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Sensors 2016, 16(8), 1321; doi:10.3390/s16081321

Modeling and Analysis of Micro-Spacecraft Attitude Sensing with Gyrowheel

†,* ,
School of Astronautics, Harbin Institute of Technology, No. 2 Yikuang Street, Nangang District, Harbin 150080, China
These authors contributed equally to this work.
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 7 June 2016 / Revised: 8 August 2016 / Accepted: 9 August 2016 / Published: 19 August 2016
(This article belongs to the Section Physical Sensors)
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This paper proposes two kinds of approaches of angular rate sensing for micro-spacecraft with a gyrowheel (GW), which can combine attitude sensing with attitude control into one single device to achieve a compact micro-spacecraft design. In this implementation, during the three-dimensional attitude control torques being produced, two-dimensional spacecraft angular rates can be sensed from the signals of the GW sensors, such as the currents of the torque coils, the tilt angles of the rotor, the motor rotation, etc. This paper focuses on the problems of the angular rate sensing with the GW at large tilt angles of the rotor. For this purpose, a novel real-time linearization approach based on Lyapunov’s linearization theory is proposed, and a GW linearized measurement model at arbitrary tilt angles of the rotor is derived. Furthermore, by representing the two-dimensional rotor tilt angles and tilt control torques as complex quantities and separating the twice periodic terms about the motor spin speed, the linearized measurement model at smaller tilt angles of the rotor is given and simplified. According to the respective characteristics, the application schemes of the two measurement models are analyzed from the engineering perspective. Finally, the simulation results are presented to demonstrate the effectiveness of the proposed strategy. View Full-Text
Keywords: gyrowheel; micro-spacecraft angular rate sensing; real-time Lyapunov linearization; complex quantity; static measurement; dynamic measurement gyrowheel; micro-spacecraft angular rate sensing; real-time Lyapunov linearization; complex quantity; static measurement; dynamic measurement

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Liu, X.; Zhao, H.; Yao, Y.; He, F. Modeling and Analysis of Micro-Spacecraft Attitude Sensing with Gyrowheel. Sensors 2016, 16, 1321.

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