宇宙エレベーター実験用昇降機のためのCMGユニットの開発

抄録

A space elevator has been attracting attention as an alternative transportation to a rocket. A space elevator is envisioned where transportation is achieved by a climber that ascends and descends a tether. Therefor attitude of the climber is influenced by surrounding environment because the climber is supported only by the tether. We have developed a CMG unit for the space elevator climber because an attitude control of the space elevator climber is very important for ensuring the safety. However, the CMG has control limit amount called saturation singularity. When from the saturation singularity of recovery, reverse torque is generated from the control direction. In this paper, we propose mitigation method of the transmitted torque to the climber and verified the mitigation method and attitude control.