Bp 375 en

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Modeling and control of a four-axis control moment gyroscope[edit]

Author: Evyatar Bukai

Bakalářské práce 2013

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In this thesis we describe the dynamical model and define control algorithms for the four-axis control moment gyroscope. The educational laboratory experimental platform, product of Educational Control Products (ECP), is modeled following two approaches: The analytical approach is led through Lagrangian method, whereas the numerical approach is done with the use of SimMechanics. After identification of the physical parameters, the resulting analytical model is compared with the measured responses obtained from experimental measurements. A short discussion of control design issues is proposed. Finally, the reader will be able to exploit the system following the hints given throughout the thesis.

Bp 2013 bukai evyatar.pdf