Selecting Initial Gimbal Angles of Roof-type CMG System for Avoiding Singularities in Spacecraft Attitude Maneuver

抄録

In this study, a singularity-free trajectory generation algorithm of the roof-type control moment gyro (CMG) system consisting of four CMGs is proposed. Under the condition that the total angular momentum is conserved at zero, by selecting the initial gimbal angles according to the direction of the angular momentum by the roof-type CMG system, the singularity is avoided in total angular momentum space, over the wide range of the magnitude of the initial gimbal angle except near the Z-axis. The effectiveness of the algorithm is confirmed by numerical calculations, and a PD-like control using the gimbal trajectory is proposed, which is also verified by numerical simulations.