Date of Award
5-2019
Access Type
Thesis - Open Access
Degree Name
Master of Science in Aerospace Engineering
Department
Graduate Studies
Committee Chair
Dr. Bogdan Udrea
First Committee Member
Dr. Hever Moncayo
Second Committee Member
Dr. Richard Prazenica
Abstract
The existence of backlash in mechanical systems provides significant challenges when attempting to control these systems to a high degree of precision. The imperfect meshing of gear or belt teeth deteriorates the performance of position controllers and tracking of small commands, producing unacceptable steady-state offsets, increased rise and settling times. Agile spacecraft often use control moment gyroscopes (CMGs) equipped with gear trains to efficiently provide torque for the fine attitude adjustments used in docking and precision stabilization maneuvers. A theoretical examination and a practical model is developed to study the effectiveness of both proportional-integral (PI) and model referencing adaptive controllers (MRAC) in overcoming the non-linearity introduced by gear lash. A Lyapunov analysis of the system’s equations of motion provides knowledge of its convergence, the tracking of ideal trajectories, and the rejections of disturbances. The objective is to create an adaptive control law that rejects the non-linearity and maintains acceptable performance with small torque commands. This control law is then validated in Simulink using a discontinuous backlash model.
Scholarly Commons Citation
Bourke, Justin G., "Adaptive Commanding of Control Moment Gyroscopes with Backlash" (2019). Doctoral Dissertations and Master's Theses. 443.
https://commons.erau.edu/edt/443
