control System is proposed, based on Control Moment Gyroscopes (CMG). These actuators can provide unique torque, angular momentum and slew rate capabilities to small satellites without any increase in power, mass or volume. This will help small satellites become more agile. A low cost, miniature SGCMG designed for an enhanced microsatellite is analysed. Sizing of a proposed SGCMG indicates the advantages of using CMGs. The SGCMG is able to produce a torque of 9.82 mNm and this is confirmed through experiments performed on an air-bearing table.
In this paper a new practical Attitude Control System is proposed, based on Control Moment Gyroscopes (CMG). These actuators can provide unique torque, angular momentum and slew rate capabilities to small satellites without any increase in power, mass or volume. This will help small satellites become more agile and maneuverable. Agility considerably increases the operational envelope and efficiency of spacecraft and substantially increases the return of earth and science mission data. The paper focuses on the practical work on developing the hardware for a low cost, miniature CMG for agile small satellites. Experimental results indicate the potential benefits of using CMGs. Specifically, a cluster of four Single Gimbal CMGs (SGCMG) is used to practically demonstrate full 3-axis control for a microsatellite class spacecraft. Additionally, results are presented on the development of a larger SGCMG proposed as an experimental payload for future enhanced microsatellite missions.
2014
This paper presents the design as well as characterization of a practical control moment gyroscope (CMG) based attitude control system (ACS) for small satellites in the 15-20 kg mass range performing rapid retargeting and precision pointing maneuvers. The paper focuses on the approach taken in the design of miniaturized CMGs while considering the constraints imposed by the use of commercial off-the-shelf (COTS) components as well as the size of the satellite. It is shown that a hybrid mode is more suitable for COTS based moment exchange actuators; a mode that uses the torque amplification of CMGs for rapid retargeting and direct torque capabilities of the flywheel motors for precision pointing. A simulation is provided to demonstrate on-orbit slew and pointing performance. Miniaturization and advances in electronics have generated a significant interest in small satellites. Many applications such as high-resolution imaging, and Earth and space monitoring are being envisioned for such systems 1,2. These applications may impose the need for rapid retargeting, as well as precision pointing, on these small satellites.
2003
This paper describes the small Control Momentum Gyro developed by Astrium and Teldix for small agile satellites. This product is based on a small wheel developed by Teldix to deliver 15 Nms in a minimal volume and to sustain a very high output torque over more than one million of manoeuvres. Thanks to a very high amplification ratio, the CMG 15-45 S delivers up to 45 Nm and can be used to set a satellite of one ton at 3 degrees per second in less than 2 seconds. The CMG 15-45 S is based on an innovative architecture, patented by EADS Astrium, which minimises the mechanism size and mass and simplifies its mechanical interfaces. This small equipment fits easily in a small satellite of one ton or below. The reduction of the mechanism size improves also its pointing performances and minimises its disturbances. The performances of the CMG 15-45 S have been tested in an AOCS closed loop to verify that they are compatible with an earth observation mission working at sub-metric resolution. ...
Acta Astronautica, 2009
A recent effort to develop single-gimbal variable-speed control moment gyroscopes (VSCMGs) for a combined energy storage and attitude control subsystem (ESACS) on small satellites has culminated in laboratory validation of the concept. A single actuator prototype comprised of a cutting-edge Carbon Fiber rotor and COTS motor/generator components has been developed, balanced, bench tested, and integrated onto a spherical air-bearing structure. This structure is used to demonstrate the primary capability of a VSCMG to act as a dynamo whilst simultaneously changing a spacecraft's orientation in a controlled fashion. As originally predicted, the actuator's flywheel spins up when energy is supplied (supported via a direct energy transfer power architecture), then spins down when the energy source is removed, porting the energy released to run a resistive load. The work presented gives an overview of the governing principles of the technology, addresses the underlying mission and design requirements, and presents the prototype design. Then, effectiveness of the prototype integrated on a three-axis test article is presented along with its associated test data. Finally, discussion of these results and identification of future research concludes the work. The benefits of this technology for future space missions are that system consolidation permits mass reduction, higher instantaneous peak power is available as compared to conventional secondary battery systems, state-of-charge measurement is readily available from wheel speed feedback, and torque amplification through gimballing permits efficient actuator control. The technology demonstrated is exciting and leaves the door open for future development via inclusion of magnetic levitation.
2019
The attitude control of a satellite equipped with a six-Control Moment Gyro (CMG) cluster is studied, taking into account CMG failure cases and constraints like actuator saturation and real-time aspects. The design of the steering law that allocates the required torques among the actuators is made complex by singularities (gimbal angles of the CMGs where no torque can be created along an axis). This paper describes the problem of a constrained allocation applied to the CMG system, and explains the selected solution. An experimental setup with six CMGs has been designed. It calculates in real-time the attitude guidance laws and control loop. Agile manoeuvres simulating nanosatellite attitude reorientations have been successfully carried out during a European Space Agency (ESA) parabolic flight campaign. The results show that the steering law performs as expected even in case of CMG failures.
American Journal of Engineering and Applied Sciences, 2010
Problem statement: A cluster of small-sized Single-Gimbal Control Moment Gyros (SGCMGs) is proposed as an attitude control actuator for high-speed maneuver of small satellites. There exists a singularity problem what is peculiar to the CMG system. Approach: This study presented a simple singularity avoidance steering law using the Singular Value Decomposition (SVD) algorithm. Results: Capability of the present steering method in singularity avoidance was demonstrated with numerical simulations for fixed-star tracking control of a small satellite using four SGCMGs. Conclusion: The proposed steering law utilizes the singular value decomposition to obtain singular vectors and generates the command gimbal rate that keeps the command torque in the direction orthogonal to the singular direction with a maximum gain.
Jurnal Mekanikal, 2004
Different attitude control strategies of a small satellite are presented in this paper as well as their simulation with the MATLAB® software. Firstly, the linear mathematical model of the satellite is derived for the gravity gradient (GG) control method, which represents a passive control design. Simulation results show that the response of the satellite to initial conditions is marginally stable. The second phase of the study focuses on the design of a control algorithm used to damp the satellite oscillations around its equilibrium position with a simple hardware setting added to the satellite. The mathematical model of the new system is developed and simulation about the roll and yaw axis are realized. A consequent amelioration in the satellite response can be observed.
Satellites continue to take on a greater role in our daily lives as we increasingly depend on the services they provide. The development of a model for satellite control simulation is presented, and the design of a three degree-offreedom attitude controller is effectuated. The controller implements de-tumbling functionality using magnetic torquers and a dissipative control law. Attitude stabilization is achieved using reaction wheels and cold gas, which are driven through a combination of PD and sliding-mode control principles. Each controller is tested using the model in MATLAB® Simulink. The stability of all controllers is demonstrated. The craft was successfully stabilized to within 0.1˚ on three axes. Additionally, the Nanomind 712c ARM-based platform is selected for the final design and a strategy for hardware-in-loop co-simulation is proposed.
Nonlinear Dynamics, 2014
The attitude control of a rigid spacecraft with two skew single-gimbal control moment gyros (CMGs), which is subject to an underactuated nonholonomic constraint, is investigated. Nonlinear control theory is used to show that the combined dynamics of the spacecraft-CMG system are small-time locally controllable (STLC) from and feedback stabilizable to any equilibrium where two CMGs never encounter certain special configurations. Specially, the attitude stabilization issue is approached under the restriction that the total angular momentum of the spacecraft-CMG system is zero, which not only guarantees that the feasible equilibrium attitude can be any orientation but also renders STLC for these attitudes. In order to overcome the troublesome singular problem of two skew CMGs, a nonlinear approximation of the full attitude equations is derived for control law design by assuming that the spacecraft angular velocity is small. A novel singular quaternion stabilization law is then proposed to stabilize the spacecraft attitude with bounded angular velocities, which in turn ensures the satisfaction of the small angular velocity assumption during the entire control process. Numerical examples and experimental results validate the effectiveness of the proposed control method in stabilizing the full spacecraft-CMG system.
Acta Astronautica, 2012
A miniaturized attitude control system suitable for nanosatellites, developed using only commercial off-the-shelf components, is described in the paper. It is a complete and independent system to be used on board nanosatellites, allowing automated attitude control. To integrate this system into nanosatellites such as Cubesats its size has been reduced down to a cube of side about 5 cm. The result is a low cost attitude control system built with terrestrial components, integrating three micro magnetotorquers, three micro reaction wheels, three magnetometers and redundant control electronics, capable of performing automatics operations on request from the ground. The system can operate as a real time maneuvering system, executing commands sent from the ground or as a standalone attitude control system receiving the solar array status from a hosting satellite and the satellite ephemeris transmitted from the ground station. The main characteristics of the developed system and test results are depicted in this paper.
Journal of Aerospace Technology and Management, 2020
In space missions, there is often a need for an attitude control system capable of maintaining the desired attitude. In situations that require agile and accurate responses, which also require large torques, control moment gyroscopes (CMGs) may be used. Control moment gyroscopes are high angular moment gyros mounted on gimbals and are responsible for changing the direction of the angular momentum vector, consequently generating the control torques. There are several linear and nonlinear techniques that can be employed in the design of control laws with the final choice being a compromise between simplicity, effectiveness, efficiency and robustness. The main objective of this study is to evaluate the performance of control systems techniques with 4 CMGs in a pyramidal arrangement, either by using Linear Quadratic Tracker (LQT) with integral compensator or Exponential Mapping Control (EMC). A reference attitude will be defined to be traced in the presence of disturbance torques caused...
2016 IEEE Aerospace Conference, 2016
Femto-satellites can be used for distributed space missions that can require hundreds to thousands of satellites for real time, distributed, multi-point networks to accomplish remote sensing and science objectives. While suitable sensors are available using micro-electro-mechanical system technology, most femto-satellite designs have no attitude control capability due to the power and size constraints on attitude control actuators. A novel femto-satellite design that uses a micro-electromechanical system Control Moment Gyroscope is studied in this paper. We focus on the principal design, modelling, and discussion of the proposed Control Moment Gyroscope while detailing a controllable femto-satellite design that can make use of attitude control for simple sensing missions.
Journal of Guidance, Control, and Dynamics, 2019
This paper investigates the underactuated attitude stabilization problem using two parallel single-gimbal control moment gyroscopes (SGCMGs). Different from most existing underactuated control techniques requiring the zero total angular momentum assumption, only the controllability of the whole control moment gyroscope (CMG)-spacecraft system, which means the total angular momentum of the spacecraft with CMG array within the momentum envelope of the CMG array, is required in this paper. To achieve the underactuated attitude stabilization, a new controller consisting of two parts, that is, a higher level sliding mode control part to stabilize the angular velocity about the underactuated axis in finite time and a tracking control part to track desired angular velocities that are used to stabilize the remaining states, is developed. This proposed novel control logic achieves attitude stabilization when the initial total angular momentum of the CMG-spacecraft is not zero. Simulations show that the attitude of a microsatellite can be stabilized precisely within acceptable time using the proposed control law and steering law when the controllability constraint is satisfied. When the initial total momentum of the spacecraft base and the CMG array exceeds the momentum envelope of the CMG array, simulation results demonstrate that the attitude is controlled to be a periodic oscillation in the vicinity of the equilibrium, at the same angular momentum level determined by the initial condition.
2013
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.
2005
A cluster of small-sized single-gimbal control moment gyros (SGCMGs) is proposed as an attitude control actuator for high-speed maneuver of small satellites. Singularity problem of the system of 4-SGCMGs in pyramid configuration is investigated to show the singularity surfaces in the three-dimensional angular momentum space. This paper presents a simple singularity avoidance control logic using the singular value decomposition algorithm.
Aerospace, 2021
This paper addresses the problem of singularity avoidance in a cluster of four Single-Gimbal Control Moment Gyroscopes (SGCMGs) in a pyramid configuration when used for the attitude control of a satellite by introducing a new gimballed control moment gyroscope (GCMG) cluster scheme. Four SGCMGs were used in a pyramid configuration, along with an additional small and simple stepper motor that was used to gimbal the full cluster around its vertical (z) axis. Contrary to the use of four variable-speed control moment gyroscopes (VSCMGs), where eight degrees of freedom are available for singularity avoidance, the proposed GCMG design uses only five degrees of freedom (DoFs), and a modified steering law was designed for the new setup. The proposed design offers the advantages of SGCMGs, such as a low weight, size, and reduced complexity, with the additional benefit of overcoming the internal elliptic singularities, which create a minor attitude error. A comparison with the four-VSCMG clus...
Journal of Guidance, Control, and Dynamics, 2012
Two objectives dominate consideration of control moment gyroscopes for spacecraft maneuvers: high torque (equivalently momentum) and singularity-free operations. This paper adds to the significant body of research toward these two goals using a minimal three-control-moment-gyroscope array to provide significant singularity-free momentum performance increase spherically (in all directions) by modification of control-moment-gyroscope skew angles, compared with the ubiquitous pyramid geometry skewed at 54.73 deg. Spherical 1H (one control moment gyroscope's worth momentum) singularity-free momentum is established with bidirectional 1H and 2H in the third direction in a baseline configuration. Next, momentum space reshaping is shown via mixed skew angles permitting orientation of maximum singularity-free angular momentum into the desired direction of maneuver (yaw in this study). Finally, a decoupled gimbal angle calculation technique is shown to avoid loss of attitude control associated with singular matrix inversion. This technique permits 3H (maximal) yaw maneuvers without loss of attitude control despite passing through singularity. These claims are demonstrated analytically, then heuristically, and finally validated experimentally.
1988
High-accuracy pointing capabilities are desired for many three-axis stabilized small satellites. Momentum-based attitude control system actuators, initially developed for larger satellites. are being utilized by small satellites to meetthesc pointing requirements. This paper provides an overview of momentum devices available for small satellite applications and three-axis attitude control system (ACS) configurations using these devices. Factors affecting the selection and sizing of ACS components are also addressed. Included are suggestions for potential ACS improvements and cost-saving measures that will make momentum devices more accessible to the small satellite community.
2005
Manned spacecraft will require maintenance robots to inspect and repair components of the spacecraft that are only accessible from the outside. This paper presents a design of a novel free-flying maintenance robot (known as a MaintenanceBot.) The Maintenance-Bot uses Control Moment Gyros (CMGs) for manipulator arm and attitude control. This provides high authority control in a compact low power package. Relative position and attitude determination is accomplished with an RF system supplemented by a vision system at close range. When not docked to the manned vehicle (which must be done periodically to refuel and recharge batteries or when the manned vehicle performs orbit changes) the MaintenanceBots fly in formation using a cold gas thruster system and formation flying algorithms that permit dozens of MaintenanceBots to coordinate their positions. The use of CMGs is a prominent feature of this design. An array of CMGs can exchange angular momentum with the spacecraft body to effect attitude changes, as long as certain mathematical singularities in the actuator Jacobian are avoided. The proposed maintenance robot benefits dramatically from the dynamics and control of a multibody robotic arm whose joints are driven by CMGs. In addition to high power efficiency, another advantage of this concept is that spacecraft appendages actuated by CMGs can be considered reactionless, in the sense that careful manipulation of the CMG gimbal angles can virtually eliminate moments applied to the spacecraft body. This paper provides a preliminary design of the MaintenanceBot. Analysis of the formation flying and close maneuver control systems is included. Simulation results for a typical operation is provided.
1st Space Exploration Conference: Continuing the Voyage of Discovery, 2005
Manned spacecraft will require maintenance robots to inspect and repair components of the spacecraft that are only accessible from the outside. This paper presents a design of a novel free-flying maintenance robot (known as a MaintenanceBot.) The Maintenance-Bot uses Control Moment Gyros (CMGs) for manipulator arm and attitude control. This provides high authority control in a compact low power package. Relative position and attitude determination is accomplished with an RF system supplemented by a vision system at close range. When not docked to the manned vehicle (which must be done periodically to refuel and recharge batteries or when the manned vehicle performs orbit changes) the MaintenanceBots fly in formation using a cold gas thruster system and formation flying algorithms that permit dozens of MaintenanceBots to coordinate their positions. The use of CMGs is a prominent feature of this design. An array of CMGs can exchange angular momentum with the spacecraft body to effect attitude changes, as long as certain mathematical singularities in the actuator Jacobian are avoided. The proposed maintenance robot benefits dramatically from the dynamics and control of a multibody robotic arm whose joints are driven by CMGs. In addition to high power efficiency, another advantage of this concept is that spacecraft appendages actuated by CMGs can be considered reactionless, in the sense that careful manipulation of the CMG gimbal angles can virtually eliminate moments applied to the spacecraft body. This paper provides a preliminary design of the MaintenanceBot. Analysis of the formation flying and close maneuver control systems is included. Simulation results for a typical operation is provided.
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