Abstract
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.
Document Type
Patent
Status
Issued
Issue Date
2-14-2017
Patent Number
US 9567112 [ 9,567,112 ] ; US9567112B1
CPC Classification
B 64 G 1/244
Application number
14/316639
Assignees
The United States of America, as represented by the Secretary of the Navy
Filing Date
6-26-2014
Recommended Citation
Agrawal, B. N., Kim, J. J., & Sands, T. A. (2017). Method and Apparatus for Singularity Avoidance for Control Moment Gyroscope (CMG) Systems Without Using Null Motion (United States Patent No. US9567112B1). https://scholar.afit.edu/patents/100