scholarly journals Design and Evaluation of a Balance Assistance Control Moment Gyroscope

2017 ◽  
Vol 9 (5) ◽  
Author(s):  
Daniel Lemus ◽  
Jan van Frankenhuyzen ◽  
Heike Vallery
Keyword(s):  
Electrical Equipment ◽  
Theoretical Idea ◽  
Balance Test ◽  
Control Moment Gyroscope ◽  
Gyroscopic Moment ◽  
Control Moment ◽  
Control Moment Gyroscopes ◽  
Medical Electrical Equipment ◽  
Human Balance ◽  
Similar Solutions

We recently proposed the theoretical idea of a wearable balancing aid, consisting of a set of control moment gyroscopes (CMGs) contained into a backpacklike orthopedic corset. Even though similar solutions have been reported in the literature, important considerations in the synthesis and design of the actuators remained to be addressed. These include design requirements such as aerodynamic behavior of the spinning flywheel, induced dynamics by the wearer's motion, and stresses in the inner components due to the generated gyroscopic moment. In this paper, we describe the design and evaluation of a single CMG, addressing in detail the aforementioned requirements. In addition, given the application of the device in human balance, the design follows the European directives for medical electrical equipment. The developed system was tested in a dedicated balance test bench showing good agreement with the expected flywheel speed, and calculated power requirements in the actuators and output gyroscopic moment. The device was capable of producing a peak gyroscopic moment of approximately 70 N·m with a total CMG mass of about 10 kg.

scholarly journals Design of control moment gyro electric drive with strict requirements on ensuring desired rotational velocities

2020 ◽  
Vol 19 (3) ◽  
pp. 31-38
Author(s):  
D. S. Polozhentcev ◽  
A. A. Davidov ◽  
M. G. Shipov ◽  
E. P. Kazakov ◽  
B. I. Malykh
Keyword(s):  
Electric Drive ◽  
Earth Remote Sensing ◽  
Control Moment Gyroscope ◽  
Electric Drives ◽  
Control Moment ◽  
Control Moment Gyroscopes ◽  
Analytic Expressions ◽  
Control Moment Gyro ◽  
Conventional Scheme ◽  
Engine Rotor

The paper discusses the issues of designing a control moment gyroscope electric drive with strict requirements in terms of the accuracy of ensuring a given rotation rate of the gyro motor suspension. A brief description of the control moment gyroscope electric drive applied currently is presented and the issues of improving the electric drive characteristics are discussed. As a solution, an electric drive is proposed which operates in the mode of feedback loop using angle sensors located on the axes of the gyroscope suspension and the engine rotor. The paper describes the arrangement of the control moment gyroscopes on advanced spacecraft for Earth remote sensing and presents the analytic expressions needed to calculate the control moments that affect the spacecraft. The moments are in the projection to the coordinate system brought into coincidence with the spacecraft. The paper compares spacecraft angular velocity stabilization errors for the cases of using the conventional scheme of control moment gyroscope electric drive and the newly developed one. The presented results can be used for developing control moment gyroscope electric drives to be mounted on spacecraft of different purpose with strict requirements on ensuring operation at specified rotational velocities.

scholarly journals A Gimballed Control Moment Gyroscope Cluster Design for Spacecraft Attitude Control

Aerospace ◽  
2021 ◽  
Vol 8 (9) ◽  
pp. 273
Author(s):  
Charalampos Papakonstantinou ◽  
Vaios Lappas ◽  
Vassilis Kostopoulos
Keyword(s):  
Attitude Control ◽  
Degrees Of Freedom ◽  
Singularity Avoidance ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Control Moment Gyroscopes ◽  
Stepper Motors ◽  
Steering Law ◽  
Commercial Off The Shelf ◽  
A Minor

This paper addresses the problem of singularity avoidance in a cluster of four Single-Gimbal Control Moment Gyroscopes (SGCMGs) in a pyramid configuration when used for the attitude control of a satellite by introducing a new gimballed control moment gyroscope (GCMG) cluster scheme. Four SGCMGs were used in a pyramid configuration, along with an additional small and simple stepper motor that was used to gimbal the full cluster around its vertical (z) axis. Contrary to the use of four variable-speed control moment gyroscopes (VSCMGs), where eight degrees of freedom are available for singularity avoidance, the proposed GCMG design uses only five degrees of freedom (DoFs), and a modified steering law was designed for the new setup. The proposed design offers the advantages of SGCMGs, such as a low weight, size, and reduced complexity, with the additional benefit of overcoming the internal elliptic singularities, which create a minor attitude error. A comparison with the four-VSCMG cluster was conducted through numerical simulations, and the results indicated that the GCMG design was considerably more efficient in terms of power while achieving a better gimbal configuration at the end of the simulation, which is essential when it is desired for different manoeuvres to be consecutively executed. Additionally, for a nano-satellite of a few kilograms, the results prove that it is feasible to manufacture the GCMG concept by using affordable and lightweight commercial off-the-shelf (COTS) stepper motors.

Three-Axis Attitude Control Performance of a Small Satellite Using Control Moment Gyroscope

2014 ◽  
Vol 629 ◽  
pp. 286-290
Author(s):  
Mohd Badrul Salleh ◽  
Nurulasikin Mohd Suhadis
Keyword(s):  
Attitude Control ◽  
Control Algorithm ◽  
Control Law ◽  
Small Satellite ◽  
Control Moment Gyroscope ◽  
Control Approach ◽  
Control Moment ◽  
Control Moment Gyroscopes ◽  
Steering Law ◽  
Mission Operation

In this paper, a three-axis attitude control of a small satellite employing control moment gyroscope (CMG) is presented. A four single gimbal control moment gyroscopes (4-SGCMG) cluster has been employed as the actuator and a proportional-derivative (PD) based attitude control approach has been utilized. The singularity robust (SR) steering law has been employed to investigate its capability in avoiding the singularity state of the CMG system with respect to the mission operation by setting the initial gimbal angle further from the singularity state. The presented control law was simulated in the MATLAB® SIMULINK® software. Results obtained from the simulation show the effectiveness of the control algorithm.

Design of a Wearable Scissored-Pair Control Moment Gyroscope (SP-CMG) for Human Balance Assist

2014 ◽  
Author(s):  
Jimmy Chiu ◽  
Ambarish Goswami
Keyword(s):  
Sagittal Plane ◽  
Rotation Axis ◽  
Dynamic Properties ◽  
Momentum Exchange ◽  
Additional Advantage ◽  
Control Moment Gyroscope ◽  
Control Moment ◽  
Output Torque ◽  
Human Balance ◽  
Custom Hardware

Our research examines the feasibility of usign a wearable scissored-pair control moment gyroscope (CMG) for human balance assist. The CMG is a momentum exchange device consisting of a fast spinning flywheel mounted on a gimbal. The gimbal motion changes the direction of the flywheel rotation axis, which generates a reactionless torque. A scissored-pair CMG has the additional advantage of isolating the output torque to a single axis, where off-axis torques are canceled out. A properly designed CMG device worn as a backpack can apply a torque in the sagittal plane of the human trunk. This can help in restoring postural balance and in fall mitigation. This paper describes the complete design process of a scissored-pair CMG device with constraints on size, mass and dynamic properties for human wearability. A prototype of this device is built, utilizing a novel dual-flywheel design; it weighs about 8kg and is able to generate over 20Nm of torque. A custom hardware is built specifically for verifying the torque output of the device. To our knowledge this is the only device that generates the range of reactionless torque given its weight and size.

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