A novel single-gimbal control moment gyroscope driven by an ultrasonic motor

Abstract

This article presents a structure-compacted single-gimbal control moment gyroscope, which is directly driven by an ultrasonic motor. The momentum wheel and the ultrasonic motor are designed and optimized based on software simulation. Considering the gyroscope's dynamic disturbance and the nonlinearities of the ultrasonic motor, an expert control algorithm combining a two-degree-of-freedom pole placement controller with a pattern reasoning controller is designed for the gimbal servo system. The presented controller realizes a wide-range closed-loop speed control of the gimbal from 0.2 mrad/s to 1.6 rad/s, which is the base of the high stability and high precision of the control moment gyroscope. The presented control moment gyroscope and its controller board are manufactured and assembled for experiments. The experimental results show that the momentum wheel has almost no impact on the gimbal servo system at high speeds, but with the decrease in the gimbal speed the impact increases gradually.

Bir mekanik jiroskopun yalpalama tahmininde uzun kısa süreli bellek ağı yaklaşımı

“…Bu hâli ile 83 Hz frekansında veri toplanmıştır. Ultrasonik motor ile sürülen bir CMG'nin dinamik davranışı için jiroskop dönmesinin 0.35 s boyunca incelendiği görülmüştür (Pan et al, 2019). Uydu davranış kontrolü için kullanılan bir CMG'nin açısının değerlendirilmesi için 10000 s inceleme yapılmıştır (Ibrahim et al, 2023).…”

“…Ancak sunulan kontrolör, kontrol momenti jiroskopunun yüksek kararlılığı ve yüksek hassasiyetinin temeli olan gimbalin 0,2 mrad/s ila 1,6 rad/s arasında bir kapalı döngü hız kontrolünü gerçekleştirmektedir. (Pan et al, 2019). Hibrit derin öğrenme tekniği kullanarak çevik uydu yönelim kontrol sistemi için anomali tespiti yapılabilmiştir (Ibrahim et al, 2023).…”

“…Sunulan kontrol momenti jiroskopu ve kontrol kartı üretilmiş ve deneyler için monte edilmiştir. Deneysel sonuçlar, CMG'nin yüksek hızlarda gimbal servo sistemi üzerinde neredeyse hiç bozucu etkisi olmadığını, ancak gimbal hızındaki düşüşle birlikte etkinin kademeli olarak arttığını göstermiştir (Pan, Xu, & Zhao, 2019). Li vd.…”

The Roles of Piezoelectric Ultrasonic Motors in Industry 4.0 Era: Opportunities and Challenges

“…A structure-compacted single-gimbal control moment gyroscope, directly driven by an ultrasonic motor obtained wide-range closed-loop speed control of the gimbal from 0.2 mrad/s to 1.6 rad/s, which is the base of the high stability and high precision of the control moment gyroscope [283].…”

A novel three-phase excitation piezoelectric motor for macro-micro actuation: integration design, systematic modeling, and experimental evaluation

“…The piezoelectric motor is one type of actuation device that uses the converse piezoelectric effect in the piezoelectric elements by transforming electrical energy into mechanical energy, thus achieving the motion of the end effector via the friction effect [13][14][15][16]. These motors offer many superior properties, including high precision, compact structures, high-speed responses, zero electromagnetic radiation, and self-locking in the power-off state, and these properties have drawn extensive interest in several advanced mechanical transmission fields, including space technology [17,18], semiconductor processing [19,20], biotechnology [10,21], adaptive optics [8,22], robotics [23][24][25], and optical fiber alignment [26,27]. Thanks to the motor's flexible structural design compatibility, the stator and the end effector of a piezoelectric motor can be designed independently without absolute limitations.…”