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Design and Prototyping of an Attitude Control System for Rigid Bodies

Saadat, Mohsen | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39110 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Jalali, Mir Abbas
  7. Abstract:
  8. Attitude control of rigid bodies is a complicated but attractive problem in dynamics. One of its main practical applications is in satellite attitude control and specifically in space telescope orientation control. Using fuel thrusters is not only expensive in most cases, but also it cannot be considered as an appropriate solution from reliability and economic aspects in long-term applications such as space telescopes and telecommunication satellites. On the other hand, magnetic torquers and momentum wheels cannot be utilized for rapid and large maneuvers due to their inability in generating large torques, which are needed in such maneuvers. As a result, another type of attitude control systems known as “Gyro Systems” is employed in new missions. In this thesis, a novel apparatus is designed and manufactured. This apparatus has the ability to control the orientation of an aluminum spherical shell floating on a spherical air bearing. This has been accomplished through a double gimbal control moment gyro system that is attached inside the spherical shell. In this work, the Newton-Euler method has been applied to drive dynamic equations of the system. Then, a control strategy has been developed corresponding to these equations, which describe the rotation of the system. The developed control strategy is employed to change and control the orientation of the system in space. Finally, the developed controller has been applied to the real device, and the achieved experimental results have been analyzed and depicted in several graphs
  9. Keywords:
  10. Rigid Body ; Gyro System ; Momentum

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