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DYNA

versão impressa ISSN 0012-7353

Resumo

YIME-RODRIGUEZ, Eugenio; PENA-CORTES, César Augusto  e  ROJAS-CONTRERAS, William Mauricio. The dynamic model of a four control moment gyroscope system. Dyna rev.fac.nac.minas [online]. 2014, vol.81, n.185, pp.41-47. ISSN 0012-7353.  http://dx.doi.org/10.15446/dyna.v81n185.35756.

The dynamic model of a Four Control Moment Gyroscope (4-CMG) is traditionally obtained after computing the derivative of the angular momentum equation. Although this approach leads to a simple dynamic model, new models have been introduced due to terms not taken into account during the computation of the angular momentum equation. In this paper, a new dynamic model for a 4-CMG based on the Newton-Euler algorithm, which is well accepted in Robotics, was developed. This new approach produces a complete dynamic model.

Palavras-chave : dynamics; gyroscope; model; control.

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