| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2012: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2010: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Research Abstract |
The adaptive-skew pyramid-type CMG system was proposed. The singular surfaces are analyzed and visualized to illustrate how they depend on the skew angle from a viewpoint of null motion for not only the gimbal angle but also the skew angle. It was discovered that when the skew angle is 54.73 deg, the impassable singular surface area is minimum, and the 4H singular surface area is maximum. The steering control laws are presented, and their effectiveness in reduction of settling time and overshoot was numerically shown. The skew angle controlled by the proposed steering law has a tendency to return to the traditional angle after the attitude maneuver. The experimental setup of the adaptive-skew CMG was developed. The effectiveness of the proposed steering law was experimentally studied using the developed experimental setup.
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