Hughes Electronics Corporation

The Boeing Company

Hughes Aircraft Company

Bruce N Eyerly

Rongsheng Li

Yeong-Wei Andy Wu

Richard A Fowell

John F Yocum, Jr

David D Needelman

Donald R Cargille

Douglas J Bender

David S Uetrecht

John Joseph Anagnost

Stuart F Bockman

Peter C Lai

Umesh S Ketkar

Jonathan French

Vytas J Katilius

Peter L Conley

A vehicle () including a control system () is used for controlling vehicle attitude or angular velocity (). The processor () is coupled to a star sensor or tracker () and a memory () that may include a star catalog (), and an exclusion list (). The exclusion list (), a list of stars to be temporarily excluded from consideration when determining attitude or angular velocity or relative alignment of star sensors or trackers, is calculated on-board. Such a calculation prevents the necessity for a costly, periodic, ground calculation and upload of such data. By manipulating the star catalog, or sub-catalogs derived from said catalog, based upon the exclusion list (), measurements of such excluded stars are prevented from corrupting the attitude or angular velocity or alignment estimates formulated on board.

Method and apparatus for real-time star exclusion from a database

A spacecraft orbit control system and method for controlling the orbit of a spacecraft during orbit raising includes processing spacecraft position data to meet the spacecraft attitude sensing needs for long duration, low thrust orbit raising burns. The actual spacecraft position as determined by a global positioning system (GPS) receiver is compared with the desired spacecraft position to generate an error signal indicative of a spacecraft position error for adjusting the attitude of the spacecraft as thrusters move the spacecraft. The attitude of the spacecraft is adjusted to eliminate the spacecraft position error such that the actual spacecraft position corresponds with the desired spacecraft position and the spacecraft maintains a desired orbit during the orbit raising.

Spacecraft orbit control using orbit position feedback

A system and method for correcting pointing errors induced by an inclined orbit ( ) for a satellite ( ) that is adapted to be in an orbit having zero inclination ( ). The present invention generates a yaw correcting cosine rate command ( ) that is integrated ( ) by a steering law having input parameters dependent upon the angle of inclination, &THgr;, to derive a sinusoidal yaw offset. The present invention also generates a roll correcting cosine rate command ( ) that is integrated ( ) according to a steering law having input parameters dependent upon the angle of inclination, &THgr;, to derive a sinusoidal roll offset.

Correction of spacecraft steering control law for unexpected orbital inclination effects

The attitude of a spinning spacecraft whose spin axis is substantially in the plane of the orbit is controlled without the use of reaction control thrusters. A two-axis gimbal on which a momentum wheel is mounted is secured to a despun platform. The despun platform is in rotational communication with the central body. Two actuators are used to selectively pivot the gimbaled momentum wheel about each gimbal axis in order to apply a control moment to change the attitude of the spacecraft.

Attitude control of spinning spacecraft with counterspun controls platform

A method and system (10) for simultaneous operation of primary (14A-14D) and redundant (16A-16D) motor windings in a redundant stepper motor (12). The redundant motor system (10) has a control circuit (11) including a phase synchronizer (36) for establishing a relationship between predetermined primary and redundant motor windings (14A-14D and 16A-16D) such that the power consumption is increased and the motor torque is affected. In one embodiment of the present invention the predetermined motor windings (14A-14D and 16A-16D) are operated in phase thereby doubling the power consumption and increasing the torque. In another embodiment, the predetermined motor windings (14A-14D and 16A-16D) are operated in phase quadrature thereby doubling the power consumption and increasing the torque by less than 50%. In yet another embodiment, the predetermined motor windings (14A-14D and 16A-16D) are operated out of phase with each other thereby doubling power consumption and producing zero torque.

Phase synchronization of redundant motor windings

Attitude-control methods are provided which eliminate or reduce structural resonances in spacecraft that are excited by momentum wheel imperfections. The methods are preferably practiced with an over-determined attitude-control system which is typically available because spacecraft often carry backup momentum wheels to insure against failure of primary momentum wheels. In a method embodiment, a set of angular-velocity waveforms is selected that substantially realizes a commanded momentum vector when applied to a corresponding set of momentum wheels wherein none of the selected angular-velocity waveforms dwells at a resonant frequency of the spacecraft. The angular velocity of the corresponding set of momentum wheels is then conformed to the selected set of angular-velocity waveforms to realize a spacecraft attitude that corresponds to the commanded momentum vector without exciting the resonance. The step of selecting the angular-velocity waveforms can include the steps of offsetting a constant rotational frequency and of adding a velocity modulation to avoid dwelling at the resonant frequency.

Methods for controlling spacecraft attitudes without exciting spacecraft

A gimbal system includes a pair of stepper motors that drive respective drive trains of a differential drive assembly such as a differential gear assembly. Either the drive ratios or the step sizes for the two motors are offset from each other to provide four modes of operation, including modes for improved resolution and faster slew rate, and two intermediate modes with more balanced resolution and slew rate.

Gimbal employing differential combination of offset drives

The present invention is a temperature control system for a motor coupled to a power source. The motor has at least one winding which serves as a heater and temperature sensor as well as producing torque during normal operation. The mathematical relationship between temperature and resistance in the motor winding is used to determine the winding temperature. The actual winding temperature is then compared to a desired operating temperature, and the current to the motor winding is controlled so as to keep the motor temperature within a desired range.

Thermal control system for a motor

A multi-loop control system for a gimballed antenna that employs devices for measuring both absolute line-of-sight (an autotrack receiver or beacon tracker) and relative angular position (a resolver). The control system uses both signals simultaneously, thereby increasing the performance and pointing accuracy capability. Two control loops operate simultaneously to provide for optimum performance. The first loop is an inner high-bandwidth control loop that uses the relative gimbal angle measurement to control pointing of the antenna along a precommanded profile. The inner loop may run alone to provide for coarse pointing. When available, the line-of sight measurement is used in a low-bandwidth outer loop to provide corrections to the command profile of the inner loop. Control logic is provided that allows switching between several control modes. By using the present invention, antenna tracking control performance is maximized, especially in the presence of attitude disturbances of a spacecraft or significant flexible interactions.

Gimbal control system

A mixed mode controller (100) for use with a motor having a mechanism (110, 114) for generating a command signal to operate the motor and a first circuit (104) for adjusting the gain of the command signal to provide high speed operation. A second circuit (102) is provided for converting the command signal to a drive signal to excite a winding (106) and to damp the motor. In a preferred embodiment, a step rate signal introduced into the motor controller (100) is operated upon by an accumulator (110) and a memory (114) to generate a voltage command signal. The motor controller (100) includes a low bandwidth current control feedback loop (104) utilized to adjust the gain of the voltage command signal by comparing a command motor current and an actual motor current in a summer circuit (126). The feedback loop (104) provides for automatic gain control of the voltage command signal for yielding high speed operation. The gain-adjusted voltage command signal is thereafter applied to a bipolar voltage driver (102) having high motor damping characteristics. The voltage driver (102) is utilized to control the application of a bus voltage to the motor winding (106) of a stepper motor via a transistor control logic circuit (148). Also included is a time constant correction network (138) for accelerating the settling of variations in the motor current to steady state. Thus, the correction network (138) ensures a rapid response to changes in the commanded motor current.

Mixed mode stepper motor controller and method

A phase compensation circuit for use with a resolver circuit that compensates for resolver angle measurement error without the use of special compensation windings on the resolver or the buffer amplifier associated with the compensation windings. With the present invention, primary windings from a plurality of resolvers may be reduction over conventional circuits. A digital computer is employed to process integrated data indicative of the phase shift of signals generated by the resolver, and compute error correction signals that compensate sine and cosine angle data output signals of the resolver. No resolver compensation windings are necessary and no additional electronic equipment is necessary. The present invention provides increased accuracy to fulfill more stringent angle measurement specifications.

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Torrance, CA, United States of America

Bruce N Eyerly