KR20160074242A - Apparatus and method for controlling cluster of control moment gyroscope - Google Patents

Abstract

Provided is a device for controlling a cluster of a control moment gyroscope mounted to control a posture of a flight vehicle. The device for controlling a cluster of a control moment gyroscope includes: a torque generation unit generating a torque signal to control the posture of the flight vehicle using an angular speed of a gimbal motor and angular momentum in accordance with wheel rotation of at least a control moment gyroscope forming the cluster of the control moment gyroscope; and a control unit applying a control loop including a dither control signal and a zero motion control signal to the angular speed of the gimbal motor.

Description

[0001] APPARATUS AND METHOD FOR CONTROLLING CLUSTER OF CONTROL MOMENT GYROSCOPE [0002]

The present invention relates to a technique for controlling a control moment gyro cluster, and more particularly to an apparatus and method for performing avoidance control on a singular point generated when a control moment gyro is mounted for attitude control of a satellite.

Generally, a reaction wheel, a momentum wheel, a control moment gyroscope (CMG), etc. are used as a main motive for performing a role of a momentum swapping device for a satellite. Among them, the control moment gyro is most excellent in torque amplification characteristics, and can generate high torque even with a small amount of power consumption required for the input torque, thereby improving the agility of the artificial satellite.

When the clusters of the control moment gyro (CMG) are used to control the attitude of the satellite, it is possible to change the posture of the satellite so as to be able to observe various regions or acquire a stereo image by observing the same region from the front and rear, .

However, in the process of controlling the attitude of the satellite by using the control moment gyro cluster, there may occur a singularity state in which the control moment gyro can not generate torque any more in the desired torque direction, .

According to one aspect of the present invention, there is provided a torque generating apparatus comprising: a torque generating unit for generating a torque signal for attitude control of a flight by using angular momentum of an angular momentum and angular momentum of at least one control moment gyro constituting a control- There is provided a control apparatus for a control moment gyro cluster including a control section for applying a control loop including a control signal for dynamo-motion and a dither control signal to an angular velocity of a gimbal motor.

According to an embodiment, the control unit may include a calculation unit that calculates at least one of an angle of rotation and an angular velocity of the air vehicle in association with the attitude control of the air vehicle corresponding to the torque signal.

According to an embodiment, when the error is equal to or greater than a predetermined first threshold value, a first coefficient associated with the dither control signal in the control loop is set to be higher than a second coefficient associated with the field-of-view control signal , And if the error is less than a predetermined first threshold, the second coefficient may be set higher in the control loop than the first coefficient.

Further, when the error is less than a predetermined first threshold, the first coefficient may be zero.

According to an embodiment, the dither control signal may be a signal having at least one periodicity of a triangular waveform, a saw tooth waveform, a square waveform, a trapezoid waveform, or a sinusoidal waveform.

According to one embodiment, the control loop may be at least one of an inner control loop and an outer control loop for at least one control moment gyro.

According to another aspect of the present invention, there is provided a method for controlling a vehicle, comprising the steps of: generating a torque signal for attitude control of a flying body using angular momentum of an angular momentum and angular momentum of at least one control moment gyro constituting a control moment gyro cluster, There is provided a control method of a control moment gyro cluster including the step of applying a control loop including an angular velocity control signal and a dither control signal to the angular velocity of the motor.

According to an embodiment, the dither control signal may be a signal having at least one periodicity of a triangular waveform, a saw tooth waveform, a square waveform, a trapezoid waveform, or a sinusoidal waveform.

According to one embodiment, the step of applying the control loop may include calculating at least one of an angle of rotation and an angular velocity of the airplane in association with the attitude control of the airplane corresponding to the torque signal have.

Wherein the first coefficient associated with the dither control signal in the control loop is set to be higher than a second coefficient associated with the fixed-point control signal when the error is greater than or equal to a predetermined first threshold, If it is less than the threshold value, the second coefficient may be set higher in the control loop than the first coefficient.

Further, when the error is less than a predetermined first threshold, the first coefficient may be zero.

1 is a conceptual diagram for explaining a posture control method of a flying body using a control moment gyro cluster.
2 is a block diagram showing a control apparatus of a control moment gyro cluster according to an embodiment.
FIG. 3 is a diagram illustrating an algorithm for error determination in the control process of a control-moment gyro cluster according to an embodiment.
FIG. 4 is a graph illustrating a simulation result of a general control device to which the dither control method according to the embodiment is not applied.
5 is a graph showing a simulation result of a control apparatus to which a dither control method is applied to an internal control loop according to an embodiment.
FIG. 6 is a graph illustrating a simulation result of a control apparatus to which an inner control loop and an outer control loop are applied with a control method for dynamo control and dither control according to an embodiment.
7 is a flowchart showing a control method of a control moment gyro cluster according to an embodiment.

In the following, some embodiments will be described in detail with reference to the accompanying drawings. However, it is not limited or limited by these embodiments. Like reference symbols in the drawings denote like elements.

Although the terms used in the following description have selected the general terms that are widely used in the present invention while considering the functions of the present invention, they may vary depending on the intention or custom of the artisan, the emergence of new technology, and the like.

Also, in certain cases, there may be terms chosen arbitrarily by the applicant for the sake of understanding and / or convenience of explanation, and in this case the meaning of the detailed description in the corresponding description section. Therefore, the term used in the following description should be understood based on the meaning of the term, not the name of a simple term, and the contents throughout the specification.

1 is a conceptual diagram for explaining a posture control method of a flying body using a control moment gyro cluster.

로 회전시킴으로써, 두 축에 직교하는 축으로 자이로스코픽 원리에 의한 토크(

)가 발생한다.The control moment gyro (CMG) operates using a flywheel rotating at a specific speed and a gimbal axis orthogonal to the axis. More specifically, the wheel of the control moment gyro rotates at a constant speed and has a constant angular momentum (h). The gimbal motor is rotated at an angular velocity

, The torque by the gyroscopic principle can be obtained with an axis orthogonal to the two axes

).

FIG. 1 shows a general type of control moment gyro cluster in which four such control moment gyros are arranged in a pyramid structure.

As shown in Fig. 1, when the clusters (CMG # 1 to CMG # 4) having four control moment gyros are used, the three-axis torso attitude control is enabled by the reference coordinate system of the satellite (Spacecraft Reference Axis) It is possible to generate a singularity state that can not be generated.

In order to avoid such a singularity state, a dither control method can be applied to the control process of the control moment gyro.

The dither control method is a control method of the 1960s and 1970s, designed to reduce system performance degradation and instability in a nonlinear system and to increase the linearity of the system.

The basic principle of dither control is that the average input-output relationship is smoothed when a high frequency signal suitable for a nonlinear input signal is added. To this end, a signal having a periodicity such as a triangular waveform, a sawtooth waveform, a square waveform, a trapezoidal waveform, and a sinusoidal waveform may be additionally input to an input signal having a nonlinear characteristic.

Control Moment There is a problem that torque can not be generated on the desired axis when the gyro cluster control process is in the singularity state. However, by controlling the deflection angle by giving a slight disturbance torque generation effect to the other axis through dither control, .

In general, the 3-axis attitude controller of the control-moment gyro-based satellite is an outer control loop (feedback loop). The control input torque u for the satellite can be configured with logic such as PID control and Lyapunov feedback control, and the motion equation of the satellite equipped with the control moment gyro can be expressed as follows .

)를 명령함으로써, 구현될 수 있다. 이에 따라, 제어모멘트자이로의 모멘텀 변화율, 즉 제어모멘트자이로가 발생하는 토크(

)는 식을 변형하여 수학식 2와 같이 표현될 수 있다.The control input torque u is calculated from the gimbal rate vector in the control moment gyro driving law,

). ≪ / RTI > Accordingly, the momentum change rate of the control moment gyro, that is, the torque at which the control moment gyro is generated

) Can be expressed as Equation (2) by modifying the equation.

Here, applying the quaternion attitude error vector e = [e ₁ e ₂ e ₃ ] ^T , the control input torque u can be expressed as follows.

)을 서로 상쇄시켜 줄 수 있게 된다. 그리고, 여기서 K, C는 적당하게 결정되어야 하는 제어기 이득의 항으로 볼 수 있다.If the controller is designed as shown in Equation (3), the gyroscopic torque term

Can be offset from each other. And, where K, C can be viewed as a term of the controller gain that should be appropriately determined.

Control Moment Gyro driving method has already been studied a lot, and singularity robustness inverse method for using null-motion or staying in singular point among the existing methods is a representative example.

이 5.5초 동안 주어진다 해도 실제 4-CMG 클러스터는 동일한 토크를 약 1초 동안만 출력한다. 또한, 특정 시간구간 이후에는 토크를 더 이상 발생시키지 못하므로, 위성의 기동성이 현저하게 떨어질 수 밖에 없다. 다시 말해, 'Moore-Penrose Pseudoinverse' 구동방식에서는 내부특이점 상태 발생으로 인해, 일정한 토크 명령을 오랜 시간동안 지속적으로 줄 수 없다.In the case of the 'Moore-Penrose Pseudoinverse' driving method driven by the minimum energy, as shown in FIG. 4, when applied to four CMG clusters,

Is given for 5.5 seconds, the actual 4-CMG cluster outputs the same torque for only about 1 second. In addition, since the torque can no longer be generated after a specific time period, the mobility of the satellite can not be avoided significantly. In other words, in the 'Moore-Penrose Pseudoinverse' driving method, due to the occurrence of an internal singularity condition, a constant torque command can not be continuously given for a long time.

) 보다 m = det(JJ^T)이 더 작으면 k를 증가시키거나, 특이점에 가까이 갈수록 k를 급속히 증가시켜 실질적으로 원하는 토크에 해당되는 김벌각속도(

)가 아닌 다른 값을 정하고자 하였다. 그러나, 이 구동방식의 경우에도, 특이점에 도달하면

이 되어 실질적으로 제어모멘트자이로의 특이점을 피하는 데 효과가 없다.In the case of the singularity robustness method, the proposed method is to avoid singularities,

), K is increased if m = det (JJ ^T ) is smaller than k = 1, or k is increased more and more nearer to the singular point,

). However, even in the case of this driving method, when a singular point is reached

Which is substantially ineffective in avoiding the singularity of the control moment gyro.

)를 회피(Singularity Avoidance)하면서도 원하는 토크 방향(τ)에 접근하기 위해, 아래 수학식 4와 같이 디더제어(Dither Control) 방식을 적용하였다.In order to compensate for this problem, the generalized singularity robustness method has been proposed in which the singularity and the desired torque direction (τ) coincide with each other,

In order to approach the desired torque direction τ while avoiding the singularity avoidance, the dither control method is applied as shown in Equation 4 below.

를 추가하였다.In Equation (4), the concept of dither control is applied to the off-diagonal terms

Respectively.

인데, 이 값들이 클수록 토크 에러는 크지만 최대 김벌각속도는 작아지게 된다.However, even when the generalized singularity robustness method is used, there arises a problem that a torque error occurs even if it deviates from the singularity state. In other words, the generalized singularity robustness method can be seen as a method of adding a gimbal angular velocity that generates a torque in a direction different from the desired torque vector direction in avoiding a singularity. In this case, the variables that the designer should input are

The larger the values, the larger the torque error but the smaller the maximum gimbal angular velocity.

Therefore, when a control moment gyro is mounted for attitude control of a satellite, an improvement method for avoiding the singularity state and ensuring repeatability thereof is required while using the torque amplification characteristic.

2 is a block diagram showing a control apparatus of a control moment gyro cluster according to an embodiment.

The control device 200 of the control moment gyro cluster may include a torque generating unit 210 and a control unit 220.

The torque generating unit 210 may generate a torque signal for attitude control of the air vehicle by using the angular momentum of the gimbal motor and the angular momentum of the at least one control moment gyro constituting the control moment gyro cluster.

The control unit 220 may apply a control loop including a control signal to the angular velocity and a dither control signal to the angular velocity of the gimbal motor.

Here, the dither control signal may be a signal having at least one periodicity of a triangular waveform, a saw tooth waveform, a square waveform, a trapezoid waveform, or a sinusoidal waveform.

In addition, the control loop may be at least one of an inner control loop and an outer control loop for the at least one control moment gyro.

The control unit 220 may include a calculation unit for calculating at least one of a rotation angle and an angular velocity of the airplane in association with the attitude control of the airplane corresponding to the torque signal generated by the torque generating unit 210 have.

The control unit 220 may configure the control loops applied to the angular velocity of the gimbal motor in different ways according to the error calculation result of the calculation unit.

If it is determined that the error is equal to or greater than the predetermined first threshold, the controller 220 controls the first coefficient associated with the dither control signal in the control loop to be higher than the second coefficient associated with the domain control signal Can be set.

When the error is equal to or greater than the first threshold value, the weight for the dither control signal is increased (greater than the weight of the control signal for the real-time motion) so that the dither control algorithm is reflected when the wobble angular velocity is controlled.

On the other hand, if the error is less than the first threshold, the controller 220 determines that the second coefficient associated with the control signal in the control loop is greater than the first coefficient associated with the dither control signal Can be set high.

If the error is less than the first threshold value, the first coefficient associated with the dither control signal is set to zero, and the weight for the control signal is increased to reflect the control algorithm for the torque signal.

When a control moment gyro cluster is mounted for attitude control of a flying object, a control torque signal input through an external control loop can be derived as shown in Equation (5).

Where I _{S / C} is the Moment of Inertia of the vehicle. If the dither control method is applied to the I _{S / C} value of the first term of the equation, it can be expressed as Equation (6).

로, 정현파(Sinusoidal Wave) 형태의 디더제어 신호를 적용한 것으로 정의할 수 있으며, 이는 사각파 등의 다양한 형태로 변경하여 적용 가능하다.here,

It can be defined as applying a dither control signal in the form of a sinusoidal wave, which can be changed to various forms such as a square wave.

를 너무 큰 값으로 적용하면, 외부제어루프에 원하지 않는 외란 요소가 발생할 수 있어, 원하는 기동각에 수렴하지 않을 수 있다. 따라서, 최소한 작은 값으로 정할 필요가 있으나, 너무 작은 값을 적용하면 디더제어의 효과가 떨어질 수 있다는 점 또한 유의해야 한다.In the dither control,

Is applied to an excessively large value, an undesired disturbance element may occur in the external control loop, and it may not converge to a desired start angle. Therefore, it is necessary to set at least a small value, but it should also be noted that applying too small a value may reduce the effect of dither control.

항을 적용하면서 특이점 상태에 빠지지 않았을 때는

로 매우 유사해져서, 디더제어의 영향성이 최소화된다.When dither control is applied, a torque error may occur in the middle of starting, and this will appear as a posture error of the flight vehicle. However, when applying the dither control algorithm to the external control loop,

If you do not fall into the singularity state by applying

, So that the influence of the dither control is minimized.

As described above, the simulation result of applying the dither control algorithm to the external control loop can be shown in FIG.

The graph of FIG. 5 is compared with the graph of FIG. 4 which is a result of the conventional drive control without applying the dither control, and it can be confirmed that the start time is increased by a predetermined amount by applying the dither control.

However, in the graph of FIG. 5, when looking at 520 representing the gimbal angle for the control moment gyro cluster, the gyration angle for the four control moment gyros ends at about [+180 0 -180 0] deg. This shows the problem that repeatability is not guaranteed.

Control Moment In the case of gyro clusters, it is not necessary to perform posture maneuver only once on the rotation axis, but to perform several times on the same axis or to start with pitch axis or yaw axis (in addition to the rotation axis) .

Therefore, it is necessary to compensate for a situation in which no other maneuver is possible after one maneuver as shown in FIG. 5, and to return to the initial angle that was originally started once maneuvering ends.

The controller 200 of the control moment gyro cluster further applies a null motion algorithm to compensate for the repeatability problem, which can be expressed by Equation (7) below.

는 내부제어루프용 김벌각속도를 의미한다. 또한,

는 원하는 김벌각과 현재 김벌각의 차이를 나타낸다.Equation (7) consists of the first term for receiving the torque for the external control loop of Equation (6) and the second term for applying the damping control and the damping control. The output value of Equation (7)

Means the gimbal angular velocity for the inner control loop. Also,

Represents the difference between the desired gimbal angle and the present gimbal angle.

In the control device 200 of the control moment gyro cluster, simulation results obtained by applying the dither control method to both the outer control loop and the inner control loop and securing the repeatability in the inner control loop according to an embodiment are shown in FIG. 6 have.

6, the graph 620 showing the simulation result of the maximum angle of the graph in FIG. 6 shows that, unlike FIG. 5, it returns to the initial angle of elevation [0 0 0 0] deg after one operation is started.

For the control device 200 of the control moment gyro cluster, the weight of the first term is increased in order to avoid the singularity state during the initial 20 seconds, and the gain k, which is relatively in the control of the spindle motor, is adjusted to be small. After 20 seconds, increase the value of k and treat all diagonal terms as 0 (p ₁ = p ₂ = p ₃ = q ₁ = q ₂ = q ₃ = 0).

Before 20 seconds, diagonal extrinsic for dither control must exist in the form of a sine wave other than 0 to avoid singularity. However, if a value other than 0 is input after 20 seconds, it causes an undesired torque rather than a real torque.

In this manner, the control device 200 of the control moment gyro cluster can perform the singularity state avoidance and the repeatability securing by assigning different weights to the parameters according to the situation, while simultaneously applying the control method and the dither control.

FIG. 3 is a diagram illustrating an algorithm for error determination in the control process of a control-moment gyro cluster according to an embodiment.

Control Moment In the control process of the gyro cluster, the method of applying the control and dither control to the control loop to avoid the singularity state and repeatability can be determined through the error judgment of the rotation angle and the angular velocity of the air vehicle (satellite).

In order to perform image capturing by the air vehicle, a rotation angle command and an angular velocity command for three axes of a control moment gyro cluster should be given. The rotation angle command and the angular velocity command (meaning a rotation angle and an angular velocity to be controlled) By calculating the difference between the current angle and the angular velocity, the error can be determined.

As shown in 310 of FIG. 3, when the calculated error is determined to be equal to or greater than the first threshold as a result of the error determination of the three-axis reference posture and the angular velocity, the dither control for avoiding the abnormal point state is applied 321, Is less than the first threshold, the control unit 322 applies the control of the spindle motor.

Here, the first threshold value may be differently applied according to the rotation angle command and the angular velocity command, as a determination criterion for determining which part of the dither control method or the real-time motion control method is to be weighted and applied in the control process of the control moment gyro cluster have.

For example, if the start angle is a 20-degree command, the k value and the diagonal extrinsic value in the above Equation 7 may be set differently based on 20 seconds, so that the dither control and the spindle control can be applied to the situation.

를 초과하는 경우에는, 321에서 디더제어를 위한 가중치에 더욱 큰 값을 주면 된다. 반대로, 그 이하인 경우에는, 322에서 영운동 제어를 위한 가중치에 더 큰 값을 주면 된다.Further, in the error determination process of 310

, A larger value may be given to the weight for dither control at 321. [ Conversely, if the value is less than or equal to the predetermined value, a larger value may be given to the weight for control of the spindle motor at 322.

Figs. 4 to 6 are graphs showing simulation results of the control apparatus of the control moment gyro cluster according to each embodiment. Fig.

FIG. 5 shows a simulation result of a control device to which a dither control method is applied to an internal control loop, FIG. 6 shows a simulation result of an internal control loop and an external control loop And the simulation result of the control device using the control method of dongwoon-dong and the dither control method are respectively shown.

As shown in FIG. 4, when only the singularity robustness method is applied without applying the dither control method, the user can not exit from the singularity state and can not converge to the posture.

On the other hand, when the dither control method is applied to either the internal control loop or the external control loop for the 20-degree posture start command of the air vehicle (Figs. 5 and 6) Convergence. In FIGS. 5 and 6, it converges normally to 20 degrees in about 18 seconds due to the avoidance of the singularity state, and the posture error is maintained within 1% thereafter.

In the case of FIG. 5, however, the gyro angle for the four control moment gyros after one-time start is not returned to the initial angle, and the other gyro can not be started (repeatability is not guaranteed) And the proper control of the control system of the spindle is complemented to the repeatability.

7 is a flowchart showing a control method of a control moment gyro cluster according to an embodiment.

In step 710, the torque generating unit may generate a torque signal for attitude control of the air vehicle using the angular momentum of the gimbal motor and the angular momentum of the at least one control moment gyro constituting the control moment gyro cluster according to the wheel rotation.

In step 720, the control unit may calculate at least one of an angle of rotation and an angular velocity of the air vehicle in association with the attitude control of the air vehicle corresponding to the torque signal generated in step 710.

In step 730, the control unit may apply a control loop including a spindle control signal and a dither control signal to the angular velocity of the gimbal motor based on the error calculation result.

In step 730, the control unit may configure the control loops applied to the angular velocity of the gimbal motor in different ways according to the error calculation result.

If the error is greater than or equal to a predetermined first threshold, the controller may set the first coefficient associated with the dither control signal in the control loop higher than the second coefficient associated with the domain control signal .

When the error is equal to or greater than the first threshold value, the weight for the dither control signal is increased (greater than the weight of the control signal for the real-time motion) so that the dither control algorithm is reflected when the wobble angular velocity is controlled.

On the other hand, if it is determined that the error is less than the first threshold, the controller may set the second coefficient associated with the control signal in the control loop higher than the first coefficient associated with the dither control signal have.

If the error is less than the first threshold value, the first coefficient associated with the dither control signal is set to zero, and the weight for the control signal is increased to reflect the control algorithm for the torque signal.

Here, the dither control signal may be a signal having at least one periodicity of a triangular waveform, a saw tooth waveform, a square waveform, a trapezoid waveform, or a sinusoidal waveform.

In addition, the control loop may be at least one of an inner control loop and an outer control loop for the at least one control moment gyro.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (12)

A torque generating unit for generating a torque signal for attitude control of a flying object by using an angular momentum of the gimbal motor and angular momentum of the at least one control moment gyro constituting the control moment gyro cluster according to the rotation of the wheel; And
And a control loop for applying a control loop including a control signal for dynamics and a dither control signal to the angular velocity of the gimbal motor
And a control-moment gyro-cluster control unit. The method according to claim 1,
Wherein,
A calculation unit for calculating at least one of an angle of rotation and an angular velocity of the airplane in association with the attitude control of the airplane corresponding to the torque signal,
And a control-moment gyro-cluster control unit. 3. The method of claim 2,
Setting a first coefficient associated with the dither control signal in the control loop higher than a second coefficient associated with the domain control signal when the error is greater than or equal to a predetermined first threshold,
And sets the second coefficient in the control loop higher than the first coefficient when the error is less than a predetermined first threshold. The method of claim 3,
Wherein when the error is less than a predetermined first threshold, the first coefficient is zero. The method according to claim 1,
Wherein the dither control signal is a signal having a periodicity of at least one of a triangular waveform, a sawtooth waveform, a square waveform, a trapezoidal waveform, and a sinusoidal waveform. The method according to claim 1,
Wherein the control loop is at least one of an inner control loop and an outer control loop for the at least one control moment gyro. Generating a torque signal for attitude control of a flying object by using an angular momentum of the gimbal motor and angular momentum of the at least one control moment gyro constituting the control moment gyro cluster according to the rotation of the wheel; And
Applying a control loop including a spindle-motor control signal and a dither control signal to the angular velocity of the gimbal motor
Of the control moment gyro cluster. 8. The method of claim 7,
Wherein the dither control signal is a signal having at least one periodicity among a triangular waveform, a saw tooth waveform, a square waveform, a trapezoidal waveform, and a sinusoidal waveform. 8. The method of claim 7,
Wherein applying the control loop comprises:
Calculating an error of at least one of a rotation angle and an angular velocity of the air vehicle in association with the attitude control of the air vehicle corresponding to the torque signal
Of the control moment gyro cluster. 10. The method of claim 9,
Setting a first coefficient associated with the dither control signal in the control loop higher than a second coefficient associated with the domain control signal when the error is greater than or equal to a predetermined first threshold,
And sets the second coefficient in the control loop higher than the first coefficient when the error is less than a predetermined first threshold. 11. The method of claim 10,
Wherein the first coefficient is zero when the error is less than a predetermined first threshold. 12. The computer-readable recording medium according to any one of claims 7 to 11, comprising a program for performing the control method of the control moment gyro cluster.

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