Experimental Studies on Development of Small Dual Scissored-pair CMGs and Balancing Control

The design, development, and control of dual double-gimbal scissored-pair control moment gyroscope (DDGSP-CMG) actuators for the attitude control of the sphere in the x-y plane is presented. The torque of a single CMG induced experimentally is compared with the calculated value. The CMG has four gimbals to constitute two scissored pairs to induce torques with two axes in the x-y plane. One scissored-pair CMG is required for the roll direction and another one for the pitch direction for the sphere to move on the x-y plane. The balancing control of DDGSP-CMG on the sphere is empirically tested for the functionality of the actuators.