Rapid singularity-escape steering strategy for single-gimbal control moment gyroscopes

摘要

To enable the quickest possible escape from an impassable singular surface, a rapid singularity-escape steering strategy is proposed. This steering strategy works when encountering an impassable singular surface. This strategy consists of three main steps. The first step is to determine the nearest escapable point, which is always on the edge of the impassable singular surface. The second step is to calculate the torque direction that is required to ensure that the angular momentum rapidly moves toward the nearest escapable point. The third step is to apply a steering law designed to function even on a singular surface. In addition, the gimbal rates calculated using this steering law can produce a torque along the required torque direction with the maximum capability of the single-gimbal control moment gyroscope system to ensure rapid escape from the singular surface. For the proposed steering strategy, only a small amount of data must be stored in advance. Finally, two sets of simulations are presented to verify that this steering strategy can drive the angular momentum to rapidly escape from a singular surface.