冗長自由度を有するホイールへのトルク最適分配則

抄録

In attitude control of spacecraft using more than three reaction wheels, the distribution of the attitude control torque to the wheels is not unique because of the redundancy. Usually, the wheel torque distribution is given by multiplying a constant matrix to the control torque, but more efficient distribution method using the redundancy is desired for more effective control. The wheel torque distribution problem is formulated as a simple minimax problem, but it is not practical to solve the problem directly on spacecraft onboard computers because of the computational cost. In this paper, the wheel torque distribution problem (minimax problem) is transformed to a linear programming problem, and then by using some geometrical characteristics of the problem, an effective algorithm is derived. In the proposed algorithm, only simple algebraic calculations are needed and the optimality is guaranteed theoretically.