Suboptimal command generation for control moment gyroscopes and feedback control of spacecraft
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1994 American Institute of Aeronautics and Astronautics. Inc. All rights reserved. This paper presents a suboptimal gimbal angle command generation technique for Control Moment Gyroscopes(CMGs). The fonmilation of the spacecraft maneuver problem exploits the principle of conservation of angular momentum. This allows for a reduction in the dimensionality of the problem-only the kinematics need be considered. The gimbal angles are parameterized as polynomial functions of time and optimized. The objective of the optimization is the singularity measure. Once the gimbal angles are obtained, the rate commands are easily computed by simple differentiation. The optimal null motion used is determined after computing the open-loop command. A feedback strategy is used to track the reference attitude and angular velocity. Null motion is also used to position the gimbals at their starting values to provide repeatability. Simulation results are presented using a ground-based model of a large space structure.
