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首页> 外文期刊>Journal of guidance, control, and dynamics >Inverse Kinematics in Pyramid-Type Single-Gimbal Control Moment Gyro System
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Inverse Kinematics in Pyramid-Type Single-Gimbal Control Moment Gyro System

机译：金字塔型单云台控制力矩陀螺系统的逆运动学

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摘要

An inverse kinematics computational procedure (IKCP) has been presented for solving the inverse kinematics in the pyramid-type single-gimbal control moment gyro system in this paper. The initial candidates of the gimbal angles were selected by solving the eighth-order polynomial equation, and then the gimbal angles were adjusted by using the Newton method such that the cost function was decreased. The IKCP is applicable to accurately compute the maximum total angular momentum vector along the specified rotational direction and to the inverse kinematics steering logic (IKSL) for attitude control. The effectiveness of the proposed method was demonstrated by using both numerical simulations and ground experiments; in particular, it has been shown that the computational cost of IKSL is acceptable for real-time implementation.
机译：本文提出了一种逆运动学计算程序（IKCP），用于解决金字塔型单框架控制力矩陀螺系统中的逆运动学问题。通过求解八阶多项式方程来选择万向节角的初始候选，然后使用牛顿法调整万向节角，以降低成本函数。 IKCP适用于精确计算沿指定旋转方向的最大总角动量矢量，以及适用于姿态控制的逆运动学转向逻辑（IKSL）。通过数值模拟和地面实验证明了该方法的有效性。特别是，已经表明，IKSL的计算成本对于实时实现是可以接受的。

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