Académique Documents
Professionnel Documents
Culture Documents
Haruhisa Kurokawa
Mechanical Engineering Laboratory
A Geometric Study of
Single Gimbal Control Moment Gyros
Singularity Problems and Steering Law
by
Haruhisa Kurokawa
Abstract
Keywords
Attitude control, Singularity, Momentum exchange device, Inverse kinematics, Steering law
Acknowledgments
ii
Haruhisa Kurokawa
June 7, 1997
Contents
Abstract ............................................................................................................................................................ i
Acknowledgments ........................................................................................................................................... ii
Terms ........................................................................................................................................................... viii
Nomenclature ................................................................................................................................................. ix
List of Figures ................................................................................................................................................. x
List of Tables ............................................................................................................................................... xiii
iii
iv
Chapter 7
Appendix A
vii
Terms
Class : A set of manifolds which correspond to a certain
domain and are equivalent to each other.
viii
Nomenclature
Symbol
Definition
Section number
:
Skew angle of the symmetric pyramid type
system
6.1
8.1.1
* :
Vector part of
8.1.1
B:
6.4
c* :
= cos
6.1
ci :
3.1
C:
Mi : Manifold
5.1
5.1
n :
3.1
pi :
= 1 / (u hi)
4.1.3
P:
Diagonal matrix of pi .
4.1.3
i :
3.1
dS
S.
4.2.1
dN
4.2.1
dT
4.2.1
D:
S:
3.1
3.1
4.2.1
N:
4.2.1
T:
4.2.1
rg :
Rg :
4.1.1
s* :
= sin
surfaces
:
Symbol
Definition
Section number
5.3
6.2
6.1
gi :
Gimbal vector
3.1
G:
5.3
hi :
3.1
S :
H:
T:
3.1
u:
LA :
torque vectors.
3.1
3.4
N :
Null motion,
ix
3.2
List of Figures
Chapter 2
21
22
23
24
51
Two types of CMG units
Configurations of single gimbal CMGs
Twin type system
Block diagram of three axis attitude
control
52
53
54
55
Chapter 3
31
32
33
34
35
36
56
57
58
59
510
Chapter 4
41
42
43
44
45
46
47
48
49
410
411
412
Chapter 6
61
62
63
64
65
66
67
68
69
610
611
612
613
Chapter 7
71
72
Chapter 5
x
Candidate of workspace
Cross section nearly crossing P
73
74
75
76
77
78
79
710
711
712
713
714
715
716
717
718
719
720
812
813
Chapter 9
91
92
93
94
95
96
97
98
99
A1
A2
A3
82
83
84
85
86
87
88
89
810
811
Appendix D
D1
D2
D3
D4
Appendix A
Chapter 8
81
Appendix E
xi
E1
E2
E3
E4
E5
E6
E7
E8
Experimental apparatus
Block diagram of experimental apparatus
Three axis gimbal mechanism
Single gimbal CMG
Balance adjuster
Onboard computer
Block diagram of the model matching
controller.
Block diagram of the tracking controller.
E9
E10
Appendix F
F1
xii
List of Tables
Chapter 2
21
22
82
Component Level Comparison
System Level Comparison
Appendix E
E1
E2
Chapter 6
61
62
Symmetric Transformations
Segment Transformation Rule
Appendix F
F1
Chapter 8
81
xiii
xiv
Chapter 1
Introduction
2. Characteristics
Moment
of
1. Control
Introduction
Gyro Systems
Chapter 2
Gimbal Motor
AA
AA
Gyro Motor
Flywheel
Gimbal
Mechanism
Outer Gimbal
Motor
Flywheel
A
AA
AA
A
Gyro
Motor
Outer
Gimbal
Inner
Gimbal
Motor
Inner Gimbal
Fig. 21
g4
4
h3
g3
g4
h4
g5
h2
g1
g6
g2
h1
g3
h3
h5
h4
2n
g2
h2
g1
h6
h1
(c) Skew type
g1
g2
12
h6
23
g1
h1
h3
g2
g1
g6
h2
13
g1
g2
11
g5
22
h5
g3
h4
g2
21
g4
Gimbal Motor
A
Maneuver
Command
Generator
B
+
T com
Vehicle
Control
Law
CMG
Steering
Law
Momentum
Management
Control Logic
TCMG
CMG
System
Unloading
Torquers
Spacecraft
attitude control.
2.3.1 Block Diagram
A functional block diagram of a three axis attitude
control is shown in Fig. 24. Most of the blocks are the
same when either reaction wheels or CMGs are used.
The attitude and rotational velocity commands are
generated by a maneuver command generator denoted
by A in Fig. 24. The command and sensor information
are the inputs to the vehicle control law block, B. This
block calculates the torque necessary for control. The
next block, C, shows the CMG steering law which
calculates the CMG motion for the torque calculated by
block B. In this manner the actual CMG system is driven
and an output torque to the satellite is generated. The
blocks relating to CMG control are the CMG steering
law, C, and the momentum management block, D. Those
two blocks are described first in the following sections.
Then, relating subjects, i.e., maneuver commands,
disturbances and the motion of angular momentum
vector will be explained.
Torque Weight
Steering Law
Singularity
Reaction Wheel
1
1
simple
none
Double Gimbal CMG 100
2
not simple
slight
Single Gimbal CMG 1000
2
most complex
serious
(21)
H n (t d d2) dr n d5 .
(22)
(23)
10
3. General Formulation
Chapter 3
General Formulation
(32)
(34)
(31)
(33)
(35)
hi0
i
hi
h
ci0
c
Fig. 31 Orthonormal vectors of a CMG unit
ci
11
I/O Ratio
(36)
where
i = di/dt, and = (1, 2, ..... , n)t .
(37)
The variable i is the rotational rate of each gimbal.
The vector is a component vector of a tangent space
of T(n). The matrix C is a Jacobian of Eq. 34 and is
given by,
C = (c1 c2 .... cn) .
(311)
T = ci i
= C ,
(38)
0
1 0
QCR = 0 2 0
0
0 3
0 . . 0
0 . . 0 , (312)
0 . . 0
= Ct(CCt)1Tcom + (I Ct(CCt)1C) k .
||=1
(39)
where I is the n n identity matrix and k is an arbitrary
vector of n elements.
The first term has the minimum norm among all
solutions to the equation. The matrix Ct(CCt)1 is called
a pseudo-inverse matrix. The second term, denoted by
N, is a solution of the homogeneous equation;
C N = 0 .
2
1
n - sphere
(a) Gimbal rate
(310)
3
H
1
2
12
3. General Formulation
(313)
det(CCt) = (1 2 3)2 .
(314)
h3
h2
H
h1
Singular
Line
S1
S0
3.4 Singularity
Angular Momentum
Envelope
(315)
(a) Angular momentum
S0
(316)
ut C = 0 .
(317)
c1
c2
cn
S1
(b) Vector arrangement
Fig. 35 Typical vector arrangement
for a 2D system
13
(318)
i = W/i .
(319)
where
(321)
(322)
(320)
where W is a nn matrix .
(323)
Possible Output
c1
c2
cn
Chapter 4
i = sign( u hi) .
(41)
(42)
(43)
hS
g
=1
cS
=1
cS
hS
Fig. 41 Vectors at a singularity condition
15
g1
g2
g3
g4
Unit Circle C1
Envelope
g1
z
Envelope Portion
Internal Portion
Unit Circle C 2
16
Unit Circle C 1
Fig. 44 Cross sections of a singular surface of
the pyramid type system.
The outermost unit circle is the same as C1 in
Fig. 42. The other lines are cross sections of
planes orthogonal to the gimbal axis g1.
44 is such an example.
The proof of this theory is given in Appendix B.3.
(44)
4.2.1 Tangent Space and Subspace
(45)
(46)
17
H / i = ci ,
B
d N1 =( , 0, ) t
h1
h2
B
d N2 =(0, , ) t
h3
H = H(S+d) H(S) ,
(410)
is expressed as,
H = ci di 1 / 2 i hi(di)2 ,
(411)
d S =( , , ) t
d T =( , , ) t
(c) S
Hu = 1 / 2 u (ihi (di)2) ,
= 1 / 2 i(di)2 / pi .
(d) T
Hu = 1 / 2 dt P1 d .
d = dS + dN ,
(414)
4.3 Passability
Hu = 1 / 2 dSt P1 dS
1 / 2 dNt P1 dN .
(415)
QN = 1 / 2 dNt P1 dN .
(416)
(417)
= H(S) + iH / i di
+ 1 / 2 ij(2H / ij)didj
+ O(di3) .
(413)
given by:
1 / = 1/2 ij pi pj [ci cj u ]2 .
(412)
(48)
18
dS = ES ,
where ES : n2, : 12 ,
dN= EN ,
where ES : nn2, : 1n2 .
(418)
(419)
H
QS
H(
S)
Singular surface
d =d N1 d N2
=( , , 0)t
d =d N1+ d N2
=( , , 2 ) t
(a) Hu < 0
(b) Hu > 0
19
u
Singular Surface
(a) = {+ + + ... +}
u
(b) = { + + ... +}
(c) = { + ... +}
20
z
z
y
x
Envelope
Internal Part
z
Internal Part
z
x
Unit of H
Unit of H
21
(a) Envelope.
Singular surface S{+ + + + +}
Envelope
Internal Part
(420)
22
5. Inverse Kinematics
Chapter 5
Inverse Kinematics
5.1 Manifold
A steering law is a method to obtain gimbal rates
which corresponds to a given torque command. If we
ignore the factor of time, the steering law is regarded as
a method to obtain gimbal angles by a given change of
the angular momentum. This is the reverse relation of
the kinematic equation 34. The (forward) kinematics
is a one-to-one mapping but the reverse relation, which
is called an inverse kinematics, is generally a one-tomulti mapping. Therefore, possible having the same
H is given by an inverse image of this mapping.
The inverse image from H to is a set of sub-spaces
disjoint to each other. Supposing that a sub-space has
no singular state, an n3 dimensional tangent space is
defined at each point of this space as a linear space of
null motion. Thus, this sub-space is a n3 dimensional
manifold. Supposing that a sub-space has singular
points, no tangent is defined there, but even in this case,
tangent spaces are defined at all other points of this space.
Thus, this sub-space is nearly the same as a manifold
and in this work will be termed a singular manifold.
(51)
M0(HS+2 e u)
(a) Ellipsoidal
manifolds around
an impassable
singular point.
M01(HSe u)
S
M0(HS+e u)
MS(HS)
M1(HS+e u)
23
HSe u
HS
HS+e u
M1
M0
(c) Continuous change of manifolds in the
neighborhood of impassable H.
HS
= max( min(| ); MA ) ; MB ) ,
HS+e u
(52)
M2
HSe u
d(MA, MB)
S1
H0
M1
M3
Domain
m=2
M5
m=3
M4
m=2
M2
S2
D3
H1
M6
D2
H2
D1
H path
M1
M0
Manifold Paths
Fig. 53
An example of a continuous
manifold path.
A passable singular point S1 is a bifurcating
point and an impassable point S2 is a
terminal of the path.
24
5. Inverse Kinematics
Equivalence Class
Singular Surface
H path
Manifold Path
G1
A
MA
HA
MB
D2
MB
HB
M B
Domain D1
G2
Manifold space
H space
Fig. 54
MA
space
25
Impassable Surface S0
S
C
Domain D1
(Type 2)
P
A
Domain D0
Passable Surface S1
(a) Cross section of an internal
singular surface and H path
Bifurcation at A
R
M1
M 2 G 2
H
2
Bifurcation at B
P
1
Impassable
Singular Point
M2
H
M1
2
26
5. Inverse Kinematics
Domain D3
(Type 1)
G2
G1
Domain D1
(Type 2)
Domain D2
(a) Type 2 domain
Domain D4
(Type 1)
Domain D3 (Type 1)
D'
E'
Class of manifold
Class connection
Bifurcation
Termination
H path
Envelope part
27
Impassable Surface
Q
A
Passable Surface
P
(a) H space
MR
MS
Q
S
MQ
T MA2
MT
P
MA1
(b) space
MP
Impassable Surface
P
T
S
(a) H space
MP
T1
MQ
T2
MS
(b) space
Fig. 58 An illustration of class connection rule (2).
If two impassable surfaces cross each other, both
terminal classes are different.
28
5. Inverse Kinematics
Terminal Class
Impassable
A
Passable
B"
V
B
A"
A
A'
B'
Local Minimum
(a) Cross section orthogonal to gi direction.
2, 3, 4
Manifolds
2
Singular
Manifold
MSV
Terminal
Manifold
29
30
Chapter 6
s* = sin =
2 3,
c* = cos = 1 3 .
(61)
h 3 = cos 3 ,
s * sin 3
cos 2
h 2 = c * sin 2 ,
s * sin 2
cos 4
h 4 = c * sin 4 ,
s * sin 4
(62)
c * cos 1
c1 = sin 1 ,
s * cos 1
c * cos 3
c 3 = sin 3 ,
s * cos 3
sin 2
c 2 = c * cos 2 ,
s * cos 2
sin 4
c 4 = c * cos 4 ,
s * sin 4
(63)
g4
c4
h3
g3
c3
4
h4
6.2 Symmetry
c1
X
g1
Y
h1
1
h2
2
g2
c2
31
Z
3
1
3
2
Y
X
Y'
3
4
X'
3
Z
1
1
New
Coordinate
System
Y'
X'
(65)
(66)
(67)
(68)
32
H Transformation
(A)
Transformation Transformation **
of Mirror (MA )
_________________________________________________________________________
e1
( x, y, z)
( 1 , 2 , 3, 4)
( x, y, z)
E1
( y, x, z)
( 1 , 4 , 3 , 2 )
( y, x, z)
r1
( z, x, y)
(2 +1 , 2 3 , 2 4 , 2 +2 ) ( z, x, y)
R1
( z, y, x)
( 1 , + 3, + 2 , 4)
( z, y, x)
q1
( y, z, x)
( 2+ 1 , 2+ 4 , 2 2 , 2 3) ( y, z, x)
Q1
( x, z, y)
( 1, 2, + 4, + 3)
( x, z, y)
e2
E2
r2
R2
q2
Q2
(
(
(
(
(
(
y, x, z)
e3
E3
r3
R3
q3
Q3
(
(
(
(
(
(
x, y, z)
x, y, z)
x, z, y)
y, z, x)
z, y, x)
z, x, y)
y, x, z)
z, x, y)
z, y, x)
y, z, x)
x, z, y)
( 4, 1 , 2 , 3)
( y, x, z)
( 2 , 1 , 4 , 3 )
( x, y, z)
( 4, 1, + 3, + 2)
(2 3 , 2+ 1, 2 + 4 , 2 2)
( z, y, x)
( 2+ 2 , 2+ 1, 2 3, 2 4) ( x, z, y)
( + 3 , 1, 2 , + 4)
( 3 , 4 , 1, 2)
( y, z, x)
( z, x, y)
( x, y, z)
( 3 , 2 , 1 , 4 )
( y, x, z)
( 2 2, 2 3, 2+ 1, 2+ 4)
( + 4, + 3, 1, 2)
( y, z, x)
(2 4 , 2+ 2, 2 + 1 , 2 3)
( + 2 , 4, 1 , + 3)
( z, x, y)
( z, y, x)
( x, z, y)
e4
( y, x, z)
( 2 , 3 , 4, 1)
( y, x, z)
E4
( x, y, z)
( 4 , 3 , 2 , 1 )
( x, y, z)
r4
( x, z, y)
( 2 3, 2 4, 2+ 2, 2+ 1) ( x, z, y)
R4
( y, z, x)
( + 3, + 2, 4, 1)
( y, z, x)
q4
( z, y, x)
(2 + 4 , 2 2, 2 3 , 2+ 1) ( z, y, x)
Q4
( z, x, y)
( 2 , + 4, + 3 , 1)
( z, x, y)
_________________________________________________________________________
Note;
*: Each transformation is represented only by its suffix.
**: = 3
33
(1) = ( , , , ),
where < ,
(69)
(610)
Singular
l
k
(h)
(k)
(g)
a
0
2 , 4
f
0
b
(l)
0
1, 3
(a) (i, j) =(, )
i
(b) ( i , j )=(+, )
0, = 2, 56
G H K L M N
G H K L M N
-------------------------------------------------------------------------------------------e1 G H K L M N
H G L K N M
E1 H G M N K L
G H N M L K
r1
L K N M G H
K L M N H G
R1 K L G H N M
L K H G M N
q1 M N H G L K
N M G H K L
Q1 N M L K H G
M N K L G H
e2 H G M
E2 G H L
r2 N M
R2 M N H
q2 L K G
Q2 K L N
e3
E3
r3
R3
q3
Q3
G
H
K
L
N
M
H
G
L
K
M
N
L
N
M
G
H
K
K
M
N
H
G
L
N
K
L
G
H
M
N
L
G
M
K
H
L
M
H
K
N
G
M
K
H
N
L
G
K
N
G
L
M
H
G
H
M
N
K
L
H
G
N
M
L
K
H
G
L
K
M
N
N
K
L
G
H
M
G
H
K
L
N
M
M
L
K
H
G
N
K
M
N
H
G
L
K
N
G
L
M
H
L
N
M
G
H
K
L
M
H
H
N
G
M
K
H
N
L
G
N
L
G
M
K
H
e4 H G N M K L
G H M N L K
E4 G H K L N M
H G L K M N
r4 M N L K H G
N M K L G H
R4 N M H G L K
M N G H K L
q4 K L G H M N
L K H G N M
Q4 L K M N G H
K L N M H G
_____________________________________________________________
Note:Each transformation and each segment are represented by
their suffices.
34
(611)
(613)
Sectional Plane
Orthogonal to g 1
d : Distance from
the H Origin
A
(614)
Envelope
Portion of Internal
Impassable Surface
g1
g2
g4
(615)
g3
(b) Cross section on plane A
Internal
impassable part
Domain D1
D1
A
Internal
passable
part
Envelope part
(a)d=0.9
d = 1.0
Unit Circle
d = 0.99
(b)d=0.8919
D1
d = 0.92
D2
(d)d=0.88
(c)d=0.885
D3
D3
D2
(e)d=0.87
(f)d=0.857
B
A
A
D3
D4
(h)d=0.64
(g)d=0.85
A
(i)d=0.6
Fig. 66 Cross sections of singular surface.
Bold curves are impassable and thin curves are
passable. All are drawn at the same scale except the
last two, (h)d=0.64 and (i)d=0.6. The impassable
curve segments AB have envelope parts as shown in
(a), are totally internal as shown in (b) and are
divided into two as shown in (h).
36
Z
g1
Q
P (0,0,2s*)
E
D
Y
X
Y
4c*
P
C
B
F
2)
t ,
(619)
where:
= ( + 3, 6, 5 6, 3 ) ,
(D) 5 6 (E) ,
(616)
u = ( ( c*cos + sin ),
where:
= ( 2, , 2, ) ,
2 (B in Fig. 68) ,
u = ( s*cos , 0, sin )t .
(617)
where:
= ( , 2, , 2 ) ,
(B) 2 5 6 (C) ,
u = ( 0, s*cos , sin )t .
37
B e1, B E1
,B
Be
B E1
Bq
B r1
,B
BE
B r1, B R1
B q1
Be1, BQ1
r1
B Q0
BR
BR1, Bq1
2
e1, Q1
e4, E3
e3
2,
E
,R
q2
R4, q3
r4, E4
q3, R
r1, q1
e
R4 4,
, q4 Q
4
q2
g1
r4
1,
R2, q
r2,
E
1
r3, Q
e3, Q3
g3
q2, Q
e1
e2
,R
E2
4,
E
r2
q4
E2, r
r
3,
,
q3
Q2,
2
,R
Q4
2,
Q3, r1
E1, e2
,Q
q1
r1, R
X
e3, E3
e2,
e1, E1
r2,
r3, R3
4
,R
r4
q4, Q4
e4,
Envelope
Cutaway of Envelope
Envelope
Z
P
Passable
P
Y
X
Y
Impassable
Simplified Branches
Fig. 611 Internal impassable surface with
envelope cutaway.
X
Fig. 613 Cross section through the xy plane.
38
39
40
Chapter 7
Candidate
workspace
41
T
Q
X
R
Y
Envelope
Passable
Impassable
X
|H| = 1
Domain D1
Branch BE4
H path 1
Branch Be3
HHpath
path2 2
Domain D A
= (+, , +, ),
where Hz = 4 s* cos sin .
(71)
42
(H=(0,0,0)) = (, , , ) ,
where /6 /6 and 5/6 7/6 .
(72)
32
32
MA0 G A0
M A1
0
2
2
32
32
32
e3
M 01
G01
M 00
G00
E4
0
2
2
32
32
G 01
BE4
G A0
Domain DA
D1
G A1
G12
G00
Be3
Fig. 74 Simplified class connection diagram around domain D A.
For clarity, this figure of domains has been simplified by omitting some singular surfaces.
43
Y
3
e1
2
e2
U
X
DA
DC
DA
DB
U(0, 0, 1.4)
e4
e3
DD
MD1
M C0 GC0
MD0
GD0
M C1
DD
DA
MA1
DC
DB
MB1
MA0 GA0
M B0
GB0
44
4
3
Singular
Point
1
2
2
1
MU
Segment
Fig. 76 Singular manifold of a point U on the
z-axis.
Two curved line segments drawn bold, 1 2 and
3 4, are the segments continuously connected
to manifolds, M A1 to M D1 in Fig. 75.
(73)
Since the two sets of segments given by Eqs. 72
and 73 have no common , continuous control from O
to P and from O to Q cannot be satisfied simultaneously.
It is clear that once the condition imposed by Eq. 73 is
satisfied, the system will meet an impassable singularity
on the H path nearly along the z axis while crossing
some of the impassable branches BEi and Bei in Fig. 7
5. Thus it is concluded that continuous steering over
this entire workspace, including O, P and Q is not
possible. These two sets of segments defined by the
above two equations are (LA, LD) and (LC, LF) in the
notation of Section 6.3. The remaining segments LB
and LE are the condition for the continuous control in
the OR direction.
45
LH
T
V
LF
LC
LM
S
a = 0.02
Y
DV
a = 0.25
a = 0.5
a = 0.75
a = 1.0
a = 1.3
|H|=1
Fig. 78 Continuous change of manifold for H
nearly along the z axis.
These six manifolds are for H=(0.02, 0.02, a)t
where a = 0.02, 0.25, 0.5, 0.75, 1.0 and 1.3. The
last manifold for a = 1.3 is MV of the next figure.
Filled circles and blank circles are maximum and
minimum of det(CCt) along the manifolds.
Envelope
(a) HZ= 0.1
DV
MV
2
Envelope
(a) Manifold M V
DV
M D0
MB0
2
1
MA0
Envelope
(c) HZ= 1.0
46
Domain DV corresponding to
manifolds in Fig. 78.
These domains have
manifolds equivalent to M V.
(3)
Singular Surface
(3)
(2)
(2)
(1)
(a) Smooth Break Away
(1)
(b) Folding
Stop
Stop
(1)
47
escape motion as in the cases (a) and (b) will take place
approximately to the narrow direction. Possible error,
therefore, can be roughly estimated by the width of the
singular suface stip.
If a faster sliding motion is required, judicious
knowledge of the direction of narrow width is very
useful. This direction can be approximately obtained as
an eigenvector of the negative curvature of the surface.
Supposing that this direction is obtained as v, the
motion, dS, that will realize this sliding motion is
obtained by movement along the singular surface as
follows:
dS = PCt (CCt + k u ut )1 v .
(74)
H motion due to
Vehicle's Rotation
H Trajectory
Acceleration
Deceleration
H0
H1
Fig. 712
Illustration of H trajectory of the
CMG system for the example maneuver.
Detour
H0
H1
Fig. 713 Avoidance of an impassable surface
48
43, 44).
H1
Impassable
Surface
H Trajectory
(a) Impassability
This residual angular momentum
causes rotation of spacecraft
H1
Possible H Trajectory
Direction of Maneuver
Preferred Gimbal Angles
z-axis, (1, 1, 1)t direction (0, 0, 0, 0)
x-axis, (4, 2, 0)t direction (3, 3, 23, 23 )
y-axis, (2, 4, 0)t direction (23, 3, 3, 23 )
49
A( 0), B
3
1
H X =1.0
H X=1.0
B
H X=0
Hx=0
A( 0)
(a) 0.0 HX 1.0
HX =1.0
B, C
HX =1.2
HX =1.4
HX =1.0
H X=1.2
C
H X=1.4
B
Connection
(b) 1.0 HX 1.4
H X=1.4
H X=2.6
HX=2.6
H X=1.4
50
4 s*
Possibly Passable
Impassable
Z
P
T
Q
X
R
2 c*
Estimated
Workspace
Fig. 716 Estimation of reduced workspace for
exact steering. Branches drawn by bold lines are
impassable but those drawn by thin lines may be
made passable.
51
1 2 + 3 4 = 0 ,
Manifold of
H=(0,0,0)t
A
B
E
(75)
Manifold of H=(0.5,0.5,0)t
Fig. 717
Discontinuity in the maximum of
det(CCt).
Rounded rectangles are parts of the manifold
for H on the z axis. Dots indicate the local
maxima of det(CCt ).
Hz
(77)
where
|Hz| 2s*, s = Hz (2s*), c = (1 s2)12,
p = sin12 s and q = cos12 s .
By using this approximation, a workspace of the
constrained steering law is defined as illustrated in 3dimension in Fig. 719.
The reduced workspace has the same maximum
length as the maximum workspace in the z axis, but the
52
Internal Singular
Surface
2c*
x
x
2(1+c*)
Cross Section of
Allowed
Workspace
(a) Hz=0.0
(b) Hz=0.4
y
Approximated
Workspace by Eq. 77
x
x
(d) Hz=1.0
(c) Hz =0.75
y
(e) Hz=1.4
(f) Hz =2.0
(g) Hz =2.6
53
4s*
2c*
x
2c*
y
54
z
(1, -1, 0)t
x
(1, 1, 0)t
(a) M1
(b) M2
(c) M3
(78)
55
56
8. Ground Experiments
Chapter 8
Ground Experiments
i = ei sin( / 2) ,
where i = 1, 2, 3 and |e|=1. As the rotation has three
degree of freedom, there is a constraining condition that
i2 = 1.
Any attitude, which is the result of a rotation a =
(a0, a1, a2, a3) after a rotation b = (b0, b1, b2, b3), is
expressed as a multiplication by ab in the sense of a
Hamiltonian quarternion as follows:
ab = (a0b0 a1b1 a2b2 a3b3,
a0b1 + a1b0 + a2b3 a3b2,
a0b2 a1b3 + a2b0 + a3b1,
a0b3 + a1b2 a2b1 + a3b0) .
d* dt = 1 2 (0 + * V) ,
(83)
* = (1, 2, 3)t .
(84)
where
8.1.1 Dynamics
0 = cos( / 2),
(82)
(85)
(86)
57
8. Ground Experiments
Chapter 8
Ground Experiments
i = ei sin(/ 2) ,
where i = 1, 2, 3 and |e|=1. As the rotation has three
degree of freedom, there is a constraining condition that
i2 = 1.
Any attitude, which is the result of a rotation a =
(a0, a1, a2, a3) after a rotation b = (b0, b1, b2, b3), is
expressed as a multiplication by ab in the sense of a
Hamiltonian quarternion as follows:
ab = (a0b0 a1b1 a2b2 a3b3,
a0b1 + a1b0 + a2b3 a3b2,
a0b2 a1b3 + a2b0 + a3b1,
a0b3 + a1b2 a2b1 + a3b0) .
d* dt = 120V + *V,
(82)
(83)
where
* = (1,2,3)t .
(84)
8.1.1 Dynamics
0 = cos(/ 2),
(85)
(86)
57
= VIVV
Support Rod
AA
A
A
AA
Rate Gyroscope
Three Axis
Gimbal
(87)
where
g3
= v + 1 4 Vt V * ,
CMG3
(88)
750mm
g1
g4
8.2
CMG2
(89)
g2
Onboard
Computer
Balance
Adjusters
h4
CMG1
Rotary
Encoder
y
x
CMG4
Fig. 81
Experimental test rig showing the
center-mount suspending mechanism.
This
figure
shows
that
the
pyramid
configuration can be realized so that all four
units fit the
parallelepiped.
surfaces
of
rectangular
58
8. Ground Experiments
Rotational angle
(3)
(4)
(5)
(6)
(2)
(7) (8)
(1)
t1
t2
t1
t3
t1
t2
t1 t3
time
Fig. 82 Target trajectory.
This trajectory has eight parts as,
(1) constant acceleration by d2 dt2 = a,
(2) constant rate rotation, ddt=at1 ,
(3) constant deceleration by d 2dt2 = a,
(4) pointing control at =at1 2+at1t2 ,
(5) to (8) are the reverse of (1) to (4).
Reference Attitude
or
Target Trajectory
Attitude
Command
Generator
Torque
Command
T COM
Attitude
Controller
Momentum and
Disturbance
Management
Torque
Output
T
Desired
Motion
CMG
Steering
Law
Balance Adjusters
Proportional
Limiter
Pyramid
Type
CMG
System
Body
59
Initial
Steering Results
law
Experiment A ( 0, 0, 0, 0)
GM
Fig. 84
Experiment B ( 0, 0, 0, 0)
SR
Fig. 85
Experiment C (/3, /3, /3, /3) GM
Fig. 86
60
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0.3
0.2
0.1
0
-0.1
-0.2
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0
(a) attitude
2
1
0
-1
10
T (N m)
0.5
0
-0.5
-1
1
0
-1
-2
det
10
Tcom
time(s)
20
30
time(s)
20
30
20
30
20
30
Tout
Hy
Hz
Hx
0
10
(d) CMG momentum (normalized)
1.5
30
0
10
(c) torque command & output
2
20
time(s)
0
(b) gimbal angle
1
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time(s)
AB
0.5
0
0
(e) determinant
10
time(s)
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Technical Report of Mechanical Engineering Laboratory No.175
0.01
0.005
0
-0.005
-0.01
0
(a) attitude
2
1
0
-1
T (N m)
-2
0
(b) gimbal angle
2
1
0
-1
-2
-3
BA
10
time(s)
1
0
-1
-2
10
time(s)
det
1
0.5
0
0
(e) determinant
20
30
Tout
Tcom
time(s)
20
30
Hy
Hz
Hx
0
10
(d) CMG momentum (normalized)
1.5
30
0
10
(c) torque command & output
2
20
10
time(s)
time(s)
20
30
20
30
62
8. Ground Experiments
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0
(a) attitude
2
1
0
-1
-2
-3
0
(b) gimbal angle
T (N m)
1.5
1
0.5
0
10
20
time(s)
30
10
time(s)
Tcom
20
30
20
30
Tout
-0.5
-1
0
(c) torque command & output
3
2
1
0
-1
-2
10
Hy
Hz
Hx
0
10
(d) CMG momentum (normalized)
2
det
1.5
1
0.5
0
0
(e) determinant
time(s)
10
time(s)
time(s)
20
30
20
30
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0.1
0
1, 2
DA
-0.1
-0.2
Reference
-0.3
0
(a) attitude
1
0
10
time(s)
20
10
time(s)
20
-1
T (N m)
0
(b) gimbal angle
20
0
Tcom
Tout
-20
0
(c) torque command & output
2
10
time(s)
20
10
time(s)
20
10
time(s)
20
Hz
DB
Hx Hy
-2
det
1.5
1
0.5
0
0
(e) determinant
64
8. Ground Experiments
t.
Initial
Steering Results
law
Experiment D ( 0, 0, 0, 0)
GM Fig. 87
Experiment E (/3, /3, /3, /3) GM* Fig. 88
Experiment F (/3, /3, /3, /3) SR Fig. 89
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Experiment
EA
1, 2
-0.2
-0.3
-0.4
Reference
0
(a) attitude
4
20
10
time(s)
20
-2
0
(b) gimbal angle
T (N m)
10
time(s)
Tcom
20
Tout
-20
0
(c) torque command & output
20
10
time(s)
20
10
time(s)
20
Hz
10
time(s)
EB
Hx Hy
-2
0
(d) CMG momentum (normalized)
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(e) determinant
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1, 2
FA
Reference
-0.4
0
(a) attitude
4
10
time(s)
20
10
time(s)
20
4
3
-2
0
(b) gimbal angle
T (N m)
20
Tout
Tcom
-20
0
(c) torque command & output
10
time(s)
20
10
time(s)
20
10
time(s)
20
1
0
-1
FB
Hz
Hx Hy
-2
0
(d) CMG momentum (normalized)
2
det
1.5
1
FC
0.5
0
0
(e) determinant
66
8. Ground Experiments
0.1
0
-0.1
-0.2
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(a) attitude
1
0.5
0
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-1
-1.5
0
(b) gimbal angle
T (N m)
20
10
0
-10
-20
reference(
reference( 3)
20
GA
40 time(s) 60
1
0
-1
-2
det
1
0.5
0
0
(e) determinant
100
20
GB
40
time(s)
60
Tcom
Hx
Hy
20
80
100
80
100
80
100
80
100
Tout
Hz
GC
0
20
40
60
time(s)
(d) CMG momentum (normalized)
1.5
80
0
20
40 time(s) 60
(c) torque command & output
2
40 time(s) 60
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reference
(a) attitude
4
2
0
20
HA
40
time(s)
60
80
100
HB
-2
T (N m)
20
40
time(s)
60
80
100
80
100
Tout
Tcom
-10
-20
20
1
0
40
Hx
-1
time(s)
60
Hz
HC
Hy
-2
20
40
time(s)
60
80
100
1.6
det
1.2
0.8
HD
0.4
0
HE
(e) determinant
20
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60
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100
68
8. Ground Experiments
0.8, 0.)t and finally in the part G the maneuver about the
(1,1,0)t direction was repeated.
The results are shown in Fig. 813. The first three
parts A, B and C, show almost the same motion as in the
previous experiment. In the part C there was a slight
degradation of control compared with the response in
the part A.
In the part D, the mode of the CM was changed
directly, without considering the attitude control and by
using the fastest direct path to the other mode as
described in Section 7.5.5 (4). This motion inevitably
generated an undesired torque and there was some
attitude deviation of the body, as indicated by JA in Fig.
813. However, because the CMG was moved as fast
as possible, this deviation was somewhat minimized.
The attitude control immediately following this motion
easily corrected such a deviation.
As the theory in item (4) of Section 7.5.5 predicts,
the two maneuver motions in the M2 mode, shown in
the parts E and G of Fig. 813, were successful and did
not meet a singularity.
This experiment demonstrated the advantages of the
constrained method proposed in the previous chapter.
In addition, trajectory tracking control was used this time.
The results in Fig. 813(c) show that almost constant
torque was realized during the period of constant
acceleration or deceleration. The proposed method can
also cope with a change of maneuver direction by
switching between modes. Even by using a direct change
of the mode, deviation in attitude can be made small
enough to be corrected by the attitude control.
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A
A
A
A
A
A
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A
A
A
A
A
A
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A
A
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A AA A A A
0.4
0.3
0.2
A 3
1, 2
JA
0.1
0
-0.1
0
(a) attitude
20
40
60
time(s)
80
100
120
1
0
-1
-2
-3
0
20
(b) gimbal angle
40
60 time(s) 80
100
120
60 time(s) 80
100
120
60 time(s) 80
100
120
60 time(s) 80
100
120
T (N m)
20
10
Tcom
Tout
-10
0
20
40
(c) torque command & output
3
2
1
0
-1
-2
-3
Hx
Hz
Hy
0
20
40
(d) CMG momentum (normalized)
1.6
det
1.2
0.8
0.4
0
0
20
(e) determinant
40
Fig. 813 Results of Experiment J. Tracking control for the command given in Fig. 87,
illustrating use of the proposed constrained method.
70
9. Evaluation
Chapter 9
Evaluation
g4
g5
g6
g3
gn+1
2n
g2
g1
r:
g7
g3
g4
g6
g2
g1
g5
71
10.
2SKEW(5)
5
0.7
=
2S(4)
S(6)
1+SKEW(6)
SKEW(6)
7
0.6
=
S(3,4)
M(2,2,2)
S(10)
Double
Gimbal
CMG
5.
M(3,3,3)
M(5,5)
1+SKEW(7)
Envelope
of S(4)
0.
0
M(4,4)
M(3,3)
1+SKEW(4)
SKEW(5)
S(4)
5
10
n : Number of Units
Fig. 92 Spherical workspace size for various system configurations.
Filled circles indicates the workspace size of the original system, while attached open circles
indicate the workspace size of degraded systems. As a reference, a square indicates the
envelope size of the S(4) system.
(h S u)dS
u S 2
dS
u S 2
= 0 2 sin 2 d
=/4
0.765 ,
(91)
72
9. Evaluation
(92)
10
r 3 W 5 n 5 = const
W =a
W = 1.15a
W = 1.5a
S(6)
5
SKEW(5)
S(4)
SKEW(4, opt)
0
0
10
n : Number of Units
Fig. 93 Trade-off between workspace size and
system weight.
Dotted curves indicate equal workspaces with
equal weight (W).
r2 = r1
r1
r1
X
Y
3 r 2r
1 2
(93)
73
A
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A A A A
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A A A A
A
A
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A A A A
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A A A A
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A A A A A
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AA AA AA A
A
=2.0
=2.5
=1.0
0
0.1
0.2
0.3
0.4
Skew Angle (radian)
radius r
=1.0
=1.5
0
0.1
(b) Skew(5, )
0.2
0.3
0.4
Skew Angle (radian)
=1.0
=2.0
0
0.1
0.2
=1.5
0.3
0.4
Skew Angle (radian)
1.5
2.5
Aspect Ratio
(a) Skew(4, )
6
0.45
r2
=0.5
0.4
4
2
r1
01
1.5
2.5
Aspect Ratio
(b) Skew(5, )
0.5
0.5
0.4
0.45
r2
=0.32
0.26
4
2
r1
(c) Skew(6, )
01
1.5
Aspect Ratio
2.5
(c) Skew(6,)
radius r1 and r2
W = n (r12r 2) 1 / 5 .
0.475
r1
01
0.5
=2.5
0.45
0.5
0.5
=2.0, 2.5
r2 0.4
0.375
0.35
radius r
Average Radius rA
=0.3
0.325
1.5
=1.5
(a) Skew(4, )
Average Radius rA
radius r
Average Radius rA
=0.5
=0.32
Skew(6, )
Skew(5, 2)
r2
4
r1
2
0
=0.3
1
M(2, 2)=Roof(4)
Skew(4, )
0.35
0.325
1.5
0.375
2
2.5
0.4
3
Aspect Ratio
Fig. 97 Combined plot of radii as a function of
aspect ratio.
Envelope size of multiple systems, M(2, 2), is
drawn in addition to the results in Fig. 96.
(94)
74
9. Evaluation
A
A
A
A
A
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A
A
A
A
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A
A A A A
A
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A
A A A A
4
Skew(6, 2)
Skew(6)
Skew(5)
Skew(4)
Skew(4)
01
1.5
Aspect Ratio
2.5
radius r
Weight
Skew(5, 2)
Skew(4, )
1
01
Skew(4, 0.4 )
2
1.5
Aspect Ratio
2.5
75
76
9. Evaluation
Chapter 10
Conclusions
77
78
Appendix A
hi:
gI
O
cI
gO
cO
I
A.2 Singularity
When the system is singular, the following relation
is satisfied.
det(CCt) = 0
79
h=u
gO
gI
gI
A.4 Passability
Passability of a singular surface can be defined by a
quadratic form similar to Eq. 415. However, another
approach is also possible.
h = gO
where i=1 or 1.
These are drawn in Fig. A2. Condition (b) is called
gimbal lock because such a unit looses one degree of
freedom autonomously.
Because the domain of u is a unit sphere, the total
angular momentum H forms a number of spheres in
accordance with the set of i.
gI
h = gO
d Id O
d I
A.5 Workspace
81
82
Appendix B
Proofs of Theories
(B1)
where i = 1 or 2.
Basis of N
eN1 = ( q2, 3, q3, 1, q1, 2, 0, . . . ,0)t ,
eN2 = ( q2, 4, q4, 1, 0, q1, 2, 0, . . . ,0)t ,
...
eNn2 = ( q2, n, qn, 1, 0, . . . ,0, q1, 2)t ,
Basis of T
eT2 = ( qi, 1, qi, 2, . . . ,qi, n)t ,
= (dN)t Ct du
(B4)
(B5)
= (C dN)t du
(B3)
(B8)
(B6)
=0 .
(B9)
83
(B11)
= P Ct duj ,
(B17)
where j = 1 or 2 .
= (ci )t ((CPCtV) u)
Therefore:
dH(dui) = C dSi
(B12)
= ( ci u )t(CPCtV)
= CPCt dui
= ( ci u )tC (PCtV) ,
= j pj (cSj dui)cj ,
where i = 1 or 2 .
(B14)
(B20)
(B21)
(cicj)(du1du2)
= (cicj)u (du1du2)u
= [ci cj u] [u du1 du2] .
(B19)
(cidu1)(cjdu2) (cidu2)(cjdu1)
= (cicj)(du1du2) .
(B18)
CPCt((CPCtV)u)
(B15)
= CRCtV,
= C(rij )CtV.
[u dH(du1) dH(du2)]
= ij rij (cj V) ci ,
(B22)
From the vector product rule and the fact that u is normal
84
B. Proofs of Theories
to (ci cj),
and
(cj V) ci (ci V) cj
a11 a12
a21 a22
Ak =
:
:
a
k1 a k 2
= (cj ci ) V
= [cj ci u] (u V ) .
(B24)
(B26)
(B27)
am1
a12
a22
:
am 2
... a1m
... a2 m
:
: ,
... amm
= 12 ij rij [ci cj u] ( V u )
= Vu .
... a1k
... a2 k
:
:
... akk
85
86
Appendix C
ug1, ug2
(C1)
2 = (0, 0, 1, 1) .
Envelope
is;
dNtP1dN
={+ + } or { + +}:
= 12(a12p1+a12p1a22p2 a22p2)
Internal Surface
= a12p1 + a22p2 ,
(C2)
H origin
1 = (1, 1, 0, 0) ,
u = g1
(C3)
2 = (0, 0, 1, 1) .
(6) 21 = 22:
Envelope
(7) 21 = 22+:
u = g2
(8) 11 = 12:
Envelope
= 12(a12p1a12p1+a22p2 + a22p2)
(9) 11 = 12+:
= a22p2 0 ,
(C4)
87
by;
(C5)
dNtP1dN
1 = (0, 0, 1, 1) ,
= 12{(a1+a3)2p1a12p1 +(a2a3)2p2
(C11)
2 = (a, b, 1, 1) .
+ a22p2}
= 12{ a32p1 + 2a1a3p1 + 2a22p2
2a2a3p2 + a32p2 }
+ 2(a2a32)2p2 },
where r = 1p1+3(4p2) >0, 2rs = 2p1 .
(C6)
C.1.5 Conclusion
The roof type system M(2, 2) has internal impassable
surfaces given by (3) and (5) with u not on the plane
spanned by g1 and g2. Both are not fully definite but
the quadratic form of (3) is semi-definite and that of (5)
is zero.
(C7)
2 = (0, 0, 1, 1) .
(C8)
(C9)
={+ + + +} ,
dNtP1dN
={+ + + + } .
=12{(a1+a3)2p1a12p1+(a2a3)2p2
a22p2}
= 12 {(1p1+1p2)a32 + 2(a1p1a2p2)a3}
1 = (1, 1, 0, 0, 0) ,
=12 [(1p1+1p2)
2 = (1, 1, 1, 0, 0) ,
{a3+(a1p1a2p2)(1p1+1p2) }2
(a1p1a2p2)2(1p1+1p2) ] .
(C10)
(C13)
2 = (0, 0, 0, 1, (1)) .
where upper and lower sign of the multiple sign
correspond to (3') and (4') respectively. The quadratic
88
dNtP1dN
dNtP1dN
a32p2}
= 14((a1+a2)2 + (a1a2)2)p1 ,
+ a32p2 + a32p2}
= 12(2a1a2p1 + 2a22p2)
= 12{12(a1+a2)2p1 + 12(a1a2)2p1
+ 2a22p2} ,
(C17)
(C14)
(4')
dNtP1dN
= 12{a12p1 + (a1+a2)2p1 + a22p1 + a32p2
a32p2}
= 12(a12p1 + (a1+a2)2p1 + a22p1) .
1 = (1, 1, 0, 0, 0) ,
2 = (0, 1, 1, 0, 0) ,
(C16)
3 = (0, 0, 1, 1) .
89
90
Appendix D
91
(D1)
g4
Z
g3
g1
X Y
g2
g6
g5
Fig. D2
Original Workspace
Constrained workspace
Impassable
Surface
Actual
Motion of H
H'
Desired
Motion
of H
Additional Angular
Momentum Imposed
by Another Torquer
H
H path
92
93
94
Appendix E
TG DCM
TG DCM
RE
P/D
Rate
Gyroscope
A/D
Balance RE
Adjusters
P/D
Rate Servo
Circuit
D/A
RE
P/D
Rate Servo
Circuit
D/A
CMGs
Wireless
Modem
Onboard Computer
Three Axis
Gimbal
Wireless
Modem
Stationary
Computer
D/A: Digital to Analog Converter
DCM: DC Servo Motor
TG: Tachogenerator
95
96
E.2 Specifications
The specifications of the experimental apparatus are
listed in Table E1.
Test Rig
Size
750mm cube
Moment of inertia
{ 38, 38, 42 } Kg m2 about x, y and z axes
Weight
Approx. 250 Kg
CMG
Attitude Sensor
Resolution
Rate gyroscope
Resolution
Onboard computer
CPU
i80386SX16MHz with i80387
Memory
640KB
Operating System
MS-DOS Ver.3.3 in ROM
Peripherals
A/D, D/A, Pulse Decoder, Wireless Modem
Cycle time
10 ms 12 ms
Software Development
MS-DOS Ver.3.0, Optimizing C Compiler, Turbo C
Environment
Compiler
97
k1
r
1
s
Body dynamics
.
1
1
s
s
f2
f1
1
s
1
s
r +
f1
Body dynamics
.
1
1
s
s
+
+
f2
Tcom
C t(CCt)-1
(3-11)
1
det(CCt )
(3-19)
Fig. E9 Block diagram of the gradient method.
c * cos cos
sin cos
s * sin sin
98
sin cos
c * cos cos *
s * sin sin
(E1)
(E2)
(E3)
= (2 4)/2 .
By using this, an approximated motion is obtained as a
solution of Eq. E1. The Jacobian matrix in Eq. E1 is
a 33 matrix and its inverse can easily be obtained. With
this inverse matrix and the command torque Tcom, the
transformed gimbal rate is obtained. By the
coordinates transformation given by Eq. E2, the real
gimbal rates are obtained.
After that, feedback terms are added. Null motion
has one degree of freedom and is generally obtained as
kN where |N| = 1 (normalized after Eq. 311). For
the stable feedback, the multiplier k is determined with
an appropriate feedback gain a as follows:
k = a (1 2 + 3 4)
( N1 N2+N3N4) .
(E4)
Tcom
J-1
d(, , )
dt
Fig. E10.
code size
calculation time
(bytes)*
(ms)
MM-Controller
6,700
0.85
Tracking Controller
8,800
1.1
Gradient Method
3,800
3.8
Constrained Method
2,800
1.8
Transform
(E-1)
J
Jacobian of (E-3)
Transform
(E-2)
(3-11)
(E-4)
99
scale when the position of the mass was moved in a stepby-step manner. Then a certain fixed torque was applied
by this mechanism while the body was stabilized by the
CMG system. The total angular momentum of the CMG
system linearly increased by the constant disturbance
torque. From the kinematic relation and measured
gimbal angles, the size of angular momentum of each
unit was thereby estimated.
100
Appendix F
General kinematics
F.1
3
2
g3
h3
h2
g2
Z
h1
1
g1
(b) CMG
vectors
x = ( p1 p2 p3 1 2 3)t = ,
(F1)
CMG
Link mechanism
State variable
: gimbal angles
q : joint angles
Output variable
H : angular momentum
x : end point location (and orientation)
Kinematics
H = H()
x = x(q)
Kinematics
nonlinear without cross
nonlinear with cross coupling of qi
complexity
coupling of each i
101
x(q+dq) x(q)
(F2)
(F3)
x = t {x(q+dq) x(q) }
= 1/2 dqt Q dq .
(F10)
(F5)
Therefore,
I3
f / q = J = -1 J , where = 0
(F4)
(F9)
0
G .
(F6)
Q = ( t f2/qiqj ) .
(F11)
dq = dqN + dqS .
(F12)
F.3 Singularity
(F7)
(F8)
F.4 Passability
J dqN = 0 .
(F14)
(F13)
102
(F15)
F. General Kinematics
i i fi,j = 0 ,
(F16)
(F17)
Then,
(dqN)t Q dqS
= 1/2 i i jk fi,jk dqNj dqSk
= 1/2 j{i i k fi,jk dqSk }dqNj
= 1/2 ji di fi,j dqNj
= 1/2 i di {j fi,j dqNj}
= 1/2 dt (J dqN)
=0 .
(F18)
(F19)
103
104
References
1)
2)
3)
4)
5)
6)
7)
8)
9)
10)
11)
12)
13)
14)
15)
16)
17)
18)
19)
20)
21)
22)
23)
24)
105
25)
26)
27)
28)
29)
30)
31)
32)
33)
34)
35)
36)
37)
38)
39)
40)
41)
42)
43)
44)
45)
106
References
46)
47)
48)
49)
50)
51)
52)
53)
54)
55)
56)
57)
58)
59)
60)
61)
62)
63)
64)
65)
66)
67)
107
68)
69)
70)
71)
72)
73)
108