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DINAME2019
DINAME2019
Inverted Pendulum Control via Variable Speed Control Moment Gyroscope
Submission Author:
João Trentin , SP
Co-Authors:
João Trentin, Samuel da Silva, Hanspeter Schaub
Presenter: João Trentin
doi://10.26678/ABCM.DINAME2019.DIN2019-0039
Abstract
Variable speed control moment gyroscope (VSCMG) is an innovative aerospace actuator used to control the attitude of satellites and spacecraft. This kind of mechanism gathers the favorable aspects of using a traditional control moment gyroscope (CMG) but with the spin rate of the reaction wheel variable, being able to avoid singularities that occur when using CMGs. Thus, this paper presents the model of a non-usual pendulum configuration where a Variable Speed Control Moment Gyroscope is coupled to it. The idea of the VSCMG pendulum is to use the angular momentum variation in amplitude and direction using the system dynamics to perform the control. In this way, the controller was designed using Lyapunov control theory in order to control the pendulum in the inverted position. So, results are presented to illustrate how this new pendulum configuration was controlled.
Keywords
Reaction wheel, pendulum, Nonlinear control, nonlinear dynamics, Variable Speed Control Moment Gyroscope - VSCMG
