Singularity avoidance of CMGs by virtual actuators

Autor:	Young-Do Im, Jong-Oh Park
Rok vydání:	2010
Předmět:	Engineering business.industry Control engineering Robotics Mechatronics Computer Science Applications Singularity Control and Systems Engineering Robustness (computer science) Control theory Torque Artificial intelligence Steering law Special case business Actuator
Zdroj:	International Journal of Control, Automation and Systems. 8:891-895
ISSN:	2005-4092 1598-6446
DOI:	10.1007/s12555-010-0423-1
Popis:	An implementable and practical steering law of control moment gyros (CMGs) to avoid singularity is addressed in this paper. The singularity strategy of CMGs revised in this paper is based on a simple but practical virtual actuator methodology. It is known that in a special case of singularity and torque requirement, the virtual CMGs can provide perfect command torque without torque error, which can be proven analytically. In this paper, much extensive analysis is accomplished to provide the performance of the virtual actuator concept, which can avoid the singular configuration of CMGs with possibly smaller control torque error than the conventional singularity robustness method. Finally, the steering law based on the virtual actuator concept is demonstrated by numerical simulations.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8f83ebfe2c762119a1aa3080b1803ca2 https://doi.org/10.1007/s12555-010-0423-1 Zobrazit plný text záznamu Full text from SpringerLink