Payload Yaw Control — Part 2
The control performance and thruster outputs were evaluated for target yaw angles of 0°, ±45°, and ±90°.
The initial orientation of 0° was maintained stably until the end of the simulation.
Small corrective inputs were continuously applied while maintaining the orientation, with the thrusters operating more frequently than for the other payloads.
The payload converged smoothly to the target yaw angle of 45° and maintained a stable orientation afterward.
Thrust was concentrated during the initial rotation, followed by only small corrective inputs after reaching the target angle.
The payload converged stably to the target yaw angle of 90° and maintained the orientation after reaching it.
Slightly higher initial thrust was used than in the 45° case, but the output dropped to nearly zero after reaching the target angle.
The payload converged smoothly to the target yaw angle of -45° and maintained a stable orientation afterward.
The output characteristics were symmetric to the +45° case, with the thrusters for the opposite rotation direction used selectively.
The payload converged stably to the target yaw angle of -90° and maintained the orientation after reaching it.
The output characteristics were symmetric to the +90° case, with only small corrective inputs after the initial rotation.
The control results for Target Yaw ±45° and ±90° are compared using overall and top views.
The Target Yaw +90° control result is compared with thePart 1 result.
In Part 1, the payload reached the target angle quickly, but overshoot and continuous thruster output were observed. In Part 2, reaching the target takes longer, but the thruster output decreases smoothly as the payload approaches the target angle, and the orientation is maintained with almost no thrust after reaching it.
Payload Yaw Control — Part 2