Hierarchial strategy for singularity avoidance in arrays of control moment gyroscopes

摘要

A control system for adjusting the attitude of a spacecraft comprises a set of control moment gyroscopes (CMGs) (106) configured to allow null space maneuvering. The control system further comprises a momentum actuator control processor coupled to the set of CMGs (106) and configured to determine a mandatory null space maneuver to avoid singularities and determine an optional null space maneuver to increase available torque. The mandatory null space maneuver can be calculated based upon certain gimbal angles, and can be implemented by augmenting the inverse-Jacobian control matrix.