摘要：AbstractThis paper addresses the issue of controlling a spacecraft with a redundant pyramidal Control Moment Gyro (CMG) cluster. A rapid analysis of the mathematical problem to steer the attitude control system is carried out with a focus on how to use the redundancy to start the attitude maneuvers in optimal conditions. A set of initial positions that ensures no singularity is encountered during an unidirectional maneuver is defined thanks to the study of the topology of the cluster and simulations. The desired initial position is derived onboard the spacecraft from the direction of the maneuver. After reaching this position without creating torque errors thanks to the null-motion trajectories, the Moore-Penrose steering law is used. The cases of a pyramidal six-CMG cluster without CMG failures and with two failures are studied. Finally, simulations show the characteristics of the designed steering laws.
关键词：KeywordsSatellite Attitude ControlControl Moment GyroRedundancySteering LawSingularity
