Method and system for CMG array singularity avoidance
US7246776B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 23, 2004 |
| Grant date | Jul 24, 2007 |
| Priority date | — |
| Expiry date | Jun 8, 2025 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB64G1/244
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.