Automatic control of the Skylab Astronaut Maneuvering Research Vehicle.

The two automatic control modes of the Astronaut Maneuvering Research Vehicle (AMRV) are analyzed: the control moment gyro (CMG) and the rate gyro (RG). The AMRV is an autonomous maneuvering unit which translates and rotates the pilot by means of hand-controller input commands. The CMG normal operation, desaturation, and cage/lock dynamics are described in terms of a realistic AMRV mass property configuration. No propellant is used for normal operation in the CMG mode, and the maximum rotation rate is 5 deg/sec about each AMRV axis. The RG attitude maneuvering and limit cycle submode dynamic are described in terms of the same AMRV mass property configuration.