Synchronized motion and compliant control for dual control moment gyroscopes by realizing the impedance transformation matrix. (June 2022)

• Record Type: Journal Article
• Authors: Lee, S.D.; Jung, S.
• Is Part Of: Mechatronics. Volume 84(2022)
• Publication Date: 2022-06
• Subjects: Human-machine interface -- Teleoperation -- Dual control moment gyroscopes (DCMG) -- A scissored-pair -- Mechanical impedances -- Synchronized motion control; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2022.102793
• Languages: English
• ISSNs: 0957-4158

Abstract

Highlights: Control moment gyroscopic actuators (CMG) formed in a scissored-pair configuration maximize the induced torque in the desired direction. A robust synchronizing motion control regulates the directional gyroscopic torque. A transformation matrix for the robust synchronization control performance. A robustly independent control mode, a synchronized motion control mode, and a mixed motion control mode. Each CMG can play the role of either a master or a slave. Two CMGs can generate a robust and directional torque. Abstract: In this paper, dual control moment gyroscopic actuators (CMG) were formed in a scissored-pair configuration to maximize the induced torque in the desired direction. A robust synchronizing motion control method was proposed to regulate the directional gyroscopic torque. In order for the two CMGs to form a scissored-pair structure having opposite angular momentum vectors, the synchronization of two CMGs was done without losing the control capability due to axial drift. A transformation matrix was designed for the robust synchronization control performance by realizing the empirically discovered impedance models of CMGs. Three different control modes were realized by selecting the components of the impedance transformation matrix (ITM): a robustly independent control mode, a synchronized motion control mode, and a mixed motion control mode. Each CMG played the role of either a master or a slave and copied the motion from another to follow it under the synchronization mode. The experimental results show that two CMGs can generate a robust and directional torque under the mixed control mode of both robust and synchronization control.