Continuous attitude control that avoids CMG array singularities
US6131056A · kind A · utility
26Cited by
13References
5Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Mar 16, 1998 |
| Grant date | Oct 10, 2000 |
| Priority date | — |
| Expiry date | Mar 16, 2018 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64G1/244
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A system for avoiding singularities in a control moment gyro (CMG) array of a satellite uses closed and open loop control of the CMGs for reorientation of the satellite. A control system detects when closed loop control according to pseudo inverse rules will cause a singularity and issues a signal. The CMGs are then controlled open loop to avoid the singularity. The pseudo inverse singularity problem arises where there are more actuators than dimensions in the controlled space. Accordingly, the invention may also be used in a robotic arm manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.