Abstract
Control moment gyroscope(CMG) is an indirect actuator used for the attitude control tasks where actuators cannot be directly applied. Control of the gimbal position becomes important to maximize the induced torque. As a torque amplifier, the gimbal axis of CMG should be controlled to produce fine and regulated torque. Since the torque performance is dependent upon the return performance of the gimbal axis, both the magnitude and direction of gyroscopic torque should be controlled to achieve agility and regulation. In this paper, a robust current controller is designed with an angle restriction property by the current compensation designed through the model identification by real-time recursive least square(RLS) algorithm. Firstly, the configuration and mechanism of designed CMG is presented and the angle restriction problem is stated. Secondly, RLS algorithm is designed for online identification, implemented, and validated. Thirdly, the proposed current control scheme of gimbal axis is verified by experiments.
Published Version
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