Embedded system software development for a single-gimbaled control moment gyroscope and the vibration damping of a clamped-free cantilevered beam

This thesis provides the details of microprocessor software design for a single-gimbaled control moment gyroscope (SGCMG). This paper shall describe various control methods for using the SGCMG in conjunction with a collocated angular velocity sensor for active vibration damping of a clamped-free cantilevered beam. This actuator/sensor pair shall provide robust control using a strictly positive real negative feedback. Asymptotic stability is possible using a direct feedback of the beam tip angular velocity rate with a constant gain. A simple modification to the proportional law allows the final gimbal angle bias to vanish asymptotically. This property becomes desirable for CMGs with limited gimbal travel. An automated method is developed for continuously monitoring vibration and damping of flexible beams that may be implemented in practice. The various concepts were implemented into a SGCMG hardware known as the GyroDamper. The control methods are supported by experimental results.