Journal of Astronautics ›› 2016, Vol. 37 ›› Issue (7): 775-783.doi: 10.3873/j.issn.1000-1328.2016.07.003

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Singular Escape Path Planning Strategy of Adjustable Skew SGCMG

YU Mo yao, TANG Guo jin, HUANG Hai bing   

  1. College of Aerospace Science and Engineering, National University of Defense Technology, Changsha 410073, China
  • Received:2015-08-28 Revised:2015-11-14 Online:2016-07-15 Published:2016-07-25


Treating the five skew angles as variables before attitude maneuvers, the adjustable-skew five-pyramid type single gimbal control moment gyros (SGCMG) model is established. The relation between the derivative of singular measurement with respect to time and the angular velocity of gimbals is deduced based on the analysis of complex singular characters. The path planning strategy considering singular escape is then proposed. The planning results using Gauss pseudospectral methods indicate that the time of attitude maneuvers is reduced observably by using the adjustable-skew five pyramid CMGs and demonstrate that the path planning strategy can avoid singularity efficiently.

Key words: Space station, Attitude maneuver, Adjustable-skew, Control moment gyro, Singular escape, Path planning

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