Modeling and Analysis of a 3-DOF Spherical Momentum Exchange Actuator for Spacecraft Attitude Maneuver
Publication: Journal of Aerospace Engineering
Volume 28, Issue 6
Abstract
This paper describes a prototype and analytical studies of a three-degree of freedom (3-DOF) spherical momentum exchange actuator for three-axis attitude control. Its moving part, without any gimbal structures cascaded, can be directly driven by a stator electromagnetic field instead of servomotors, which sets it apart from conventional control moment gyros. First, the motion of equation and torque exchange model are developed. Analysis shows that the proposed actuator possesses a considerable torque amplification effect. Then a two-level torque-sharing strategy tailored for this device is presented to decouple the command torque into reaction flywheel/gimbal torque and further assign them to each of the stator coils. The physical limit of the rotor’s tilt range is investigated and an -step incremental Euler eigenaxis rotation is resorted to as the solution. Numerical simulation results present a desirable dynamic response, revealing that the single device has the potential to provide limited three-axis control for spacecraft. Finally, the pros and cons of this device are analyzed. This study may serve as a reference on the design and research of new future momentum exchange devices for spacecraft attitude maneuvers.
Get full access to this article
View all available purchase options and get full access to this article.
Acknowledgments
This work is supported by the Independent Innovation Funds of Tianjin University (Grant 1405): Research on a 3-DOF Dual-Redundancy Electromagnetic Momentum Exchange Actuator.
References
Chassoulier, D., Christian, C., Delamare, J., and Yonnet, J. P. (2002). “Ball joint type magnetic bearing for tilting body.”.
Chetelat, O. (2012). “Torquer apparatus.”.
Cui, P. L., and He, J. X. (2014). “Steering law for two parallel variable-speed double-gimbal control moment gyros.” J. Guid. Control Dyn., 37(1), 350–359.
Gerlach, B., Ehinger, M., Raue, H. K., and Seiler, R. (2005). “Gimballing magnetic bearing reaction wheel with digital controller.” Proc., 11th European Space Mechanisms and Tribology Symp. (ESMATS), European Space Agency Publication Div., Paris, France.
Gerlach, B., Ehinger, M., and Seiler, R. (2006). “Low noise five-axis magnetic bearing reaction wheel.” 4th IFAC Symp. on Mechatronic Systems, Ruprecht-Karls-Univ., Germany.
Han, B., Zheng, S., Wang, X., and Yuan, Q. (2012). “Integral design and analysis of passive magnetic bearing and active radial magnetic bearing for agile satellite application.” IEEE Trans. Magn., 48(6), 1959–1966.
He, Y. (2011). “Research on attitude maneuvers control of SGCMG based agile small spacecraft.” Master thesis, Harbin Institute of Technology, Harbin, China.
Hu, Q. L., Cao, J., and Zhang, Y. Z. (2009). “Robust backstepping sliding mode attitude tracking and vibration damping of flexible spacecraft with actuator dynamics.” J. Aerosp. Eng., 139–152.
Kang, D. W., and Lee, J. (2014). “Analysis of electric machine characteristics for robot eyes using analytical electromagnetic field computation method.” IEEE Trans. Magn., 50(2), 785–788.
Lappas, V. J., Steyn, W. H., and Underwood, C. I. (2002a). “Practical results on the development of a control moment gyro based attitude control system for agile small satellites.” Proc., 16th Annual AIAA/USU Conf. on Small Satellites, American Institute of Aeronautics and Astronautics, and Utah State Univ., Logan, UT, 12–15.
Lappas, V. J., Steyn, W. H., and Underwood, C. I. (2002b). “Torque amplification of control moment gyros.” Electron. Lett., 38(15), 837–839.
Lee, K. M., and Kwan, C. K. (1991). “Design concept development of a spherical stepper for robotic applications.” IEEE Trans. Rob. Autom., 7(1), 175–181.
Lee, K. M., and Wang, X. (1992). “Dynamic modeling and control of a ball-joint-like variable-reluctance spherical motor.” Proc., American Control Conf., American Automatic Control Council, 2463–2467.
Li, B., Li, G. D., and Li, H. F. (2011). “Magnetic field analysis of 3-DOF permanent magnetic spherical motor using magnetic equivalent circuit method.” IEEE Trans. Magn., 47(8), 2127–2133.
Li, B., Yu, R. J., Li, H., and Li, G. D. (2014). “Design considerations of a permanent magnetic spherical motor using spherical harmonic.” IEEE Trans. Magn., 50(8), #8201709.
Li, G. D., Cao, J. C., Li, B., and Li, H. F. (2013). “Control of permanent magnetic spherical motor based on torque-sharing strategy.” Proc., 4th Int. Conf. on Manufacturing Science and Engineering, Vol. 694, International Association of Management Science & Engineering Technology (IAMSET), Kowloon, Hong Kong, 2912–2918.
Oner, Y., Cetin, E., Ozturk, H. K., and Yilanci, A. (2009). “Design of a new three-degree of freedom spherical motor for photovoltaic-tracking systems.” Renewable Energy, 34(12), 2751–2756.
Rossini, L., Chetelat, O., Onillon, E., and Perriard, Y. (2013). “Force and torque analytical models of a reaction sphere actuator based on spherical harmonic rotation and decomposition.” IEEE/ASME Trans. Mechatron., 18(3), 1006–1018.
Stevenson, D., and Schaub, H. (2012). “Nonlinear control analysis of a double-gimbal variable-speed control moment gyroscope.” J. Guid. Control Dyn., 35(3), 787–793.
Wang, J., Dodds, S. J., and Bailey, W. N. (2002). “Guaranteed rates of convergence of a class of PD controllers for trajectory tracking problems of robotic manipulators with dynamic uncertainties.” IEE Proc. Control Theory Appl., 143(2), 186–190.
Wang, W., Wang, J., Jewell, G. W., and Howe, D. (2003). “Design and control of a novel spherical permanent magnet actuator with three degrees of freedom.” IEEE/ASME Trans. Mechatron., 8(4), 457–468.
Wie, B. (1998). Space vehicle dynamics and control, AIAA Education Series, Reston, VA, 349–359.
Yan, L., Chen, I. M., Lim, C. K., Yang, G., Lin, W., and Lee, K. M. (2011). “Hybrid torque modeling of spherical actuators with cylindrical-shaped magnet poles.” Mechatronics, 21(1), 85–91.
Yoon, H., and Tsiotras, P. (2004). “Singularity analysis of variable speed control moment gyros.” J. Guid. Control Dyn., 27(3), 374–386.
Zhang, Y. (2014). “Jitter control for optical payload on satellites.” J. Aerosp. Eng., 04014005.
Information & Authors
Information
Published In
Journal of Aerospace Engineering
Volume 28 • Issue 6 • November 2015
Copyright
© 2015 American Society of Civil Engineers.
History
Received: Jul 13, 2014
Accepted: Jan 12, 2015
Published online: Mar 30, 2015
Discussion open until: Aug 30, 2015
Published in print: Nov 1, 2015
Authors
Metrics & Citations
Metrics
Citations
Download citation
If you have the appropriate software installed, you can download article citation data to the citation manager of your choice. Simply select your manager software from the list below and click Download.