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:
- Tipo de recurso:
- Fecha de publicación:
- 2014
- Institución:
- Universidad Tecnológica de Bolívar
- Repositorio:
- Repositorio Institucional UTB
- Idioma:
- eng
- OAI Identifier:
- oai:repositorio.utb.edu.co:20.500.12585/8761
- Acceso en línea:
- https://hdl.handle.net/20.500.12585/8761
- Palabra clave:
- Control
Dynamics
Gyroscope
Model
- Rights
- openAccess
- License
- http://creativecommons.org/licenses/by-nc-nd/4.0/
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The dynamic model of a four control moment gyroscope system |
| dc.title.alternative.none.fl_str_mv |
Modelo dinámico de un sistema de control de par por cuatro giróscopos |
| title |
The dynamic model of a four control moment gyroscope system |
| spellingShingle |
The dynamic model of a four control moment gyroscope system Control Dynamics Gyroscope Model |
| title_short |
The dynamic model of a four control moment gyroscope system |
| title_full |
The dynamic model of a four control moment gyroscope system |
| title_fullStr |
The dynamic model of a four control moment gyroscope system |
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The dynamic model of a four control moment gyroscope system |
| title_sort |
The dynamic model of a four control moment gyroscope system |
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Control Dynamics Gyroscope Model |
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Control Dynamics Gyroscope Model |
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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. © The authors; licensee Universidad Nacional de Colombia. |
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2014 |
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2014 |
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2019-11-06T19:05:20Z |
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2019-11-06T19:05:20Z |
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DYNA (Colombia); Vol. 81, Núm. 185; pp. 41-47 |
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0012-7353 |
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https://hdl.handle.net/20.500.12585/8761 |
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10.15446/dyna.v81n185.35756 |
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Universidad Tecnológica de Bolívar |
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Repositorio UTB |
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DYNA (Colombia); Vol. 81, Núm. 185; pp. 41-47 0012-7353 10.15446/dyna.v81n185.35756 Universidad Tecnológica de Bolívar Repositorio UTB |
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https://hdl.handle.net/20.500.12585/8761 |
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eng |
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eng |
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Universidad Nacional de Colombia |
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Universidad Nacional de Colombia |
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2019-11-06T19:05:20Z2019-11-06T19:05:20Z2014DYNA (Colombia); Vol. 81, Núm. 185; pp. 41-470012-7353https://hdl.handle.net/20.500.12585/876110.15446/dyna.v81n185.35756Universidad Tecnológica de BolívarRepositorio UTBThe 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. © The authors; licensee Universidad Nacional de Colombia.Recurso electrónicoapplication/pdfengUniversidad Nacional de Colombiahttp://creativecommons.org/licenses/by-nc-nd/4.0/info:eu-repo/semantics/openAccessAtribución-NoComercial 4.0 Internacionalhttp://purl.org/coar/access_right/c_abf2https://www2.scopus.com/inward/record.uri?eid=2-s2.0-84907353980&doi=10.15446%2fdyna.v81n185.35756&partnerID=40&md5=23f02227559fa594414975b17ca7f908Scopus 56368449100Scopus 56289654200Scopus 56367288700The dynamic model of a four control moment gyroscope systemModelo dinámico de un sistema de control de par por cuatro giróscoposinfo:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionArtículohttp://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/resource_type/c_2df8fbb1ControlDynamicsGyroscopeModelYime-Rodríguez, E.Peña-Cortés, C.A.Rojas-Contreras, W.M.Kuhns, M., Rodriguez, A., Singularity avoidance control laws for a multiple CMG spacecraft attitude control system (1994) Proceedings of the American Control Conference (ACC), pp. 2892-2893Kuhns, M., Rodriguez, A., A preferred trajectory tracking steering law for spacecraft with redundant CMGS (1995) Proceedings of the American Control Conference (ACC), pp. 3111-3115Oh, S., Vadali, S.R., Feedback control and steering laws for spacecraft using single gimbal control moment gyros (1991) Astronautical Sciences, 39 (2), pp. 183-203Thornton, B., Ura, T., Nose, Y., Turnock, S., Internal actuation of underwater robots using control moment gyros (2005) Proceedings of Oceans, pp. 591-598Thornton, B., Ura, T., Nose, Y., Wind-up AUVs: Combined energy storage and attitude control using control moment gyros (2007) Proceedings of Oceans, pp. 1-9Lappas, V.J., Steyn, W.H., Underwood, C.I., Torque amplification of control moment gyros (2002) IEEE Electronics Letters, 38 (15), pp. 837-839Tekinalp, O., Elmas, T., Yavrucuk, I., Gimbal angle restricted control moment gyroscope clusters (2009) Proceedings of 4th International Conference On Recent Advances In Space Technologies (RAST), pp. 585-590Ford, K.A., Hall, C.D., Singular direction avoidance steering for control-moment gyros (2000) Journal Guidance Control and Dynamics, 23 (4), pp. 648-656Bedrossian, N.S., Paradiso, J., Bergmann, E.V., Rowell, D., Redundant single gimbal control moment gyroscope singularity analysis (1990) Journal Guidance Control and Dynamics, 13 (6), pp. 1096-1101Toz, M., Kucuk, S., A comparative study for computational cost of fundamental robot manipulators (2011) Proceedings of International Conference On Industrial Technology (ICIT), pp. 289-293Negrean, I., Schonstein, C., Negrean, D.C., Negrean, A.S., Duca, A.V., Formulations in robotics based on variational principles (2010) Proceeding of International Conference On Automation Quality and Testing Robotics (AQTR), pp. 1-6Tsai, L.W., (1999) Robot Analysis: The Mechanics of Serial and Parallel Manipulators, , Jon Wiley & Sons, IncJaramillo, A., Franco, E., Guasch, L., Estimación de parámetros invariantes para un motor de inducción (2011) Dyna, 78 (169), pp. 88-94Yime, E., Quintero, J., Saltaren, R., Aracil, R., A new Approach for Avoiding Internal Singularities in CMG with Pyramidal Shape Using Sliding Control (2009) Proceedings of European Control Conference (ECC), pp. 125-132http://purl.org/coar/resource_type/c_6501ORIGINALDOI10_15446dyna_v81n185_35756.pdfapplication/pdf635029https://repositorio.utb.edu.co/bitstream/20.500.12585/8761/1/DOI10_15446dyna_v81n185_35756.pdfd388d9115087b687a16aa0248e5e6ef1MD51TEXTDOI10_15446dyna_v81n185_35756.pdf.txtDOI10_15446dyna_v81n185_35756.pdf.txtExtracted texttext/plain26941https://repositorio.utb.edu.co/bitstream/20.500.12585/8761/4/DOI10_15446dyna_v81n185_35756.pdf.txt276c2a16d32dce4e150774e1007a6d58MD54THUMBNAILDOI10_15446dyna_v81n185_35756.pdf.jpgDOI10_15446dyna_v81n185_35756.pdf.jpgGenerated Thumbnailimage/jpeg91679https://repositorio.utb.edu.co/bitstream/20.500.12585/8761/5/DOI10_15446dyna_v81n185_35756.pdf.jpgfa2d3e24286fe7fca1bfaaa24cb24344MD5520.500.12585/8761oai:repositorio.utb.edu.co:20.500.12585/87612020-10-23 04:48:49.079Repositorio Institucional UTBrepositorioutb@utb.edu.co |