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1. 发明授权

US5310143A Three axis thruster modulation 失效
标题翻译：三轴推进器调制
公开(公告)号：US5310143A
公开(公告)日：1994-05-10
申请号：US75843
申请日：1993-06-10
申请人： John F. Yocum , Dan Y. Liu , Richard A. Fowell , Douglas J. Bender
发明人： John F. Yocum , Dan Y. Liu , Richard A. Fowell , Douglas J. Bender
IPC分类号： B64G1/26 , G05D1/08 , B64G1/24
CPC分类号： B64G1/26 , G05D1/0883
摘要： 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.
摘要翻译：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。

2. 发明授权

US5311435A Method for station keeping control of flexible spacecraft using onboard gain scheduling scheme 失效
标题翻译：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
公开(公告)号：US5311435A
公开(公告)日：1994-05-10
申请号：US800660
申请日：1991-11-27
申请人： John F. Yocum , Dan Y. Liu
发明人： John F. Yocum , Dan Y. Liu
IPC分类号： B64G1/26 , G05D1/08 , G01C21/00 , G06G7/78
CPC分类号： G05D1/0883 , B64G1/26
摘要： 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.
摘要翻译：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。

3. 发明授权

US08620496B2 Systems and method of controlling a spacecraft using attitude sensors 有权
标题翻译：使用姿态传感器控制航天器的系统和方法
公开(公告)号：US08620496B2
公开(公告)日：2013-12-31
申请号：US12178440
申请日：2008-07-23
申请人： Dan Y. Liu , Qinghong W. Wang , Richard Y. Chiang
发明人： Dan Y. Liu , Qinghong W. Wang , Richard Y. Chiang
IPC分类号： B64G1/38 , B64G1/28
CPC分类号： B64G1/281 , B64G1/283 , B64G1/285 , B64G1/286 , B64G1/361 , B64G1/363 , B64G1/365 , B64G1/366 , B64G1/38 , G05D1/0883
摘要： A system for damping nutation and removing wobble of a spacecraft spinning about a given axis is provided. The system includes a sensor configured to determine three dimensional attitude measurements of the spacecraft, a processor operatively coupled to the sensor and configured to execute a process that facilitates aligning the spin axis with a spacecraft momentum vector. The processor, when executing the process, is programmed to receive spacecraft attitude data from the sensor, determine a torque command using the received attitude data, and control a momentum storage actuator on the spacecraft using the determined torque command such that an angular deviation about the given axis is reduced.
摘要翻译：提供了一种用于阻尼章动和消除围绕给定轴线旋转的航天器摆动的系统。该系统包括被配置为确定航天器的三维姿态测量的传感器，可操作地耦合到传感器并被配置为执行有利于使旋转轴与航天器动量向量对准的过程的处理器。处理器在执行该过程时被编程为从传感器接收航天器姿态数据，使用接收的姿态数据确定扭矩指令，并且使用所确定的扭矩命令来控制航天器上的动量存储致动器，使得围绕给定轴减少。

4. 发明授权

US08380370B2 Spacecraft acquisition maneuvers using position-based gyroless control 有权
标题翻译：使用基于位置的陀螺仪控制的航天器采集操作
公开(公告)号：US08380370B2
公开(公告)日：2013-02-19
申请号：US12487187
申请日：2009-06-18
申请人： Dan Y. Liu , Richard Y. Chiang
发明人： Dan Y. Liu , Richard Y. Chiang
IPC分类号： B64G1/24
CPC分类号： B64G1/26 , B64G1/283 , B64G1/36 , B64G1/361 , B64G2001/245 , G05D1/0883
摘要： A system and a method for commanding a spacecraft to perform a three-axis maneuver purely based on “position” (i.e., attitude) measurements. Using an “inertial gimbal concept”, a set of formulae are derived that can map a set of “inertial” motion to the spacecraft body frame based on position information so that the spacecraft can perform/follow according to the desired inertial position maneuvers commands. Also, the system and method disclosed herein employ an intrusion steering law to protect the spacecraft from acquisition failure when a long sensor intrusion occurs.
摘要翻译：一种用于命令航天器完全基于位置（即姿态）测量进行三轴机动的系统和方法。使用惯性万向节概念，导出一组公式，其可以基于位置信息将一组惯性运动映射到航天器身体框架，使得航天器可以根据期望的惯性姿态操纵命令执行/跟随。此外，本文公开的系统和方法采用入侵转向规律来保护航天器在发生长传感器入侵时不会获取故障。

5. 发明申请

US20100193641A1 Spacecraft Acquisition Maneuvers Using Position-Based Gyroless Control 有权
标题翻译：使用基于位置的无陀螺控制的航天器采集机动
公开(公告)号：US20100193641A1
公开(公告)日：2010-08-05
申请号：US12487187
申请日：2009-06-18
申请人： Dan Y. Liu , Richard Y. Chiang
发明人： Dan Y. Liu , Richard Y. Chiang
IPC分类号： B64G1/36 , B64G1/26 , B64G1/24
CPC分类号： B64G1/26 , B64G1/283 , B64G1/36 , B64G1/361 , B64G2001/245 , G05D1/0883
摘要： A system and a method for commanding a spacecraft to perform a three-axis maneuver purely based on “position” (i.e., attitude) measurements. Using an “inertial gimbal concept”, a set of formulae are derived that can map a set of “inertial” motion to the spacecraft body frame based on position information so that the spacecraft can perform/follow according to the desired inertial position maneuvers commands. Also, the system and method disclosed herein employ an intrusion steering law to protect the spacecraft from acquisition failure when a long sensor intrusion occurs.
摘要翻译：用于命令航天器完全基于“位置”（即姿态）测量执行三轴机动的系统和方法。使用“惯性万向节概念”，导出一组公式，其可以基于位置信息将一组“惯性”运动映射到航天器身体框架，使得航天器可以根据期望的惯性姿态操纵命令执行/跟随。此外，本文公开的系统和方法采用入侵转向规律来保护航天器在发生长传感器入侵时不会获取故障。

6. 发明申请

US20100019092A1 SYSTEMS AND METHOD OF CONTROLLING A SPACECRAFT USING ATTITUDE SENSORS 有权
标题翻译：使用姿态传感器控制空间的系统和方法
公开(公告)号：US20100019092A1
公开(公告)日：2010-01-28
申请号：US12178440
申请日：2008-07-23
申请人： Dan Y. Liu , Qinghong W. Wang , Richard Y. Chiang
发明人： Dan Y. Liu , Qinghong W. Wang , Richard Y. Chiang
IPC分类号： B64G1/38
CPC分类号： B64G1/281 , B64G1/283 , B64G1/285 , B64G1/286 , B64G1/361 , B64G1/363 , B64G1/365 , B64G1/366 , B64G1/38 , G05D1/0883
摘要： A system for damping nutation and removing wobble of a spacecraft spinning about a given axis is provided. She system includes a sensor configured to determine three dimensional attitude measurements of the spacecraft, a processor operatively coupled to the sensor and configured to execute a process that facilitates aligning the spin axis with a spacecraft momentum vector. The processor, when executing the process, is programmed to receive spacecraft attitude data from the sensor, determine a torque command using the received attitude data, and control a momentum storage actuator on the spacecraft using the determined torque command such that an angular deviation about the given axis is reduced.
摘要翻译：提供了一种用于阻尼章动和消除围绕给定轴线旋转的航天器摆动的系统。她的系统包括被配置为确定航天器的三维姿态测量的传感器，可操作地耦合到传感器并被配置为执行便于将旋转轴与航天器动量向量对准的过程的处理器。处理器在执行该过程时被编程为从传感器接收航天器姿态数据，使用接收的姿态数据确定扭矩指令，并且使用所确定的扭矩命令来控制航天器上的动量存储致动器，使得围绕给定轴减少。

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