Honeywell International Inc.

Honeywell G.m.b.h.

Lit Motors Corporation

Other

Bailey, David

David Arthur Bailey

Christopher J Heiberg

Daniel Kee Young Kim

Bong Wie

David L Baldwin

Norman E Johnson

Jeffrey D Rowe

Robert Edward Winkel, Jr

Robert R Kost

Daniel Kee Kim

A control path is added to a two-wheeled self-balancing vehicle that has steering augmentation and CMG or reaction wheel actuators for roll balancing. These actuators are used to damp yaw disturbances while preventing roll disturbances, based on a yaw rate disturbance signal received on the control path.

Yaw damper for two-wheeled self-balancing vehicle

Steering is used to augment the CMG-based balance control of a two-wheeled vehicle, e.g., a bicycle, electric bicycle ('ebike'), scooter, electric scooter, moped, or motorcycle. A control architecture enables a two wheeled vehicle with simultaneously or alternating mechatronic attitude control systems to balance autonomously at rest or while dynamically driven with mechatronic command.

Integrated control method for balancing a two-wheeled vehicle using control moment gyroscopes and drive-by-wire steering systems

An augmented traction system for a two-wheeled vehicle comprising a CMG (control moment gyroscope) system including a plurality of CMGs to provide a first torque vector to decrease a roll angle of a turn of the vehicle and to increase force on one or more of the tires of the vehicle on a road surface, a steering system for the vehicle, the steering system to determine a steering control for the turn of the vehicle at a particular vehicle speed and roll angle, based on sensor data, and an aerodynamic control system to actuate one or more aerodynamic elements of the vehicle, the one or more aerodynamic elements to provide a second torque vector to decrease the roll angle of the vehicle.

Augmented tire traction system for two-wheeled vehicle

A control system for a two-wheeled vehicle, including an inertial measurement unit (IMU); one or more control moment gyroscopes (CMGs); one or more CMG controllers to control the one or more CMGs; an accelerometer to measure a y-axis acceleration for the vehicle, the y-axis being perpendicular to a direction of travel of the vehicle and parallel to a ground surface; and a processing element to calculate a roll angle for the vehicle based at least in part on the y-axis acceleration measured by the accelerometer, determine a force component based at least in part on the calculated roll angle, and generate a CMG command for a CMG gimbal rate based at least in part on the determined force component.

Control of a two-wheeled self-balancing vehicle

The present invention relates to a method for maneuvering an imaging satellite, and more particularly a method for commanding control moment gyroscopes on an imaging satellite to change the attitude of the satellite. In one embodiment, a method for generating a gimbal rate trajectory for maneuvering a satellite to point to a target includes providing a final attitude for pointing to the target and a final satellite rate for imaging the target, providing an initial attitude and an initial set of gimbal angles, and determining a gimbal rate trajectory from the initial set of gimbal angles to a final set of gimbal angles.

Method for maximum data collection with a control moment gyroscope controlled satellite

The present invention relates to image satellite planning, and more particularly to a method for allowing a deeper search for high value targets in a time-limited planning environment. In an exemplary embodiment, a method of computing an ordered subset of targets includes using an approximation for the time needed for the satellite to re-orient to a new target, rather than calculating each maneuver time between targets. By approximating the maneuver time rather than calculating it, the calculation time is reduced. Each iteration through the traveling salesman problem takes less time, and more iterations can be accomplished between imaging windows. The iterative process can search deeper into the traveling salesman problem to find a better solution.

Method for a deeper search in a time-limited image satellite planning environment

A satellite energy and attitude control system includes a first energy wheel, a second energy wheel and a third energy wheel. The first energy wheel is mounted in a first double gimbal and the second energy wheel is mounted in a second double gimbal. The third energy wheel is mounted in a third double gimbal and the first, second and third energy wheels, which have at least two degrees of motion orthogonal to their respective spin axes, are located within a single plane and positioned with respect to each other such that the total angular momentum provided by the first, second and third energy wheels sums to zero approximate an operational range center of the gimbals.

Minimum energy wheel configurations for energy storage and attitude control

An attitude control system (ACS) for a spacecraft includes an attitude control assembly (ACA) interface, a control moment gyro (CMG) array and a reaction wheel assembly (RWA) control unit. The ACA interface converts torque commands received from the RWA control unit into CMG gimbal rates for the CMG array. The ACA interface receives CMG gimbal angles from the CMGs and converts the CMG gimbals angles into RWA speeds, which are then provided to the RWA control unit.

Virtual reaction wheel array

In a position in control, a velocity error is compared to a limit that is a non-linear, continuous and differentiable function of the position error. If the position error is greater than a limit or magnitude, the velocity limit is used for the velocity command; otherwise the position error is used.

Control of velocity limited systems

A method is disclosed for targeting a satellite orbiting earth between to sites on earth based on an access time that is transmitted from a ground station. Control momentum gyros are used to change the satellite's attitude for targeting. A gryo rate is selected based the longest time to target. The longest time is a value selected from the access time, the time to reach the target based on the satellite's attitude and the time to reach the target based on the gyro rate.

Agile satellite targeting

A circuit for use with a limited resolution device such as a stepper motor to convert a high-resolution signal such as from a computer into a high fidelity signal for driving the limited resolution device. The input to the limited resolution device being an average of the integrated difference between the high-resolution signal and a limited resolution signal consistent with the values used for driving the limited resolution device. This average being a high fidelity signal which is substantially the same as the high-resolution signal.

Apparatus and method for producing high fidelity output with a limited resolution output device

Two wedge-shaped platforms, each rotatable about a different axis, are rotationally mounted together so that a pointing device mounted on one of the platforms can be made to point in a desired direction by predetermined rotational positioning of the two platforms.

Tilt table

Controlled momentum gyros are rotated to change the attitude of a satellite as rapidly as possible by rotating them along a great circle path on an imaginary spherical surface around the satellite. Adjustments the gyro rotations are made in two directions, along the spherical surface, as the satellite rotates. All the stored angular momentum in the gyros is used to rotate the satellite, rather than limiting the rotation of the gyros to avoid instabilities from singularities in traditional control laws.

Orienting a satellite with controlled momentum gyros

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.

Continuous attitude control that avoids CMG array singularities

Control moment gyros in an array are rotated to reorient a satellite. Gyro angle is selected from one of three values based upon whether the stored angular momentum for the desired angle is below a singularity free value, greater than the singularity free value or is greater than the maximum available stored angular momentum.

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Glendale, AZ, United States of America

David Arthur Bailey