Orientation control using oscillating momentum wheels

Shaoqian Wang; Amir H. Ghasemi; Joshua L. Evans; T. Michael Seigler

doi:10.1115/DSCC2015-9924

Orientation control using oscillating momentum wheels

Shaoqian Wang, Amir H. Ghasemi, Joshua L. Evans, T. Michael Seigler

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

12 Scopus citations

Abstract

This paper addresses the problem of controlling a rigid body's orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each bodyfixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

Original language	English
Title of host publication	Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
Subtitle of host publication	Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
ISBN (Electronic)	9780791857243
DOIs	https://doi.org/10.1115/DSCC2015-9924
State	Published - 2015
Event	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States Duration: Oct 28 2015 → Oct 30 2015

Publication series

Name	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume	1

Conference

Conference	ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/Territory	United States
City	Columbus
Period	10/28/15 → 10/30/15

Bibliographical note

Publisher Copyright:
Copyright © 2015 by ASME.

ASJC Scopus subject areas

Industrial and Manufacturing Engineering
Mechanical Engineering
Control and Systems Engineering

Access to Document

10.1115/DSCC2015-9924

Cite this

Wang, S., Ghasemi, A. H., Evans, J. L., & Seigler, T. M. (2015). Orientation control using oscillating momentum wheels. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1). https://doi.org/10.1115/DSCC2015-9924

Wang, Shaoqian ; Ghasemi, Amir H. ; Evans, Joshua L. et al. / Orientation control using oscillating momentum wheels. Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015).

@inproceedings{6587072c99fe4ec89ad28b9fa146fd0f,

title = "Orientation control using oscillating momentum wheels",

abstract = "This paper addresses the problem of controlling a rigid body's orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each bodyfixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.",

author = "Shaoqian Wang and Ghasemi, {Amir H.} and Evans, {Joshua L.} and Seigler, {T. Michael}",

note = "Publisher Copyright: Copyright {\textcopyright} 2015 by ASME.; ASME 2015 Dynamic Systems and Control Conference, DSCC 2015 ; Conference date: 28-10-2015 Through 30-10-2015",

year = "2015",

doi = "10.1115/DSCC2015-9924",

language = "English",

series = "ASME 2015 Dynamic Systems and Control Conference, DSCC 2015",

booktitle = "Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2",

}

Wang, S, Ghasemi, AH, Evans, JL & Seigler, TM 2015, Orientation control using oscillating momentum wheels. in Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, vol. 1, ASME 2015 Dynamic Systems and Control Conference, DSCC 2015, Columbus, United States, 10/28/15. https://doi.org/10.1115/DSCC2015-9924

Orientation control using oscillating momentum wheels. / Wang, Shaoqian; Ghasemi, Amir H.; Evans, Joshua L. et al.
Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Orientation control using oscillating momentum wheels

AU - Wang, Shaoqian

AU - Ghasemi, Amir H.

AU - Evans, Joshua L.

AU - Seigler, T. Michael

PY - 2015

Y1 - 2015

N2 - This paper addresses the problem of controlling a rigid body's orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each bodyfixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

AB - This paper addresses the problem of controlling a rigid body's orientation by actuating sinusoidal oscillations of internal momentum wheels. We consider the rotational dynamics of a rigid body having three momentum wheels (one for each bodyfixed axis) that are attached to the body by springs. Each wheel is actuated by an internal sinusoidal torque of fixed frequency. The frequency of all sinusoidal torques is equal, but the amplitudes and phases can be varied independently. We analyze the inverse-dynamics problem of determining the amplitudes and phases for each sinusoidal torque such that a desired orientation is achieved. We then present two closed-loop orientation controllers based on this analysis. Numerical simulations demonstrate the effectiveness of the control techniques.

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M3 - Conference contribution

AN - SCOPUS:84973334377

T3 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015

BT - Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2

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Wang S, Ghasemi AH, Evans JL, Seigler TM. Orientation control using oscillating momentum wheels. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems. 2015. (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015). doi: 10.1115/DSCC2015-9924

Orientation control using oscillating momentum wheels

Abstract

Publication series

Conference

Bibliographical note

ASJC Scopus subject areas

Access to Document

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