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<title>CMG Control</title>
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<div align="center"> <img src="CMG%20Maneuver.GIF" alt="Title"
width="408" height="55">
<b><u><br>
</u></b>
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<div align="left"><b><u>Description</u></b><br>
<br>
In this project, to simulate a reorientation maneuver of a rigid spacecraft<br>
using CMGs, a configuration of 3 single-gimbal control moment gyros (CMGs)<br>
aligned with the principal axis was used. The illustration shows the CMG
<br>
configuration used.<br>
<br>
<img src="CMGassembly.GIF" alt="CMG Assembly" width="492"
height="448">
<br>
<b><u>Inputs<br>
</u></b><br>
<b>Ixx</b>, <b>Iyy</b>, <b>Izz</b> &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160;
&#160;&#160; Principal moments of inertia<br>
<b>J </b>&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;
CMG inertia<br>
<b>A</b> &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160;
&#160;&#160;&#160; &#160;CMG ginbal rate<br>
<b>psi</b> &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160;
&#160;&#160; Commanded Euler angle<br>
<b>phi &#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;</b> Commanded
Euler angle<br>
<b>theta</b>&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160; Commanded
Euler angle<br>
<br>
<b><u>Initial Condition<br>
</u></b><br>
<b>w1</b>, <b>w2, w3</b>: &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; Spacecraft
angular velocities <br>
<b>q1, q2, q3, q4</b>: &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; Quaternions<br>
<b>Omega 1</b> &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; Gimbal rate
of CMG 1<br>
<b>Omega 2</b> &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; Gimbal rate
of CMG 2<br>
<b>Omega 3</b> &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; &#160;&#160;&#160; Gimbal rate
of CMG 3<br>
<br>
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