Dynamics and Control of a Rigid Spacecraft with a Control Moment Gyroscope
نویسندگان
چکیده
The attitude dynamics of a spacecraft with a variable speed control moment gyroscope (CMG), in the presence of conservative external inputs, are derived using variational principles. A complete dynamics model, that relaxes some of the assumptions made in prior literature on control moment gyroscopes, is obtained. These dynamics equations show the complex nonlinear coupling between the internal degrees of freedom associated with the CMG and the spacecraft base body’s attitude degrees of freedom. General ideas on how this coupling can be used to control the angular momentum of the base body of the spacecraft using changes in the momentum variables of the CMG, are provided. Future research plans on developing control laws with multiple CMGs in arbitrary configurations within the base body of a spacecraft are discussed.
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