Abstract
This manuscript reveals both the full experimental and methodical details of a most-recent patent that demonstrates a much-desired goal of rotational maneuvers via angular exchange momentum, namely extremely high torque without mathematical singularity and accompanying loss of attitude control while the angular momentum trajectory resides in the mathematical singularity. The paper briefly reviews the most recent literature, and then gives theoretical development for implementing the new control methods described in the patent to compute a non-singular steering command to the angular momentum actuators. The theoretical developments are followed by computer simulations used to verify the theoretical computation methodology, and then laboratory experiments are used for validation on a free-floating hardware simulator. A typical 3/4 CMG array skewed at 54.73° yields 0.15H. Utilizing the proposed singularity penetration techniques, 3H momentum is achieved about yaw, 2H about roll, and 1H about pitch representing performance increases of 1900%, 1233%, and 566% respectfully.
Highlights
Single gimballed control moment gyroscopes spin a rotating disc at a constant rate, and by sending a very small voltage signal to the gimbal, the fixed angular momentum vector is rotated, changing the direction component of the vector
The small voltage sent to the gimbal motor produces a large change in angular momentum, making the control moment gyroscope a highly desirable device for rotational maneuvers
The newly invented singularity penetration is experimentally proven to fly through singularities even without singularity reduction achieved via decoupled control
Summary
Single gimballed control moment gyroscopes spin a rotating disc at a constant rate, and by sending a very small voltage signal to the gimbal, the fixed angular momentum vector is rotated, changing the direction component of the vector. The small voltage sent to the gimbal motor produces a large change in angular momentum (equivalently torque), making the control moment gyroscope a highly desirable device for rotational maneuvers. Decoupling control methods to reduce the remaining singularities were discovered, leading to the question, “what can be done about the residual mathematical singularities?”. This manuscript answers this question with a newly patented invention that is analytically developed using a thorough review of the previous discoveries, followed by verification via computer simulation and even experimental validation on a free-floating spacecraft simulator. The newly invented singularity penetration is experimentally proven to fly through singularities even without singularity reduction achieved via decoupled control
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