Payload Yaw Control — Part 2
Control performance and thruster output were evaluated for the HSteel payload at target yaw angles of 0°, ±45°, and ±90°.
The initial yaw angle of 0° was maintained stably throughout the simulation.
The attitude was maintained with only small corrective outputs, without requiring large thrust.
The payload converged smoothly to the target yaw angle of 45° and remained stable afterward.
Relatively large thrust was applied at the beginning of the rotation, then decreased as the payload approached the target angle. After reaching the target, only small corrective outputs remained.
The payload converged stably to the target yaw angle of 90° and maintained its attitude after reaching the target.
A somewhat larger initial output was used than in the 45° case, but the thruster output became nearly zero after reaching the target angle.
The payload converged smoothly to the target yaw angle of -45° and remained stable afterward.
The output characteristics were similar to those for +45°, with the thrusters corresponding to the opposite rotation direction being selectively activated.
The payload converged stably to the target yaw angle of -90° and maintained its attitude after reaching the target.
As in the +90° case, relatively large thrust was applied only during the initial rotation, after which the output became nearly zero.
Control results for Target Yaw ±45° and ±90° are shown from the overall and top views.
The Target Yaw +90° control result is compared withPart 1.
The previous control reached the target angle quickly, but showed overshoot and continuous thruster output. With the current control, the time required to reach the target is longer, but the thruster output decreases smoothly as the payload approaches the target angle and becomes nearly zero afterward.
Payload Yaw Control — Part 2