A method is described for avoiding gyroscopic singularities during attitude correction to a system, such as a spacecraft having a CMG array. The method receives a corrective torque vector μ and gimbal angle values δ for each of at least three gimbals within the CMG array. The method generates a Jacobian matrix A as a function of gimbal angle values δ. The method calculates a determinant D of Jacobian matrix A. If the determinant is not equal to zero, it is not singular, and the method calculates a gimbal rate {dot over (δ)} using a pseudo-inverse steering law equation. If the determinant is equal to zero, it is singular, and the method calculates a gimbal rate {dot over (δ)} using a singularity avoidance steering law equation. The gimbal rate {dot over (δ)} is output and can be applied to a CMG array resulting in applied torque to a spacecraft and attitude correction.


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    Title :

    Method and apparatus for singularity avoidance for control moment gyroscope (CMG) systems without using null motion


    Contributors:

    Publication date :

    2017-02-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen





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