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Mathematical Problems in EngineeringVolume 2013 2013, Article ID 249674, 8 pages

Research ArticleINPE, Avenida dos Astronautas 1758, 12227-010 São José dos Campos, SP, Brazil

Received 11 March 2013; Accepted 12 May 2013

Academic Editor: Antonio F.
Bertachini A. Prado

Copyright © 2013 Valdemir Carrara and Hélio Koiti Kuga.
This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The ever-increasing use of artificial satellites in both the study of terrestrial and space phenomena demands a search for increasingly accurate and reliable pointing systems.
It is common nowadays to employ reaction wheels for attitude control that provide wide range of torque magnitude, high reliability, and little power consumption.
However, the bearing friction causes the response of wheel to be nonlinear, which may compromise the stability and precision of the control system as a whole.
This work presents a characterization of a typical reaction wheel of 0.65 Nms maximum angular momentum storage, in order to estimate their friction parameters.
It used a friction model that takes into account the Coulomb friction, viscous friction, and static friction, according to the Stribeck formulation.
The parameters were estimated by means of a nonlinear batch least squares procedure, from data raised experimentally.
The results have shown wide agreement with the experimental data and were also close to a deterministic model, previously obtained for this wheel.
This model was then employed in a Dynamic Model Compensator DMC control, which successfully reduced the attitude steady state error of an instrumented one-axis air-bearing table.

Author: Valdemir Carrara and Hélio Koiti Kuga



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