대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 1998년도 하계학술대회 논문집 B
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- Pages.490-492
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- 1998
공중 물체의 자세 제어를 위한 자이로 엑츄에이터 설계
Design of a Gyro Actuator for the Attitude Control of an Unstructured Object
- Chung, Young-Gu (Dept. of Electrical Eng. Kwangwoon University) ;
- Yi, Keon-Young (Dept. of Electrical Eng. Kwangwoon University)
- 발행 : 1998.07.20
초록
An intention of this paper is design of a gyro actuator for the attitude control of an unstructured object. It is well known that the attitude control of an object hanging with wire is not easy using usual actuators. Even though an actuator such as a pan can be used for control of the object, it is difficult to meet a desired control objectives. We, for this reason, propose a gyro actuator for the attitude control of an unstructured object. The proposed gyro actuator consists of two motors. The first motor is responsible to spin the wheel and the second motor is used to turn the outer gimbal. Appling the torque to the second motor, which results in the turn of the outer gimbal, torque about the vertical axis will be obtained while a wheel of the gyro is spinning constantly. This torque is used to control the attitude of the object attached. The aim of this paper is of deriving the transfer function of the actuator and presenting the guideline of the design parameters such as the weight and the dimension of the wheel, motors, and the load capacity. Simulations to the mathematical model which has a state feedback control are conducted to show the validity of the proposed gyro actuator.
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