DE69921790T2 - Robuste singularitätsvermeidung in einer satellitenlageregelung - Google Patents

Robuste singularitätsvermeidung in einer satellitenlageregelung Download PDF

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Publication number
DE69921790T2
DE69921790T2 DE69921790T DE69921790T DE69921790T2 DE 69921790 T2 DE69921790 T2 DE 69921790T2 DE 69921790 T DE69921790 T DE 69921790T DE 69921790 T DE69921790 T DE 69921790T DE 69921790 T2 DE69921790 T2 DE 69921790T2
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DE
Germany
Prior art keywords
signal
satellite
pseudoinverse
generating
array
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE69921790T
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German (de)
English (en)
Other versions
DE69921790D1 (de
Inventor
Bong Wie
A. David BAILEY
J. Christopher HEIBERG
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Honeywell Inc
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Honeywell Inc
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Publication date
Application filed by Honeywell Inc filed Critical Honeywell Inc
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Publication of DE69921790D1 publication Critical patent/DE69921790D1/de
Publication of DE69921790T2 publication Critical patent/DE69921790T2/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B25J9/1607—Calculation of inertia, jacobian matrixes and inverses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/28—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect
    • B64G1/286—Guiding or controlling apparatus, e.g. for attitude control using inertia or gyro effect using control momentum gyroscopes (CMGs)
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/36—Guiding or controlling apparatus, e.g. for attitude control using sensors, e.g. sun-sensors, horizon sensors

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DE69921790T 1998-03-16 1999-03-16 Robuste singularitätsvermeidung in einer satellitenlageregelung Expired - Lifetime DE69921790T2 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/039,959 US6039290A (en) 1998-03-16 1998-03-16 Robust singularity avoidance in satellite attitude control
US39959 1998-03-16
PCT/US1999/005599 WO1999047419A1 (en) 1998-03-16 1999-03-16 Robust singularity avoidance in satellite attitude control

Publications (2)

Publication Number Publication Date
DE69921790D1 DE69921790D1 (de) 2004-12-16
DE69921790T2 true DE69921790T2 (de) 2005-11-03

Family

ID=21908307

Family Applications (1)

Application Number Title Priority Date Filing Date
DE69921790T Expired - Lifetime DE69921790T2 (de) 1998-03-16 1999-03-16 Robuste singularitätsvermeidung in einer satellitenlageregelung

Country Status (5)

Country Link
US (1) US6039290A (enExample)
EP (1) EP1064198B1 (enExample)
JP (1) JP4276381B2 (enExample)
DE (1) DE69921790T2 (enExample)
WO (1) WO1999047419A1 (enExample)

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FR2786283B1 (fr) * 1998-11-19 2001-01-26 Matra Marconi Space France Procede et dispositif de pilotage de l'attitude d'un satellite
US6456901B1 (en) 2001-04-20 2002-09-24 Univ Michigan Hybrid robot motion task level control system
DE10146159A1 (de) 2001-09-19 2003-04-10 Bionorica Ag Verwendung von Extrakten aus Cimicifuga-Arten als organselektives Arzneimittel zur Behandlung von sexualhormonabhängigen Erkrankungen des Urogenitaltraktes
US6732977B1 (en) 2002-02-11 2004-05-11 Lockheed Martin Corporation System for on-orbit correction of spacecraft payload pointing errors
US6695263B1 (en) 2002-02-12 2004-02-24 Lockheed Martin Corporation System for geosynchronous spacecraft rapid earth reacquisition
US7051980B2 (en) * 2002-02-26 2006-05-30 Lockheed Martin Corporation Efficient orbit sparing system for space vehicle constellations
US6891498B2 (en) 2002-03-28 2005-05-10 Honeywell International Inc. Inertial reference system for a spacecraft
US6702234B1 (en) * 2002-03-29 2004-03-09 Lockheed Martin Corporation Fault tolerant attitude control system for zero momentum spacecraft
US6681649B2 (en) * 2002-04-03 2004-01-27 Honeywell International Inc. Inertial control and measurement system
US6682019B2 (en) 2002-04-04 2004-01-27 Honeywell International Inc. Minimum energy wheel configurations for energy storage and attitude control
US6648274B1 (en) 2002-04-12 2003-11-18 David A. Bailey Virtual reaction wheel array
US6917862B2 (en) 2002-08-28 2005-07-12 Arizona Board Of Regents Singularity escape/avoidance steering logic for control moment gyro systems
US7561947B2 (en) * 2003-10-06 2009-07-14 Honeywell International Inc. Dynamic CMG array and method
US7185855B2 (en) * 2004-04-30 2007-03-06 Honeywell International, Inc. Method and system for steering a momentum control system
US7246776B2 (en) * 2004-07-23 2007-07-24 Honeywell International, Inc. Method and system for CMG array singularity avoidance
US7014150B2 (en) * 2004-07-30 2006-03-21 Honeywell International Inc. Method and system for optimizing torque in a CMG array
US7364120B2 (en) * 2004-08-26 2008-04-29 Honeywell International, Inc. Quantized control-moment gyroscope array
US7464899B2 (en) * 2005-08-03 2008-12-16 Honeywell International Inc. Method and system for determining a singularity free momentum path
US7370833B2 (en) * 2005-10-20 2008-05-13 Honeywell International Inc. Method and system for determining a singularity free momentum path
US7693619B2 (en) * 2005-11-30 2010-04-06 Honeywell International Inc. Method and system for controlling sets of collinear control moment gyroscopes with offset determination without attitude trajectory of spacecraft
US7835826B1 (en) 2005-12-13 2010-11-16 Lockheed Martin Corporation Attitude determination system for yaw-steering spacecraft
US7805226B2 (en) * 2006-09-29 2010-09-28 Honeywell International Inc. Hierarchical strategy for singularity avoidance in arrays of control moment gyroscopes
US7627404B2 (en) * 2007-04-13 2009-12-01 The Boeing Company Singularity escape and avoidance using a virtual array rotation
JP5228641B2 (ja) * 2008-06-16 2013-07-03 三菱電機株式会社 姿勢制御装置および位置制御装置
JP5126107B2 (ja) * 2009-02-19 2013-01-23 三菱電機株式会社 人工衛星の姿勢制御装置
US9199746B2 (en) * 2009-05-19 2015-12-01 University Of Florida Research Foundation, Inc. Attitude control system for small satellites
JP5556782B2 (ja) * 2011-10-04 2014-07-23 三菱電機株式会社 人工衛星の姿勢制御装置
US10252151B2 (en) 2012-03-15 2019-04-09 Motorika Limited Gyroscopic apparatuses and methods of using same
US9038958B1 (en) 2012-05-29 2015-05-26 United States Of America As Represented By The Secretary Of The Navy Method and apparatus for contingency guidance of a CMG-actuated spacecraft
US9061775B2 (en) 2012-06-22 2015-06-23 Isaac M. Ross Method and apparatus for spacecraft attitude control using polynomial interpolation
US8880246B1 (en) 2012-08-22 2014-11-04 United States Of America As Represented By The Secretary Of The Navy Method and apparatus for determining spacecraft maneuvers
US9567112B1 (en) 2013-06-27 2017-02-14 The United States Of America, As Represented By The Secretary Of The Navy Method and apparatus for singularity avoidance for control moment gyroscope (CMG) systems without using null motion
CN104238563B (zh) * 2014-09-04 2017-01-18 北京航空航天大学 可变面倾角的控制力矩陀螺群设计方法
US10737770B2 (en) * 2015-02-23 2020-08-11 Arif Mir Jalal ogly PASHAYEV Method and device for increasing the stability and maneuverability of unmanned aerial vehicles (UAV) using a gyroscopic effect
CN106767673B (zh) * 2016-11-29 2019-06-21 上海卫星工程研究所 一种卫星高精度光学敏感载荷的指向测量方法
CN110466806B (zh) * 2019-07-24 2020-09-18 北京控制工程研究所 一种使用cmg控制卫星姿态的方法
CN111897355B (zh) * 2020-08-06 2022-09-13 中国科学院微小卫星创新研究院 一种卫星姿态机动轨迹规划方法
CN116834976B (zh) * 2023-06-07 2025-09-19 北京理工大学 空天飞行器再入段初期rcs力矩输出的容错控制分配方法

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Publication number Priority date Publication date Assignee Title
US3741500A (en) * 1971-04-21 1973-06-26 Sperry Rand Corp A cmg fine attitude control system
FR2566935B1 (fr) * 1984-06-27 1986-12-12 Commissariat Energie Atomique Systeme de commande optimisee des mouvements d'un mobile sensible et actif par rapport a un environnement local passif a l'aide de capteurs proximetriques locaux
US4860215A (en) * 1987-04-06 1989-08-22 California Institute Of Technology Method and apparatus for adaptive force and position control of manipulators
US5159249A (en) * 1989-05-16 1992-10-27 Dalila Megherbi Method and apparatus for controlling robot motion at and near singularities and for robot mechanical design
US4967126A (en) * 1990-01-30 1990-10-30 Ford Aerospace Corporation Method of controlling a seven degree of freedom manipulator arm
US5276390A (en) * 1991-10-04 1994-01-04 Hewlett-Packard Company System for hybrid position and force control
US5777580A (en) * 1992-11-18 1998-07-07 Trimble Navigation Limited Vehicle location system
US5441222A (en) * 1993-04-26 1995-08-15 Hughes Aircraft Company Attitude control of spinning spacecraft
US5628267A (en) * 1993-11-01 1997-05-13 Mitsubishi Jukogyo Kabushiki Kaisha Oscillation suppression device and ship provided with the same
US5681012A (en) * 1995-01-05 1997-10-28 Hughes Electronics Spacecraft control with skewed control moment gyros
US5692707A (en) * 1995-05-15 1997-12-02 Hughes Aircraft Company Universal spacecraft attitude steering control system
US5794892A (en) * 1995-10-25 1998-08-18 Hughes Electronics Critical nutation dampling on spinning bodies via momentum wheels or similar devices
US5765780A (en) * 1995-12-22 1998-06-16 Hughes Electronics Corporation Systematic vectored thrust calibration method for satellite momentum control

Also Published As

Publication number Publication date
EP1064198A1 (en) 2001-01-03
DE69921790D1 (de) 2004-12-16
EP1064198B1 (en) 2004-11-10
JP4276381B2 (ja) 2009-06-10
WO1999047419A1 (en) 1999-09-23
JP2002506773A (ja) 2002-03-05
US6039290A (en) 2000-03-21

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