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1. 发明授权

US07246776B2 Method and system for CMG array singularity avoidance 有权
标题翻译： CMG阵列奇异性避免的方法和系统
公开(公告)号：US07246776B2
公开(公告)日：2007-07-24
申请号：US10897494
申请日：2004-07-23
申请人： Mason A. Peck , Brian J. Hamilton , Brian Underhill
发明人： Mason A. Peck , Brian J. Hamilton , Brian Underhill
IPC分类号： B64G1/24
CPC分类号： B64G1/286 , G05D1/0883
摘要： The present method provides a method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft. In a first step, a torque command representing a desired torque to produce an attitude adjustment for the spacecraft is received. Next, a range-space gimbal rate required to produce the desired torque based on the desired torque and a Jacobian matrix is calculated. Then, a null-space gimbal rate that assists in the avoidance of singularities is calculated. The total gimbal rate command is determined by summing the range-space gimbal rate and the null-space gimbal rate. Then, the total gimbal rate command is provided to the CMGs to produce the total gimbal rate.
摘要翻译：本方法提供了一种避免CMG在航天器中的CMG阵列中的运动中的奇点的方法。在第一步骤中，接收表示用于产生航天器的姿态调整的期望转矩的转矩指令。接下来，计算基于期望转矩和雅可比矩阵来产生期望转矩所需的距离空间万向节速率。然后，计算出有助于避免奇点的零空间万向节速率。总的万向节速率命令通过将距离空间万向节速率和零空间万向节速率相加来确定。然后，将总的万向节速率命令提供给CMG以产生总的万向节速率。

2. 发明申请

US20060022091A1 METHOD AND SYSTEM FOR OPTIMIZING TORQUE IN A CMG ARRAY 有权
标题翻译：用于优化CMG阵列扭矩的方法和系统
公开(公告)号：US20060022091A1
公开(公告)日：2006-02-02
申请号：US10903774
申请日：2004-07-30
申请人： Mason Peck , Brian Hamilton , Brian Underhill
发明人： Mason Peck , Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： G05D1/0883 , B64G1/286 , B64G2001/245 , Y10T74/1229
摘要： A momentum-control system for a spacecraft is disclosed. The momentum-control system comprises an attitude-control system. The attitude-control system receives data concerning a desired spacecraft maneuver and determines a torque command to complete the desired spacecraft maneuver. A momentum actuator control processor coupled to the attitude-control system receives the torque command. The momentum actuator control processor calculates a gimbal rate command comprising a range-space gimbal rate required to produce the torque command and a null-space gimbal rate required to maximize the ability to provide torque in the direction of a current torque. At least four control-moment gyros are coupled to the momentum control actuator control processor. Each of the control-moment gyros receives and executes the gimbal rate to produce the desired maneuver.
摘要翻译：公开了一种用于航天器的动量控制系统。动量控制系统包括姿态控制系统。姿态控制系统接收关于期望的航天器操纵的数据，并确定扭矩命令以完成所需的航天器操纵。耦合到姿态控制系统的动量致动器控制处理器接收扭矩指令。动量致动器控制处理器计算包括产生转矩指令所需的范围空间万向节速率的万向节速率指令和最大化在当前转矩方向上提供转矩的能力所需的零空间万向节速率。至少四个控制力矩陀螺仪耦合到动量控制致动器控制处理器。每个控制力矩陀螺仪接收和执行万向节速率以产生所需的操纵。

3. 发明授权

US08346538B2 Methods and systems for reducing angular velocity using a gyroscope array 有权
标题翻译：使用陀螺仪阵列减小角速度的方法和系统
公开(公告)号：US08346538B2
公开(公告)日：2013-01-01
申请号：US12787189
申请日：2010-05-25
申请人： Thom Kreider , Brian Underhill , Brian Hamilton
发明人： Thom Kreider , Brian Underhill , Brian Hamilton
IPC分类号： G01C19/00 , G01C23/00
CPC分类号： B64G1/286
摘要： Methods and systems are provided for reducing angular velocity of a vehicle using a gyroscope array. A method comprises dithering a gyroscope of the gyroscope array, obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope, determining a gimbal rate command to reduce angular velocity of the vehicle based on the current through the gimbal motor obtained while dithering the gyroscope, and operating the gimbal motor of the gyroscope based on the gimbal rate command.
摘要翻译：提供的方法和系统用于减少使用陀螺仪阵列的车辆的角速度。一种方法包括对陀螺仪阵列的陀螺仪进行抖动，当陀螺仪抖动时，通过陀螺仪的万向电机获得电流;基于通过陀螺仪陀螺仪所获得的万向电机的电流，确定车辆的角速度，确定云台速度命令; 并且基于万向节速率命令来操作陀螺仪的万向电机。

4. 发明申请

US20110295449A1 METHODS AND SYSTEMS FOR REDUCING ANGULAR VELOCITY USING A GYROSCOPE ARRAY 有权
标题翻译：使用陀螺仪阵列降低角速度的方法和系统
公开(公告)号：US20110295449A1
公开(公告)日：2011-12-01
申请号：US12787189
申请日：2010-05-25
申请人： Thom Kreider , Brian Underhill , Brian Hamilton
发明人： Thom Kreider , Brian Underhill , Brian Hamilton
IPC分类号： B64G1/28 , G05D1/08 , G06F19/00
CPC分类号： B64G1/286
摘要： Methods and systems are provided for reducing angular velocity of a vehicle using a gyroscope array. A method comprises dithering a gyroscope of the gyroscope array, obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope, determining a gimbal rate command to reduce angular velocity of the vehicle based on the current through the gimbal motor obtained while dithering the gyroscope, and operating the gimbal motor of the gyroscope based on the gimbal rate command.
摘要翻译：提供的方法和系统用于减少使用陀螺仪阵列的车辆的角速度。一种方法包括对陀螺仪阵列的陀螺仪进行抖动，当陀螺仪抖动时，通过陀螺仪的万向电机获得电流;基于通过陀螺仪陀螺仪所获得的万向电机的电流，确定车辆的角速度，确定云台速度命令; 并且基于万向节速率命令来操作陀螺仪的万向电机。

5. 发明授权

US08014911B2 Methods and systems for imposing a momentum boundary while reorienting an agile vehicle with control moment gyroscopes 有权
标题翻译：用控制力矩陀螺仪重新定位敏捷车辆的动量边界的方法和系统
公开(公告)号：US08014911B2
公开(公告)日：2011-09-06
申请号：US12611485
申请日：2009-11-03
申请人： Brian Hamilton , Brian Underhill
发明人： Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： B64G1/286 , B64G2001/245
摘要： Methods and systems are provided for reorienting an agile vehicle, such as a satellite or spacecraft, using a control moment gyroscope (CMG) array. The CMG array comprises a plurality of CMGs onboard the agile vehicle. A method comprises obtaining an input torque command for reorienting the vehicle using the CMG array and, when the angular momentum of the CMG array violates or is approaching a momentum boundary criterion, decreasing the input torque command in the kinetic momentum direction, resulting in a modified torque command, and operating the CMG array using the modified torque command.
摘要翻译：提供了使用控制力矩陀螺仪（CMG）阵列来重新定向敏捷车辆（例如卫星或航天器）的方法和系统。 CMG阵列包括敏捷车辆上的多个CMG。一种方法包括获得用于使用CMG阵列重新定向车辆的输入转矩命令，并且当CMG阵列的角动量违反或接近动量边界准则时，减小动力学方向上的输入转矩指令，导致修改扭矩指令，并使用改进的扭矩指令来操作CMG阵列。

6. 发明授权

US07014150B2 Method and system for optimizing torque in a CMG array 有权
标题翻译：用于优化CMG阵列扭矩的方法和系统
公开(公告)号：US07014150B2
公开(公告)日：2006-03-21
申请号：US10903774
申请日：2004-07-30
申请人： Mason A. Peck , Brian J. Hamilton , Brian Underhill
发明人： Mason A. Peck , Brian J. Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： G05D1/0883 , B64G1/286 , B64G2001/245 , Y10T74/1229
摘要： A momentum-control system for a spacecraft is disclosed. The momentum-control system comprises an attitude-control system. The attitude-control system receives data concerning a desired spacecraft maneuver and determines a torque command to complete the desired spacecraft maneuver. A momentum actuator control processor coupled to the attitude-control system receives the torque command. The momentum actuator control processor calculates a gimbal rate command comprising a range-space gimbal rate required to produce the torque command and a null-space gimbal rate required to maximize the ability to provide torque in the direction of a current torque. At least four control-moment gyros are coupled to the momentum control actuator control processor. Each of the control-moment gyros receives and executes the gimbal rate to produce the desired maneuver.
摘要翻译：公开了一种用于航天器的动量控制系统。动量控制系统包括姿态控制系统。姿态控制系统接收关于期望的航天器操纵的数据，并确定扭矩命令以完成所需的航天器操纵。耦合到姿态控制系统的动量致动器控制处理器接收扭矩指令。动量致动器控制处理器计算包括产生转矩指令所需的范围空间万向节速率的万向节速率指令和最大化在当前转矩方向上提供转矩的能力所需的零空间万向节速率。至少四个控制力矩陀螺仪耦合到动量控制致动器控制处理器。每个控制力矩陀螺仪接收和执行万向节速率以产生所需的操纵。

7. 发明申请

US20110101167A1 METHODS AND SYSTEMS FOR IMPOSING A MOMENTUM BOUNDARY WHILE REORIENTING AN AGILE VEHICLE WITH CONTROL MOMENT GYROSCOPES 有权
标题翻译：方法和系统，用于在控制模型中实现车辆重新分解的车辆边界
公开(公告)号：US20110101167A1
公开(公告)日：2011-05-05
申请号：US12611485
申请日：2009-11-03
申请人： Brian Hamilton , Brian Underhill
发明人： Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： B64G1/286 , B64G2001/245
摘要： Methods and systems are provided for reorienting an agile vehicle, such as a satellite or spacecraft, using a control moment gyroscope (CMG) array. The CMG array comprises a plurality of CMGs onboard the agile vehicle. A method comprises obtaining an input torque command for reorienting the vehicle using the CMG array and, when the angular momentum of the CMG array violates or is approaching a momentum boundary criterion, decreasing the input torque command in the kinetic momentum direction, resulting in a modified torque command, and operating the CMG array using the modified torque command.
摘要翻译：提供了使用控制力矩陀螺仪（CMG）阵列来重新定向敏捷车辆（例如卫星或航天器）的方法和系统。 CMG阵列包括敏捷车辆上的多个CMG。一种方法包括获得用于使用CMG阵列重新定向车辆的输入转矩命令，并且当CMG阵列的角动量违反或接近动量边界准则时，减小动力学方向上的输入转矩指令，导致修改扭矩指令，并使用改进的扭矩指令来操作CMG阵列。

8. 发明申请

US20070124032A1 Method and system for controlling sets of collinear control moment gyroscopes 有权
标题翻译：共线控制力矩陀螺仪控制方法及系统
公开(公告)号：US20070124032A1
公开(公告)日：2007-05-31
申请号：US11291706
申请日：2005-11-30
申请人： Michael Elgersma , Daniel Johnson , Mason Peck , Brian Underhill , Gunter Stein , Blaise Morton , Brian Hamilton
发明人： Michael Elgersma , Daniel Johnson , Mason Peck , Brian Underhill , Gunter Stein , Blaise Morton , Brian Hamilton
IPC分类号： G01C23/00 , G06F17/00
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。

9. 发明申请

US20060027708A1 Method and system for CMG array singularity avoidance 有权
标题翻译： CMG阵列奇异性避免的方法和系统
公开(公告)号：US20060027708A1
公开(公告)日：2006-02-09
申请号：US10897494
申请日：2004-07-23
申请人： Mason Peck , Brian Hamilton , Brian Underhill
发明人： Mason Peck , Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： B64G1/286 , G05D1/0883
摘要： The present method provides a method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft. In a first step, a torque command representing a desired torque to produce an attitude adjustment for the spacecraft is received. Next, a range-space gimbal rate required to produce the desired torque based on the desired torque and a Jacobian matrix is calculated. Then, a null-space gimbal rate that assists in the avoidance of singularities is calculated. The total gimbal rate command is determined by summing the range-space gimbal rate and the null-space gimbal rate. Then, the total gimbal rate command is provided to the CMGs to produce the total gimbal rate.
摘要翻译：本方法提供了一种避免CMG在航天器中的CMG阵列中的运动中的奇点的方法。在第一步骤中，接收表示用于产生航天器的姿态调整的期望转矩的转矩指令。接下来，计算基于期望转矩和雅可比矩阵来产生期望转矩所需的距离空间万向节速率。然后，计算出有助于避免奇点的零空间万向节速率。总的万向节速率命令通过将距离空间万向节速率和零空间万向节速率相加来确定。然后，将总的万向节速率命令提供给CMG以产生总的万向节速率。

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