Singularity Penetration with Unit Delay (SPUD)

Timothy Sands, Jae Jun Kim and Brij Agrawal
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Timothy Sands: Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USA
Jae Jun Kim: Department of Mechanical & Aerospace Engineering, Naval Postgraduate School, Monterey, CA 93943, USA
Brij Agrawal: Department of Mechanical & Aerospace Engineering, Naval Postgraduate School, Monterey, CA 93943, USA

Mathematics, 2018, vol. 6, issue 2, 1-15

Abstract: This manuscript reveals both the full experimental and methodical details of a most-recent patent that demonstrates a much-desired goal of rotational maneuvers via angular exchange momentum, namely extremely high torque without mathematical singularity and accompanying loss of attitude control while the angular momentum trajectory resides in the mathematical singularity. The paper briefly reviews the most recent literature, and then gives theoretical development for implementing the new control methods described in the patent to compute a non-singular steering command to the angular momentum actuators. The theoretical developments are followed by computer simulations used to verify the theoretical computation methodology, and then laboratory experiments are used for validation on a free-floating hardware simulator. A typical 3/4 CMG array skewed at 54.73° yields 0.15H. Utilizing the proposed singularity penetration techniques, 3H momentum is achieved about yaw, 2H about roll, and 1H about pitch representing performance increases of 1900%, 1233%, and 566% respectfully.

Keywords: U.S. Patent 9567112 B1; angular momentum; singularity penetration (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2018
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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