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Method and apparatus for singularity avoidance for control moment gyroscope (CMG) systems without using null motion
Method and apparatus for singularity avoidance for control moment gyroscope (CMG) systems without using null motion
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机译:在不使用零运动的情况下避免控制矩陀螺仪(CMG)系统出现奇异性的方法和装置
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摘要
A method is described for avoiding gyroscopic singularities during attitude correction to a system, such as a spacecraft having a CMG array. The method receives a corrective torque vector μ and gimbal angle values δ for each of at least three gimbals within the CMG array. The method generates a Jacobian matrix A as a function of gimbal angle values δ. The method calculates a determinant D of Jacobian matrix A. If the determinant is not equal to zero, it is not singular, and the method calculates a gimbal rate {dot over (δ)} using a pseudo-inverse steering law equation. If the determinant is equal to zero, it is singular, and the method calculates a gimbal rate {dot over (δ)} using a singularity avoidance steering law equation. The gimbal rate {dot over (δ)} is output and can be applied to a CMG array resulting in applied torque to a spacecraft and attitude correction.
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