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1.发明授权Hierarchical strategy for singularity avoidance in arrays of control moment gyroscopes 有权控制力矩陀螺仪阵列中奇异性避免的分层策略公开(公告)号：US07805226B2
公开(公告)日：2010-09-28
申请号：US11540452
申请日：2006-09-29
IPC分类号： B64G1/36
CPC分类号： B64G1/286 , B64G2001/245 , G05D1/0883 , Y10T74/12 , Y10T74/1221 , Y10T74/1229
摘要： A control system for adjusting the attitude of a spacecraft comprises a set of control moment gyroscopes (CMGs) configured to allow null space maneuvering. The control system further comprises a momentum actuator control processor coupled to the set of CMGs and configured to determine a mandatory null space maneuver to avoid singularities and determine an optional null space maneuver to increase available torque. The mandatory null space maneuver can be calculated based upon certain gimbal angles, and can be implemented by augmenting the inverse-Jacobian control matrix.
摘要翻译： 用于调节航天器姿态的控制系统包括一组配置成允许空间空间操纵的控制力矩陀螺仪（CMG）。 控制系统还包括耦合到该组CMG的动量致动器控制处理器，并且被配置为确定强制性零空间操纵以避免奇点并且确定可选的零空间机动以增加可用转矩。 可以基于某些万向节角度来计算强制空间机动，并且可以通过增加逆雅可比控制矩阵来实现。
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2.发明申请Hierarchical strategy for singularity avoidance in arrays of control moment gyroscopes 有权控制力矩陀螺仪阵列中奇异性避免的分层策略公开(公告)号：US20080105787A1
公开(公告)日：2008-05-08
申请号：US11540452
申请日：2006-09-29
IPC分类号： B64G1/28
CPC分类号： B64G1/286 , B64G2001/245 , G05D1/0883 , Y10T74/12 , Y10T74/1221 , Y10T74/1229
摘要： A control system for adjusting the attitude of a spacecraft comprises a set of control moment gyroscopes (CMGs) configured to allow null space maneuvering. The control system further comprises a momentum actuator control processor coupled to the set of CMGs and configured to determine a mandatory null space maneuver to avoid singularities and determine an optional null space maneuver to increase available torque. The mandatory null space maneuver can be calculated based upon certain gimbal angles, and can be implemented by augmenting the inverse-Jacobian control matrix.
摘要翻译： 用于调节航天器姿态的控制系统包括一组配置成允许空间空间操纵的控制力矩陀螺仪（CMG）。 控制系统还包括耦合到该组CMG的动量致动器控制处理器，并且被配置为确定强制性零空间操纵以避免奇点并且确定可选的零空间机动以增加可用转矩。 可以基于某些万向节角度来计算强制空间机动，并且可以通过增加逆雅可比控制矩阵来实现。
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3.发明授权Method and system for controlling sets of collinear control moment gyroscopes with offset determination without attitude trajectory of spacecraft 有权用于控制航天器姿态轨迹的偏差确定的共线控制力矩陀螺仪组的方法和系统公开(公告)号：US07693619B2
公开(公告)日：2010-04-06
申请号：US11291706
申请日：2005-11-30
申请人： Michael R. Elgersma , Daniel P. Johnson , Mason A. Peck , Brian K. Underhill , Gunter Stein , Blaise G. Morton , Brian J. Hamilton
发明人： Michael R. Elgersma , Daniel P. Johnson , Mason A. Peck , Brian K. Underhill , Gunter Stein , Blaise G. Morton , Brian J. Hamilton
CPC分类号： G05D1/0883 , B64G1/286
摘要： A control system of a spacecraft for controlling two or more sets of collinear control moment gyroscopes (CMGs) comprises an attitude control system. The attitude control system is configured to receive a command to adjust an orientation of the spacecraft, determine an offset for a momentum disk for each of the two or more sets of CMGs that maximizes torque, determine a momentum needed from the two or more sets of CMGs to adjust the orientation of the spacecraft, and calculate a total torque needed by taking the derivative of the momentum. The control system further comprises a momentum actuator control processor coupled to the attitude control system, the momentum actuator control processor configured to calculate a required gimbal movement for each of the CMGs in each of the two or more sets of collinear CMGs from total torque.
摘要翻译： 用于控制两组或更多套共线控制力矩陀螺仪（CMG）的航天器的控制系统包括姿态控制系统。 姿态控制系统被配置为接收调整航天器的方向的命令，确定用于使扭矩最大化的两组或更多组CMG中的每一个的动量盘的偏移，确定从两组或更多组 CMG调整航天器的方向，并计算通过采取动量的导数所需的总转矩。 控制系统还包括耦合到姿态控制系统的动量致动器控制处理器，动量致动器控制处理器被配置为针对来自总转矩的两组或多组共线CMG中的每一个中的每个CMG计算所需的万向运动。
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