The dynamic model of a four control moment gyroscope system
The dynamic model of a Four Control Moment Gyroscope (4-CMG) is traditionally obtained after computing the derivative of the angular momentum equation. Although this approach leads to a simple dynamic model, new models have been introduced due to terms not taken into account during the computation o...
- Autores:
-
Yime-Rodríguez, Eugenio
Peña-Cortés, Cesar Augusto
Rojas-Contreras, William Mauricio
- Tipo de recurso:
- Article of journal
- Fecha de publicación:
- 2014
- Institución:
- Universidad Nacional de Colombia
- Repositorio:
- Universidad Nacional de Colombia
- Idioma:
- spa
- OAI Identifier:
- oai:repositorio.unal.edu.co:unal/70973
- Acceso en línea:
- https://repositorio.unal.edu.co/handle/unal/70973
http://bdigital.unal.edu.co/35443/
- Palabra clave:
- dynamics
gyroscope
model
control.
- Rights
- openAccess
- License
- Atribución-NoComercial 4.0 Internacional
| Summary: | The dynamic model of a Four Control Moment Gyroscope (4-CMG) is traditionally obtained after computing the derivative of the angular momentum equation. Although this approach leads to a simple dynamic model, new models have been introduced due to terms not taken into account during the computation of the angular momentum equation. In this paper, a new dynamic model for a 4-CMG based on the Newton-Euler algorithm, which is well accepted in Robotics, was developed. This new approach produces a complete dynamic model. |
|---|