Department of Electrical Engineering

Faculty of Engineering & Applied Sciences

Riphah International University
B.Sc. Electrical Engineering Program
EE-315 Linear Control Systems

Complex Engineering Problem (CLO 3)

Control Design for a 4-DOF Control Moment Gyroscope

System description:
Control Moment Gyroscopes (CMGs) are nonlinear and coupled systems used in International
Space Stations (ISS) for attitude control. Aside from ISS, CMGs are also used for the stability
augmentation of electric vehicles, unmanned cars, and ships. Laboratory model of model of a 4-
DOF CMG is shown in figure 1 [1].

Figure 1: Laboratory setup of a 4-DOF CMG [1]

It has a rotor rotating with a brushless DC motor and three gimbles. The coordinate from of the 4-DOF
CMG is given in figure 2.

Figure 2: Coordinate frame of 4-DOF CMG [1]

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It should be noted from figure 2 that A represents the rotor. Bodies B, C, and D are named as gimbals.
There are two brushless DC motors responsible for the rotation of rotor A, and gimble B. When the rotor
is rotating at a constant speed and direction of rotation of gimble D is reversed, a gyroscopic torque is
produced which can be used for the stability augmentation. A linearized single-input single-output model,
with the assumptions that rotor is rotating at a constant speed and the direction of motion of gimble B is
reversed, is given in state-space form as follows [2]:

[ ] [ ][ ]
0 0 1

[]
q̇ 4 J D Ω q4 0
0 0 1
ω̇ 2 = I C+ I D ω 2 + T2 (1)
IC+ID
ω̇ 4 −J D Ω ω4
0 0 0
I D+ K A + KB+ KC

Here, T 2 is the torque input to gimble 2 while q 4, ω 2, and ω 4 are the angular position of gimble 2 and
angular speeds of gimble 2 and 3 respectively. The aim in this problem is to control the angular position
of gimble 2 to 1 radian.

The parameters of the system under consideration are given in table 1.

Values (
Parameters 2 Parameters Values
Kg m ¿
IB 0.012 Ω 400
IC 0.0092 KA 0.1493
ID 0.015 KB 0.4375
JD 0.027 KC 0.4473

Questions:

q4 ( s)
1. Calculate the transfer function for the system under consideration and comment on
T 2 (s)
its stability.

2. Find the gains of proportional and integral actions of PI controller for reference tracking
using Routh-Hurwitz stability for which the system is stable.
3. Design a PI controller for reference tracking using root locus such that the closed loop
system has following characteristics:
i. Overshoot and steady state error are less than 2 %
ii. Settling time is less than 2 seconds
4. Design a compensator for the system such that:
i. Compensated system has gain margin of 62o
ii. Closed loop system has overshoot and steady state error are less than 1 %

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 iii. Settling time is less than 2 seconds

5. Compare the performances of controllers designed in questions 3 and 4.

Note: Reference should be a signal of 1 radian, i.e., a unit step signal.

References:

[1] F. Saleem, A. Ali, M. Wasim, and I. U. H. Shaikh, “An iterative kernel-PCA based LPV control approach
for a 4-DOF control moment gyroscope,” IEEE Access, vol. 7, pp. 164000–164008, 2019.

[2] T. R. Parks, “Manual for model 750 control moment gyroscope,” Educational Control Products, Bell
Canyon, CA, 1999.

Deliverables:

 MATLAB Code with proper comments

 Simulink model
 A report containing detailed procedure and discussion on result followed by conclusion

Attributes:

Following attributes of CEP are covered in this problem:

1. Depth of knowledge required

2. Depth of analysis required

CLOs involved in CEP

Sr. No. CLO Domain Taxonomy PLO

level
Design a compensator to achieve desired closed
Cognitiv
1 loop response for a system using time domain and 5 3
e
frequency domain technique.

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 CEP Rubrics

Performance Indicator Exemplary (4-5) Satisfactory (3-2) Unsatisfactory (0-1)

Collected a great deal Collected some Did not collect any
of information--all basic information-- information that relates
Depth of knowledge relates to the topic. most relates to the to the topic. Does not
required
Performs very deep topic. Finds follow references; uses
Requires research-based
1 search; finds highly information in the first source found
knowledge which allows a
fundamentals-based, first detailed or advanced valid sources and regardless of validity;
principles analytical information; checks relevant continually asks
approach discovers esoteric references professor to explain
(but valid) sources concepts

Solution is stated with Solution is stated Incorrect solution or

unable to find the
deep analysis without analysis solution for a given
report/evaluation and report/evaluation and problem. Produce
incorrect
Depth of analysis required reflect complete reflect acceptable outputs/signals/wave
Have no obvious knowledge of the knowledge of the forms and no proper
2 solution and require Problem with its Problem without its labeling and
accurate
abstract thinking, limitation and errors. limitation and errors. measurements for a
originality in analysis to Produce desires Produce desires given problem.
formulate suitable outputs/signals/wavefo outputs/signals/wave
models) rms with proper forms but no proper
labeling and accurate labeling and accurate
measurements for a measurements for a
given problem. given problem.

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