Steering Law of Control Moment Gyros for Reducing Singularity Measure Conservativeness

The two main types of real-time computational steering laws of control moment gyros (CMG), including null motion and singular robust (SR) inverse methods, have their deficiencies and limitations. A novel steering law is proposed to reduce further the conservativeness of singularity measure based on gimbal angle combination. Based on SR steering logics, the angle between commanded control torque and the singular vector is considered to determine the magnitude of the introduced error, thereby reducing the unnecessary torque error. And by introducing an additional term in the gimbal rate command, the CMG cluster is always driven to track the desired torque as much as possible. Several numerical simulations including comparisons with existing steering laws are presented to demonstrate the feasibility and effectiveness of the proposed algorithm.