Modeling and H Infinity Control of a Control Moment Gyroscope
Bruno Augusto Angelico1; Diego Colón1; José Manoel Balthazar2
1 Universidade de São Paulo; 2 Instituto Tecnológico da Aeronáutica
doi:10.20906/CPS/COB-2015-0619
Resumo
The Gyroscope is a nonlinear mechanical system that presents a very complex behavior and has several applications in engineering, from attitude and angular velocity sensors to actuator in satellites and aerospace vehicles. It can be mounted in a single gimbal configuration or in a double gimbal configuration (or freely mounted gyroscope). It also can be found in very different sizes and inertia parameters and in different combinations. In this paper, we determine the mathematical model and design a multivariable feedback control (H infinity control) of a Control Moment Gyroscope (CMG), which is a common configuration of gyroscope found as an actuator in aerospace vehicles. The model is linearized around an arbitrary equilibrium point and parameters of stability and performance robustness are determined to aid in the design process. The controller is then implemented in a CMG experimental setup and several tests of the controller are performed and compared. Finally, direction for further research are pointed out.
Palavras-chave: Gyroscope; Robust Control