Fine attitude maneuvering by reaction wheel via sliding mode speed driver

Publication: Canadian Aeronautics and Space Journal
17 March 2014


The objective of this paper was to design a set of proper speed controllers for reaction wheels in the presence of unknown coulomb friction and parametric uncertainties. The controller goal was to change the rotational speed of reaction wheels to adjust the satellite to a desired attitude. The mathematical model of a satellite that utilizes three reaction wheels as actuators was developed by angular kinematics and kinetic equations. Variable-structure control theory was then applied on the reaction wheel via a real-time microcontroller-based Hardware in the Loop. The simulated satellite response to wheel speed shows that the sliding mode speed controller is effective, and a small attitude angle could be tracked more effectively than with a Proportional–Integral–Derivative speed controller.


L'objectif de cette étude est de concevoir un ensemble de contrôleurs de vitesse appropriés pour roues de réaction en présence de frottement de Coulomb inconnu et d'incertitudes paramétriques. Le but du contrôleur consiste à modifier la vitesse de rotation des roues de réaction pour ajuster l'attitude d'un satellite de façon souhaitée. Le modèle mathématique d'un satellite qui utilise trois roues de réaction comme actionneurs est développé par cinématique angulaire et des équations cinétiques. La théorie de la commande à structure variable est ensuite appliquée par simulation « matériel dans la boucle » de la roue de réaction par l'intermédiaire d'un microcontrôleur en temps réel. La réponse simulée du satellite à la vitesse des roues indique que le contrôleur de vitesse en mode glissant est efficace, et qu'un petit angle d'attitude peut être suivi de façon plus efficace qu'avec un régulateur de vitesse PID « Proportional–Integral–Derivative ».
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Published In

cover image Canadian Aeronautics and Space Journal
Canadian Aeronautics and Space Journal
Volume 59Number 03December 2013
Pages: 71 - 80


Received: 14 July 2011
Accepted: 10 October 2013
Version of record online: 17 March 2014



Mohammad Hossein Beheshti
Department of Aerospace Engineering, K.N. Toosi University of Technology, Tehran, Iran.

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