Optimal configuration design of redundant flywheels and hardware-in-the-loop simulation

An optimal configuration is designed to maximize the performance of a control system with constrained number of redundant actuators. In this paper we focus on exploring the optimal configuration of spacecraft mechanized with four flywheels which maximizes the torque generation ability and allows a random failure. To verify the feasibility of the optimal configuration embedded in a closed loop control system, a hardware-in-the-loop simulation is performed on a single axis air bearing table. The semi-physical simulation has also validated the effectiveness of controller that constrains the upper bound of slew rate and control allocation that generates instructions of hybrid virtual and physical flywheels.