• Proceedings of the KIEE Conference
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• 2007.10a
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• pp.70-71
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• 2007

This paper presents an application of LQR(Linear Quadratic Regulator) for experimental control moment gyroscope. To be specific, mathematical model is first derived based on the quaternion and Lagrange's equation, state feedback controller using LQR scheme is designed, and to show the stability of the scheme, experimental results are given.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.40 no.1
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• pp.86-92
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• 2012

The well-used actuators for the attitude control of spacecrafts are thruster, reaction wheel, control moment gyroscope, and magnetic torquer. Among them, the control moment gyroscope(CMG) which generates the torque based on the gyroscopic principle in physics, has an advantage of the high torque output compared to the low power consumption. This paper introduces an outline of CMG hardware technology, its application history in spacecrafts, and their associated hardware characteristics. Moreover, its spin-off cases to the other industrial fields such as ship, robotics, and MEMS including their research trend are provided.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.3
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• pp.293-301
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• 2014

We present a study of vertical dynamics control of an electrostatically levitated gyro-accelerometer considering the wobbling effect and propose a tilt stabilization method with newly introduced control electrodes. Typically, a rotor in a vacuum rotates at high velocity, which may create a drift rate and lead to displacement instability due to the tilt angle of the rotor. To analyze this, first we set up a vertical dynamic equation and determined simulation results regarding displacement control. After deriving an equation for drift dynamics, we analyzed the drift rate of the rotor and the wobbling effect for displacement control quantitatively. Then, we designed new sub-electrodes for moment control that will decrease the drift amplitude of wobbling dynamics. Finally, a simulation study demonstrated that the vertical displacement control with the wobbling compensation electrodes mitigated the rotor's drift rate, showing the effectiveness of the newly proposed control electrodes.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1104-1109
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• 2010

This paper deals with the attitude control of an underactuated spacecraft that has fewer than three actuators. Even though such spacecrafts are known as uncontrollable, restricted missions are possible with controlling two-axis attitude angles. A variable speed control moment gyroscope is considered as an actuator. It is a kind of momentum exchange device and it shows highly nonlinear dynamical properties. Speed commands are generated by kinematic equations represented by Euler angles. A control law, that is designed to make a spacecraft follow the speed commands, is derived by the backstepping method. Angular speeds are estimated from the attitude measurements. Several estimation methods have been compared.

• Journal of Aerospace System Engineering
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• v.7 no.4
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• pp.12-17
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• 2013

Control Moment Gyroscope(CMG) is one of the most efficient momentum exchange devices for satellite attitude control and essential device for agile maneuver system. This paper presents the details of a designed Single Gimbal CMG with a constant speed momentum wheel and single axis attitude control unstable to stable. In order to keep the naturally unstable equivalent point, it should be controlling the gimbal constantly. The experimental data are compared with theoretical result and requirements are used to verify their performance specifications.

• Journal of the Korean Institute of Intelligent Systems
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• v.27 no.2
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• pp.89-98
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• 2017

The control moment gyroscope(CMG) can be used for essential balancing control of a one-wheeled mobile robot. A single-gimbal CMG has a simple structure and can supply strong restoring torque against external disturbances. However, the CMG generates unwanted directional torque also besides the restoring torque; the unwanted directional torque causes instability in the one-wheeled robot control system that has high rotational degrees of freedom. This study proposes a control system for a one-wheeled mobile robot by using a CMG scissored pair to eliminate the unwanted directional torque. The well-known LQR control algorithm is designed for robustness against modeling error in the dynamic motion equations of a one-wheeled robot. Computer simulations for 3D nonlinear dynamic equations are carried out to verify the proposed control system with the CMG scissored pair and the LQR control algorithms.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.2
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• pp.172-178
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• 2015

The control moment gyroscope(CMG) which is well known as an effective high-torque-generating device is applicable to space vehicles, airplanes, ships, automobiles, robotics, etc. for attitude stabilization and maneuver. This paper deals with the overall details of 100Nm-class CMG development for various industrial applications, and provides the activities and results associated with the CMG system-level requirement analysis, the motor subsystem design/manufacturing/integration, the construction of ground support equipment, and the performance test and evaluation. The performance test reveals that the CMG generates the torque output more than 120Nm in as-designed operation of spin motor and gimbal motor.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.5
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• pp.389-397
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• 2021

The control characteristics after the failure of the control moment gyros, the actuators for satellite attitude control, were analyzed. In particular, the situation where one out of four failed was considered. For the most commonly used pyramids and box-90 structures, the singularities and singular surfaces after failure were analyzed and compared. Dynamic equations for the process of reducing the wheel speed after the failure were derived. The process of stabilizing the angular velocity of a satellite while absorbing the momentum of the faulty module by the three normal modules was analyzed. For singular shapes, the remaining CMGs may be locked or excessively shake. The authors proposed that it can be prevented by rearranging the gimbal angles.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.2
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• pp.248-254
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• 2018

In this paper, a Monte Carlo-based Recursive Least Square(MC-RLS) method is presented to directly identify the inverse model of the dynamical system. Although a RLS method has been used for the identification based on the deterministic data in the closed loop controlled form, it would be better for RLS to identify the model with random data. In addition, the inverse model obtained by inverting the identified forward model may not work properly. Therefore, MC-RLS can be used for the inverse model identification without proceeding a numerical inversion of an identified forward model. The performance of the proposed method is verified through experimental studies on a control moment gyroscope.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.105-114
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• 2007

This article presents the details of a designed control moment gyroscope (CMG) with a constant speed momentum wheel and one-axis-gimbal, and its experimental results performed at Korea Aerospace Research Institute. The CMG which is able to produce a torque of lOO mNm per each, is mounted in a pyramid configuration with four SGCMGs. Each CMG test and a single axis maneuver test with four-CMG cluster configuration are performed to confirm their performance on a ground-test facilities consisted of three major parts: a vibration isolation system, a dynamic force plate (Kistler sensor), and a DSP board. These facilities provide the accurate data of three axial and torques from the control moment gyro. Details of the CMG experimental results are presented with discussion of the experimental errors. The experimental data are compared with theoretical results and both results are used to verify their performance specifications.