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.
Only small corrections were required to maintain the orientation, with almost no thruster output.
The payload converged smoothly to the target yaw angle of 45° and maintained a stable orientation afterward.
Thrust was applied during the initial rotation, followed by almost zero output after reaching the target angle.
The payload converged stably to the target yaw angle of 90° and maintained the orientation after reaching it.
Thrust was applied for a longer period 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 almost zero output 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 the Part 1 result.
In Part 1, high output from multiple thrusters continued even after the payload reached the target angle. In Part 2, the payload approaches the target angle more gradually, while the thruster output decreases progressively, reaching an almost zero-output state after the target angle is reached.
Payload Yaw Control — Part 2