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1.发明授权Hierarchical strategy for singularity avoidance in arrays of control moment gyroscopes 有权控制力矩陀螺仪阵列中奇异性避免的分层策略公开(公告)号：US07805226B2
公开(公告)日：2010-09-28
申请号：US11540452
申请日：2006-09-29
IPC分类号： B64G1/36
CPC分类号： B64G1/286 , B64G2001/245 , G05D1/0883 , Y10T74/12 , Y10T74/1221 , Y10T74/1229
摘要： A control system for adjusting the attitude of a spacecraft comprises a set of control moment gyroscopes (CMGs) configured to allow null space maneuvering. The control system further comprises a momentum actuator control processor coupled to the set of CMGs and configured to determine a mandatory null space maneuver to avoid singularities and determine an optional null space maneuver to increase available torque. The mandatory null space maneuver can be calculated based upon certain gimbal angles, and can be implemented by augmenting the inverse-Jacobian control matrix.
摘要翻译： 用于调节航天器姿态的控制系统包括一组配置成允许空间空间操纵的控制力矩陀螺仪（CMG）。 控制系统还包括耦合到该组CMG的动量致动器控制处理器，并且被配置为确定强制性零空间操纵以避免奇点并且确定可选的零空间机动以增加可用转矩。 可以基于某些万向节角度来计算强制空间机动，并且可以通过增加逆雅可比控制矩阵来实现。
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公开(公告)号：US08002251B2
公开(公告)日：2011-08-23
申请号：US11940032
申请日：2007-11-14
CPC分类号： F16F15/005 , B64G1/286 , F16C19/18 , F16C27/04 , F16C2326/47 , F16C2361/55 , Y10T74/1257 , Y10T74/1293
摘要： A vibration reduction system is provided for use in conjunction with a rotational device including a stationary body, a rotating body, and a first bearing assembly disposed between the stationary body and the rotating body. The vibration reduction system includes a first plurality of bearing mount actuators residing between the stationary body and the first bearing assembly. The first plurality of bearing mount actuators is configured to adjust the radial position of the first bearing assembly. The vibration reduction system further includes a vibration sensor, which is coupled to the stationary body, and a controller, which is coupled to the vibration sensor and to the first plurality of bearing mount actuators. The controller is configured to reduce vibrations sensed by the vibration sensor by selectively adjusting the radial position of the first bearing assembly utilizing the first plurality of bearing mount actuators.
摘要翻译： 提供一种与包括固定体，旋转体以及设置在固定体和旋转体之间的第一轴承组件的旋转装置结合使用的减振系统。 减振系统包括位于固定体和第一轴承组件之间的第一多个轴承安装致动器。 第一多个轴承安装致动器构造成调节第一轴承组件的径向位置。 减振系统还包括耦合到固定体的振动传感器和耦合到振动传感器和第一多个轴承安装致动器的控制器。 控制器被配置为通过利用第一多个轴承安装致动器选择性地调节第一轴承组件的径向位置来减少由振动传感器感测到的振动。
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公开(公告)号：US07953523B2
公开(公告)日：2011-05-31
申请号：US11687551
申请日：2007-03-16
IPC分类号： B64G1/36
摘要： Apparatus, Systems, and Methods are provided for controlling motion of a spacecraft. One apparatus includes a non-contacting actuator and a passive mechanical system coupled in parallel with one another. A system includes a payload, a bus, and a hybrid actuator including a non-contacting actuator and a passive mechanical system coupled in parallel, and coupled between the bus and the payload. The system also includes an inertial actuator configured to maneuver the bus to maintain a relative position and/or attitude of the bus with respect to the payload. One method includes receiving a signal instructing a first controller to change the position and/or attitude of a payload and utilizing a hybrid system to change the position and/or attitude of the payload. The method also includes receiving the signal at a second controller and utilizing a system to change a position and/or attitude of the bus independent of the payload.
摘要翻译： 提供装置，系统和方法来控制航天器的运动。 一种装置包括彼此并联连接的非接触致动器和被动机械系统。 一种系统包括有效载荷，总线和包括非接触致动器和并联耦合的无源机械系统并且耦合在总线和有效载荷之间的混合致动器。 该系统还包括惯性致动器，其构造成操纵总线以保持总线相对于有效载荷的相对位置和/或姿态。 一种方法包括接收指示第一控制器改变有效载荷的位置和/或姿态并利用混合系统来改变有效载荷的位置和/或姿态的信号。 该方法还包括在第二控制器处接收信号，并且利用系统来独立于有效载荷来改变总线的位置和/或姿态。
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公开(公告)号：US07702651B1
公开(公告)日：2010-04-20
申请号：US10347045
申请日：2003-01-17
IPC分类号： G06F17/00
CPC分类号： G06Q10/109
摘要： Methods and apparatus for converting a date using spatial information. In one implementation, a method of converting date information using spatial information includes: storing date information in a storage format; receiving target spatial information; retrieving a target format indicator matching the received target spatial information, where the retrieved target format indicator indicates a target format based on a target calendar system; and converting the date information from the storage format to the target format.
摘要翻译： 使用空间信息转换日期的方法和装置。 在一个实现中，使用空间信息转换日期信息的方法包括：以存储格式存储日期信息; 接收目标空间信息; 检索与所接收的目标空间信息相匹配的目标格式指示符，其中检索的目标格式指示符基于目标日历系统指示目标格式; 并将日期信息从存储格式转换为目标格式。
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公开(公告)号：US07246776B2
公开(公告)日：2007-07-24
申请号：US10897494
申请日：2004-07-23
IPC分类号： B64G1/24
CPC分类号： B64G1/286 , G05D1/0883
摘要： 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.
摘要翻译： 本方法提供了一种避免CMG在航天器中的CMG阵列中的运动中的奇点的方法。 在第一步骤中，接收表示用于产生航天器的姿态调整的期望转矩的转矩指令。 接下来，计算基于期望转矩和雅可比矩阵来产生期望转矩所需的距离空间万向节速率。 然后，计算出有助于避免奇点的零空间万向节速率。 总的万向节速率命令通过将距离空间万向节速率和零空间万向节速率相加来确定。 然后，将总的万向节速率命令提供给CMG以产生总的万向节速率。
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6.发明授权Apparatus and method of producing a food server with pre-fold of glue panels 失效生产食品服务器的装置和方法，其具有胶合板的折叠
公开(公告)号：US5980442A
公开(公告)日：1999-11-09
申请号：US872224
申请日：1997-06-10
CPC分类号： B65D5/3685 , B31B1/00 , B31B2201/26
摘要： A novel food server and method of producing a food server is disclosed. The novel method includes moving a web of paper at a constant rate of speed, rotary perforating a plurality of lines on the moving web, using rotary timing belts to score at least two fold lines on the moving web, where the two fold lines define two glue flaps, rotary die-cutting the moving web to cut away portions of the paper adjacent the glue flaps, plow folding the moving web along the two fold lines defining the glue flaps, and applying glue to the moving web. After plow folding along the fold lines and applying the glue, the moving web is cross cut to form a blank having the glue flaps. Then, the blank is vacuum folded to cause portions of the blank to contact and adhere to the glue flaps, thereby forming the food server from the blank. The novel food server includes a first panel having two side flaps each defined by a score line, and a second panel having two side flaps each defined by a score line. Each of the side flaps on the second panel has an outside portion and an inside portion defined by a score line. There is adhesive between each of the outside portions and each of the side flaps on the first panel, thereby providing that the first panel is adhered to the second panel to form the food server.
摘要翻译： 公开了一种新颖的食品服务器和食品服务器的生产方法。 新颖的方法包括以恒定的速度移动纸幅，使用旋转同步带旋转穿过移动幅材上的多条线，以在移动幅材上划分至少两条折线，其中两条折线限定两条线 胶水襟翼，旋转模切移动的纤维网以切除邻近胶襟翼的纸张的一部分，沿着限定胶襟翼的两条折线折叠移动的幅材，并将胶粘剂施加到移动的幅材上。 在沿着折叠线犁折叠并施加胶水之后，将移动幅材交叉切割以形成具有胶片的坯料。 然后，坯料被真空折叠以使毛坯的一部分接触并粘附到胶片上，从而从坯件形成食物服务器。 该新颖的食品服务器包括具有由刻痕线限定的两个侧翼的第一面板和具有由刻痕线限定的两个侧翼的第二面板。 第二面板上的每个侧翼具有由刻痕线限定的外部部分和内部部分。 每个外部部分和第一面板上的每个侧翼之间存在粘合剂，由此提供第一面板粘附到第二面板以形成食物服务器。
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公开(公告)号：US4848525A
公开(公告)日：1989-07-18
申请号：US116098
申请日：1987-11-02
摘要： A dual mode vibration isolator for reducing transmission of vibrations between a forward body and an aft body includes a mounting member positioned between the forward and aft bodies, a plurality of magnetic actuators each having an armature fixed to the forward body and a stator mounted on the mounting member, and a plurality of linear actuators pivotally connected between the aft body and the mounting member. The magnetic actuators support the forward body relative to the mounting member by magnetically supporting the armatures between paired stator cores in each stator. The magnetic actuators are controlled, preferably through local flux feedback loops, to permit the stators to vibrate relative to the armature without transmitting forces to the armatures, thus isolating the vibration of the aft body and mounting member from the forward body. The linear actuators extend and contract to reposition the forward body and mounting member relative to the aft body. In addition, the linear actuators provide supplemental vibration isolation through a followup isolation loop that detects variation of the armatures from a predetermined null position between the paired stator cores. The followup isolation loop moves the mounting member relative to the aft body to restore the armatures to their null positions. The assistance provided by the linear actuators enables the use of small-size magnetic actuators for a given force requirement. A method for isolating vibration from transmission between two bodies also is disclosed.
摘要翻译： 一种用于减少前身和后体之间的振动传播的双模隔振器，包括位于前躯体和后体之间的安装构件，多个磁致动器，每个磁致动器具有固定到前身的电枢和安装在前身上的定子 安装构件，以及可枢转地连接在后体和安装构件之间的多个线性致动器。 磁性执行器通过在每个定子中的一对定子铁芯之间磁性地支撑衔铁来相对于安装构件支撑前身。 优选地通过局部通量反馈回路来控制磁致动器，以允许定子相对于电枢振动而不会向电枢传递力，从而将后体和安装构件的振动与前体隔离。 线性致动器延伸和收缩以使前身体和安装构件相对于后身重新定位。 此外，线性致动器通过跟随隔离回路提供补充隔振，其检测电枢与成对的定子铁心之间的预定零位置的变化。 随动隔离环相对于船身移动安装构件，以将电枢恢复到其空位。 由线性致动器提供的帮助使得能够使用小尺寸的磁性致动器来施加给定的力。 公开了一种用于隔离两个物体之间的传播的振动的方法。
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8.发明授权Method and system for controlling sets of collinear control moment gyroscopes with offset determination without attitude trajectory of spacecraft 有权用于控制航天器姿态轨迹的偏差确定的共线控制力矩陀螺仪组的方法和系统公开(公告)号：US07693619B2
公开(公告)日：2010-04-06
申请号：US11291706
申请日：2005-11-30
申请人： Michael R. Elgersma , Daniel P. Johnson , Mason A. Peck , Brian K. Underhill , Gunter Stein , Blaise G. Morton , Brian J. Hamilton
发明人： Michael R. Elgersma , Daniel P. Johnson , Mason A. Peck , Brian K. Underhill , Gunter Stein , Blaise G. Morton , Brian J. Hamilton
CPC分类号： G05D1/0883 , B64G1/286
摘要： A control system of a spacecraft for controlling two or more sets of collinear control moment gyroscopes (CMGs) comprises an attitude control system. The attitude control system is configured to receive a command to adjust an orientation of the spacecraft, determine an offset for a momentum disk for each of the two or more sets of CMGs that maximizes torque, determine a momentum needed from the two or more sets of CMGs to adjust the orientation of the spacecraft, and calculate a total torque needed by taking the derivative of the momentum. The control system further comprises a momentum actuator control processor coupled to the attitude control system, the momentum actuator control processor configured to calculate a required gimbal movement for each of the CMGs in each of the two or more sets of collinear CMGs from total torque.
摘要翻译： 用于控制两组或更多套共线控制力矩陀螺仪（CMG）的航天器的控制系统包括姿态控制系统。 姿态控制系统被配置为接收调整航天器的方向的命令，确定用于使扭矩最大化的两组或更多组CMG中的每一个的动量盘的偏移，确定从两组或更多组 CMG调整航天器的方向，并计算通过采取动量的导数所需的总转矩。 控制系统还包括耦合到姿态控制系统的动量致动器控制处理器，动量致动器控制处理器被配置为针对来自总转矩的两组或多组共线CMG中的每一个中的每个CMG计算所需的万向运动。
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公开(公告)号：US20090121399A1
公开(公告)日：2009-05-14
申请号：US11940032
申请日：2007-11-14
CPC分类号： F16F15/005 , B64G1/286 , F16C19/18 , F16C27/04 , F16C2326/47 , F16C2361/55 , Y10T74/1257 , Y10T74/1293
摘要： A vibration reduction system is provided for use in conjunction with a rotational device including a stationary body, a rotating body, and a first bearing assembly disposed between the stationary body and the rotating body. The vibration reduction system includes a first plurality of bearing mount actuators residing between the stationary body and the first bearing assembly. The first plurality of bearing mount actuators is configured to adjust the radial position of the first bearing assembly. The vibration reduction system further includes a vibration sensor, which is coupled to the stationary body, and a controller, which is coupled to the vibration sensor and to the first plurality of bearing mount actuators. The controller is configured to reduce vibrations sensed by the vibration sensor by selectively adjusting the radial position of the first bearing assembly utilizing the first plurality of bearing mount actuators.
摘要翻译： 提供一种与包括固定体，旋转体以及设置在固定体和旋转体之间的第一轴承组件的旋转装置结合使用的减振系统。 减振系统包括位于固定体和第一轴承组件之间的第一多个轴承安装致动器。 第一多个轴承安装致动器构造成调节第一轴承组件的径向位置。 减振系统还包括耦合到固定体的振动传感器和耦合到振动传感器和第一多个轴承安装致动器的控制器。 控制器被配置为通过利用第一多个轴承安装致动器选择性地调节第一轴承组件的径向位置来减少由振动传感器感测到的振动。
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公开(公告)号：US4629262A
公开(公告)日：1986-12-16
申请号：US747627
申请日：1985-06-24
申请人： Brian J. Hamilton
发明人： Brian J. Hamilton
CPC分类号： F16C32/0451 , F16C32/0446
摘要： An apparatus for providing a signal representative of armature displacement in a magnetic bearing assembly for a magnetic suspension system, of the type having a force sensor applied in a closed loop to provide a linear response with respect to an input force command signal. Signals representative of currents applied to the magnetizing coils and of the sensed force are used to derive the armature displacement signal. The signal so derived is applied to modulate the magnetic flux and obviates the need for proximity devices for sensing armature displacement. A circuit for generating the armature displacement signal is provided.
摘要翻译： 一种用于在用于磁悬浮系统的磁轴承组件中提供代表电枢位移的信号的装置，其具有施加在闭环中的力传感器以提供相对于输入力指令信号的线性响应。 代表施加到磁化线圈的电流和感测力的信号用于导出电枢位移信号。 施加如此导出的信号来调制磁通量，并且不需要用于感测电枢位移的邻近装置。 提供了一种用于产生电枢位移信号的电路。
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