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1.发明授权Methods and systems for imposing a momentum boundary while reorienting an agile vehicle with control moment gyroscopes 有权用控制力矩陀螺仪重新定位敏捷车辆的动量边界的方法和系统公开(公告)号：US08014911B2
公开(公告)日：2011-09-06
申请号：US12611485
申请日：2009-11-03
申请人： Brian Hamilton , Brian Underhill
发明人： Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： B64G1/286 , B64G2001/245
摘要： Methods and systems are provided for reorienting an agile vehicle, such as a satellite or spacecraft, using a control moment gyroscope (CMG) array. The CMG array comprises a plurality of CMGs onboard the agile vehicle. A method comprises obtaining an input torque command for reorienting the vehicle using the CMG array and, when the angular momentum of the CMG array violates or is approaching a momentum boundary criterion, decreasing the input torque command in the kinetic momentum direction, resulting in a modified torque command, and operating the CMG array using the modified torque command.
摘要翻译： 提供了使用控制力矩陀螺仪（CMG）阵列来重新定向敏捷车辆（例如卫星或航天器）的方法和系统。 CMG阵列包括敏捷车辆上的多个CMG。 一种方法包括获得用于使用CMG阵列重新定向车辆的输入转矩命令，并且当CMG阵列的角动量违反或接近动量边界准则时，减小动力学方向上的输入转矩指令，导致修改 扭矩指令，并使用改进的扭矩指令来操作CMG阵列。
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公开(公告)号：US20060022091A1
公开(公告)日：2006-02-02
申请号：US10903774
申请日：2004-07-30
申请人： Mason Peck , Brian Hamilton , Brian Underhill
发明人： Mason Peck , Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： G05D1/0883 , B64G1/286 , B64G2001/245 , Y10T74/1229
摘要： A momentum-control system for a spacecraft is disclosed. The momentum-control system comprises an attitude-control system. The attitude-control system receives data concerning a desired spacecraft maneuver and determines a torque command to complete the desired spacecraft maneuver. A momentum actuator control processor coupled to the attitude-control system receives the torque command. The momentum actuator control processor calculates a gimbal rate command comprising a range-space gimbal rate required to produce the torque command and a null-space gimbal rate required to maximize the ability to provide torque in the direction of a current torque. At least four control-moment gyros are coupled to the momentum control actuator control processor. Each of the control-moment gyros receives and executes the gimbal rate to produce the desired maneuver.
摘要翻译： 公开了一种用于航天器的动量控制系统。 动量控制系统包括姿态控制系统。 姿态控制系统接收关于期望的航天器操纵的数据，并确定扭矩命令以完成所需的航天器操纵。 耦合到姿态控制系统的动量致动器控制处理器接收扭矩指令。 动量致动器控制处理器计算包括产生转矩指令所需的范围空间万向节速率的万向节速率指令和最大化在当前转矩方向上提供转矩的能力所需的零空间万向节速率。 至少四个控制力矩陀螺仪耦合到动量控制致动器控制处理器。 每个控制力矩陀螺仪接收和执行万向节速率以产生所需的操纵。
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3.发明授权公开(公告)号：US08346538B2
公开(公告)日：2013-01-01
申请号：US12787189
申请日：2010-05-25
申请人： Thom Kreider , Brian Underhill , Brian Hamilton
发明人： Thom Kreider , Brian Underhill , Brian Hamilton
CPC分类号： B64G1/286
摘要： Methods and systems are provided for reducing angular velocity of a vehicle using a gyroscope array. A method comprises dithering a gyroscope of the gyroscope array, obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope, determining a gimbal rate command to reduce angular velocity of the vehicle based on the current through the gimbal motor obtained while dithering the gyroscope, and operating the gimbal motor of the gyroscope based on the gimbal rate command.
摘要翻译： 提供的方法和系统用于减少使用陀螺仪阵列的车辆的角速度。 一种方法包括对陀螺仪阵列的陀螺仪进行抖动，当陀螺仪抖动时，通过陀螺仪的万向电机获得电流;基于通过陀螺仪陀螺仪所获得的万向电机的电流，确定车辆的角速度，确定云台速度命令; 并且基于万向节速率命令来操作陀螺仪的万向电机。
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4.发明申请公开(公告)号：US20110295449A1
公开(公告)日：2011-12-01
申请号：US12787189
申请日：2010-05-25
申请人： Thom Kreider , Brian Underhill , Brian Hamilton
发明人： Thom Kreider , Brian Underhill , Brian Hamilton
CPC分类号： B64G1/286
摘要： Methods and systems are provided for reducing angular velocity of a vehicle using a gyroscope array. A method comprises dithering a gyroscope of the gyroscope array, obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope, determining a gimbal rate command to reduce angular velocity of the vehicle based on the current through the gimbal motor obtained while dithering the gyroscope, and operating the gimbal motor of the gyroscope based on the gimbal rate command.
摘要翻译： 提供的方法和系统用于减少使用陀螺仪阵列的车辆的角速度。 一种方法包括对陀螺仪阵列的陀螺仪进行抖动，当陀螺仪抖动时，通过陀螺仪的万向电机获得电流;基于通过陀螺仪陀螺仪所获得的万向电机的电流，确定车辆的角速度，确定云台速度命令; 并且基于万向节速率命令来操作陀螺仪的万向电机。
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5.发明申请METHODS AND SYSTEMS FOR IMPOSING A MOMENTUM BOUNDARY WHILE REORIENTING AN AGILE VEHICLE WITH CONTROL MOMENT GYROSCOPES 有权方法和系统，用于在控制模型中实现车辆重新分解的车辆边界公开(公告)号：US20110101167A1
公开(公告)日：2011-05-05
申请号：US12611485
申请日：2009-11-03
申请人： Brian Hamilton , Brian Underhill
发明人： Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
CPC分类号： B64G1/286 , B64G2001/245
摘要： Methods and systems are provided for reorienting an agile vehicle, such as a satellite or spacecraft, using a control moment gyroscope (CMG) array. The CMG array comprises a plurality of CMGs onboard the agile vehicle. A method comprises obtaining an input torque command for reorienting the vehicle using the CMG array and, when the angular momentum of the CMG array violates or is approaching a momentum boundary criterion, decreasing the input torque command in the kinetic momentum direction, resulting in a modified torque command, and operating the CMG array using the modified torque command.
摘要翻译： 提供了使用控制力矩陀螺仪（CMG）阵列来重新定向敏捷车辆（例如卫星或航天器）的方法和系统。 CMG阵列包括敏捷车辆上的多个CMG。 一种方法包括获得用于使用CMG阵列重新定向车辆的输入转矩命令，并且当CMG阵列的角动量违反或接近动量边界准则时，减小动力学方向上的输入转矩指令，导致修改 扭矩指令，并使用改进的扭矩指令来操作CMG阵列。
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6.发明申请公开(公告)号：US20070124032A1
公开(公告)日：2007-05-31
申请号：US11291706
申请日：2005-11-30
申请人： Michael Elgersma , Daniel Johnson , Mason Peck , Brian Underhill , Gunter Stein , Blaise Morton , Brian Hamilton
发明人： Michael Elgersma , Daniel Johnson , Mason Peck , Brian Underhill , Gunter Stein , Blaise Morton , Brian 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：US20060027708A1
公开(公告)日：2006-02-09
申请号：US10897494
申请日：2004-07-23
申请人： Mason Peck , Brian Hamilton , Brian Underhill
发明人： Mason Peck , Brian Hamilton , Brian Underhill
IPC分类号： B64G1/28
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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公开(公告)号：USD686560S1
公开(公告)日：2013-07-23
申请号：US29397445
申请日：2011-07-15
申请人： Christine Hamilton , Brian Hamilton
设计人： Christine Hamilton , Brian Hamilton
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公开(公告)号：US20120325970A1
公开(公告)日：2012-12-27
申请号：US13168700
申请日：2011-06-24
申请人： Brian Hamilton
发明人： Brian Hamilton
摘要： Methods and systems are provided for controlling attitude of a vehicle using a reaction wheel onboard the vehicle. One exemplary method involves receiving a torque command for adjusting the attitude of the vehicle using the reaction wheel, determining a phase error of the reaction wheel based at least in part on the torque command, and determining a motor torque command for the reaction wheel based on the phase error. The motor torque command is provided to an electric motor of the reaction wheel to apply a corresponding torque to the rotor of the reaction wheel. The relationship between the magnitude of the motor torque command and the magnitude of the phase error is nonlinear. In exemplary embodiments, the magnitude of the motor torque command exceeds the stiction torque, at least instantaneously, when the reaction wheel has fallen behind an expected position by more than a threshold amount.
摘要翻译： 提供了用于控制使用车辆上的反作用轮的车辆姿态的方法和系统。 一种示例性方法包括接收用于使用反作用轮调节车辆姿态的扭矩指令，至少部分地基于转矩指令确定反作用轮的相位误差，并且基于 相位误差。 电动机转矩指令被提供给反作用轮的电动机，以将相应的扭矩施加到反作用轮的转子。 电动机转矩指令的大小与相位误差的大小之间的关系是非线性的。 在示例性实施例中，当反作用轮已经落下预期位置超过阈值量时，马达转矩指令的幅度至少瞬时地超过静摩擦转矩。
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公开(公告)号：US20050066833A1
公开(公告)日：2005-03-31
申请号：US10655244
申请日：2003-09-04
申请人： Brian Hamilton
发明人： Brian Hamilton
IPC分类号： B60R20060101 , F42B3/10 , F42B3/103 , F42B3/12 , F42B3/195
摘要： A single pin initiator including a header body forming an eyelet, a header lip surface and a connector shell. An initiator canister is connected to the header body and defines a first storage chamber, wherein a supply of initiation charge material is contained. A pin is positioned within the eyelet, with a pin head portion extending into the first storage chamber defined by the initiator canister. Electrical communication between the pin and the header body is provided by a bridgewire connected to the header body and preferably contacting a flat surface of the pin head portion. A supply of initiation pyrotechnic material is disposed on at least a portion of the bridgewire, and is in initiation communication with the supply of initiation charge material. Also disclosed is a passive restraint system assembly including the single pin initiator assembly of the present invention. The passive restraint system assembly includes a gas generant canister positioned over the initiator canister and securely connected to the header body, which defines a second storage chamber containing a supply of gas generant material.
摘要翻译： 单引脚引出器，其包括形成孔眼的头部主体，头部唇表面和连接器壳体。 引发剂罐连接到集管主体并且限定第一存储室，其中包含引发电荷材料的供应。 销定位在孔眼内，其中销头部分延伸到由引发器罐限定的第一储存室中。 销和集管主体之间的电气连接由连接到集管主体的桥梁提供，并且优选地与销头部分的平坦表面接触。 起始烟火材料的供应设置在桥ire at的至少一部分上，并与起始充电材料的供应起始连通。 还公开了包括本发明的单针引发器组件的被动约束系统组件。 被动约束系统组件包括位于引发器罐上方并牢固地连接到集管主体的气体发生罐，该集管主体限定包含气体发生剂材料供应的第二储存室。
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