Geometric mechanics based modeling of the attitude dynamics and control of spacecraft with variable speed control moment gyroscopes

V. Sasi Prabhakaran, Amit Sanyal, Frederick Leve, N. Harris McClamroch

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

The attitude dynamics of a spacecraft with a variable speed. control moment gyroscope (VSCMG), in the presence of external torques and internal inputs, is derived using variational principles. A complete dynamics model, that relaxes some of the assumptions made in prior literature on control moment gyroscopes, is obtained. A non-standard VSCMG model, that has an offset between the center of the gimbal axis and the center of the rotor (flywheel) is considered. The dynamics equations show the complex nonlinear coupling between the internal degrees of freedom associated with the VSCMG and the spacecraft base body's attitude degrees of freedom. Some of this coupling is induced by the non-zero offset between the gimbal axis and the rotor center. This dynamics model is then generalized to include the effects of multiple control moment gyroscopes placed in the base body with non-parallel gimbal axes. It is shown that the dynamical coupling can improve the control authority on the angular momentum of the base body of the spacecraft using changes in the momentum variables of the VSCMG. Numerical simulations confirm the use of these VSCMGs for attitude control for a given de-tumbling maneuver.

Original languageEnglish (US)
Title of host publicationAerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications;
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume1
ISBN (Print)9780791856123
DOIs
StatePublished - Jan 1 2013
Externally publishedYes
EventASME 2013 Dynamic Systems and Control Conference, DSCC 2013 - Palo Alto, CA, United States
Duration: Oct 21 2013Oct 23 2013

Other

OtherASME 2013 Dynamic Systems and Control Conference, DSCC 2013
CountryUnited States
CityPalo Alto, CA
Period10/21/1310/23/13

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ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Prabhakaran, V. S., Sanyal, A., Leve, F., & McClamroch, N. H. (2013). Geometric mechanics based modeling of the attitude dynamics and control of spacecraft with variable speed control moment gyroscopes. In Aerial Vehicles; Aerospace Control; Alternative Energy; Automotive Control Systems; Battery Systems; Beams and Flexible Structures; Biologically-Inspired Control and its Applications; (Vol. 1). [V001T02A004] American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DSCC2013-4033