Singularity Penetration with Unit Delay (SPUD)
This manuscript reveals both the full experimental and methodical details of a most-recent patent that demonstrates a much-desired goal of rotational maneuvers via angular exchange momentum, namely extremely high torque without mathematical singularity and accompanying loss of attitude control while...
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| Format: | Article |
| Language: | English |
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MDPI AG
2018-02-01
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| Series: | Mathematics |
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| Online Access: | http://www.mdpi.com/2227-7390/6/2/23 |
| _version_ | 1818288674679291904 |
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| author | Timothy Sands Jae Jun Kim Brij Agrawal |
| author_facet | Timothy Sands Jae Jun Kim Brij Agrawal |
| author_sort | Timothy Sands |
| collection | DOAJ |
| description | This manuscript reveals both the full experimental and methodical details of a most-recent patent that demonstrates a much-desired goal of rotational maneuvers via angular exchange momentum, namely extremely high torque without mathematical singularity and accompanying loss of attitude control while the angular momentum trajectory resides in the mathematical singularity. The paper briefly reviews the most recent literature, and then gives theoretical development for implementing the new control methods described in the patent to compute a non-singular steering command to the angular momentum actuators. The theoretical developments are followed by computer simulations used to verify the theoretical computation methodology, and then laboratory experiments are used for validation on a free-floating hardware simulator. A typical 3/4 CMG array skewed at 54.73° yields 0.15H. Utilizing the proposed singularity penetration techniques, 3H momentum is achieved about yaw, 2H about roll, and 1H about pitch representing performance increases of 1900%, 1233%, and 566% respectfully. |
| first_indexed | 2024-12-13T02:00:08Z |
| format | Article |
| id | doaj.art-7a24b0cefe1e418db13d09545f9a5142 |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-12-13T02:00:08Z |
| publishDate | 2018-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-7a24b0cefe1e418db13d09545f9a51422022-12-22T00:03:18ZengMDPI AGMathematics2227-73902018-02-01622310.3390/math6020023math6020023Singularity Penetration with Unit Delay (SPUD)Timothy Sands0Jae Jun Kim1Brij Agrawal2Department of Mechanical Engineering, Stanford University, Stanford, CA 94305, USADepartment of Mechanical & Aerospace Engineering, Naval Postgraduate School, Monterey, CA 93943, USADepartment of Mechanical & Aerospace Engineering, Naval Postgraduate School, Monterey, CA 93943, USAThis manuscript reveals both the full experimental and methodical details of a most-recent patent that demonstrates a much-desired goal of rotational maneuvers via angular exchange momentum, namely extremely high torque without mathematical singularity and accompanying loss of attitude control while the angular momentum trajectory resides in the mathematical singularity. The paper briefly reviews the most recent literature, and then gives theoretical development for implementing the new control methods described in the patent to compute a non-singular steering command to the angular momentum actuators. The theoretical developments are followed by computer simulations used to verify the theoretical computation methodology, and then laboratory experiments are used for validation on a free-floating hardware simulator. A typical 3/4 CMG array skewed at 54.73° yields 0.15H. Utilizing the proposed singularity penetration techniques, 3H momentum is achieved about yaw, 2H about roll, and 1H about pitch representing performance increases of 1900%, 1233%, and 566% respectfully.http://www.mdpi.com/2227-7390/6/2/23U.S. Patent 9567112 B1angular momentumsingularity penetration |
| spellingShingle | Timothy Sands Jae Jun Kim Brij Agrawal Singularity Penetration with Unit Delay (SPUD) Mathematics U.S. Patent 9567112 B1 angular momentum singularity penetration |
| title | Singularity Penetration with Unit Delay (SPUD) |
| title_full | Singularity Penetration with Unit Delay (SPUD) |
| title_fullStr | Singularity Penetration with Unit Delay (SPUD) |
| title_full_unstemmed | Singularity Penetration with Unit Delay (SPUD) |
| title_short | Singularity Penetration with Unit Delay (SPUD) |
| title_sort | singularity penetration with unit delay spud |
| topic | U.S. Patent 9567112 B1 angular momentum singularity penetration |
| url | http://www.mdpi.com/2227-7390/6/2/23 |
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