Equations of motion for the automatic balancing system of 3-DOF spacecraft attitude control simulator

3-DOF spacecraft attitude control simulators have been used for spacecraft attitude determination and control hardware verification and software development. In this paper, a automatic balancing system to reduce the gravitational torques influencing the motion of the simulator was described. The equations of motion and balancing algorithm developed for the system was deduced. The algorithm takes sensor data from the system and gives a vector estimating the location of the center of mass of the platform. It can be shown from the simulated result that the locations of the center of mass are large at first, and begin to diminish rapidly after a 60-second test length is in the automatic balancing algorithm.