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    • 5. 发明授权
    • Three axis thruster modulation
    • 三轴推进器调制
    • US5310143A
    • 1994-05-10
    • US75843
    • 1993-06-10
    • John F. YocumDan Y. LiuRichard A. FowellDouglas J. Bender
    • John F. YocumDan Y. LiuRichard A. FowellDouglas J. Bender
    • B64G1/26G05D1/08B64G1/24
    • B64G1/26G05D1/0883
    • The three axes thruster modulation (8) of the present invention accepts three axes of input torque commands or angular acceleration commands and generates thruster selection and thruster timing (40) information which is used to fire thrusters (48) for the purpose of spacecraft attitude control and velocity change maneuvers. The modulation logic (8) works in all three axes simultaneously and is suitable for use with an arbitrary thruster configuration, including a configuration in which individual thrusters or thruster groups do not produce torques about mutually orthogonal axes. After thruster selection and on-times have been determined, the modulation logic (8) uses this information to compute a best estimate of the actual rate change (42) which is then compared to the commanded rate change (44) to develop a residual unfired rate change. The residual unfired rate change is retained and fed forward for addition to the subsequent acceleration command in computing the commanded rate change for the subsequent sample period (10, 20, 30). As a result, all commanded rate changes will ultimately be fired even if the commanded rate change is below a minimum rate change achievable.
    • 本发明的三轴推进器调制(8)接受输入扭矩指令或角加速度指令的三轴,并产生推进器选择和推进器定时(40)信息,该信息用于消除推进器(48),以用于航天器姿态控制 和速度变化机动。 调制逻辑(8)同时在所有三个轴上工作,适用于任意的推进器结构,包括各个推进器或推进器组在相互正交的轴上不产生扭矩的结构。 在确定推进器选择和接通时间之后,调制逻辑(8)使用该信息来计算实际速率变化的最佳估计(42),然后将其与指令速率变化(44)进行比较以产生残余未燃烧 费率变动 在计算后续采样周期的指令速率变化(10,20,30)时,剩余未发生的速率变化被保留并且向前馈送到随后的加速命令。 因此,即使指令率变化低于可实现的最低费率变动,所有命令率变动也将最终被触发。
    • 6. 发明授权
    • Method for station keeping control of flexible spacecraft using onboard
gain scheduling scheme
    • 使用车载增益调度方案对弹性航天器进行驻车控制的方法
    • US5311435A
    • 1994-05-10
    • US800660
    • 1991-11-27
    • John F. YocumDan Y. Liu
    • John F. YocumDan Y. Liu
    • B64G1/26G05D1/08G01C21/00G06G7/78
    • G05D1/0883B64G1/26
    • A method of attitude control for spacecraft with flexible structures utilizes an estimator/state controller pair with on-board time-varying gain scheduling. The control method includes an attitude estimator (100) for each axis, which uses rate input from inertial reference sensors (4, 5, 6) to produce estimates (37, 38, 39) of each of the state variables. The estimator employs a predictor-corrector structure which computes initial rate and position estimates for each sample interval and corrects these values by weighing them with iteratively-calculated time-varying gains according to equations 35 and 36. The state controller (40) for each axis operates on these inputs, combining them with position and rate commands (41, 42) and weighing the results with time-varying gains calculated iteratively for each sample period according to equations 46, 47, and 48. The final result is a commanded control acceleration (50) which is forwarded to a thruster modulation logic.
    • 具有灵活结构的航天器的姿态控制方法利用具有车载时变增益调度的估计器/状态控制器对。 控制方法包括用于每个轴的姿态估计器(100),其使用来自惯性参考传感器(4,5,6)的速率输入来产生每个状态变量的估计(37,38,39)。 估计器采用预测器 - 校正器结构,其计算每个采样间隔的初始速率和位置估计,并且根据等式35和36通过用迭代计算的时变增益称重它们来校正这些值。每个轴的状态控制器(40) 对这些输入进行操作,将它们与位置和速率命令(41,42)组合,并根据等式46,47和48对每个采样周期迭代计算的时变增益称量结果。最终结果是命令控制加速度 (50),其被转发到推进器调制逻辑。