Messerschmitt-bolkow-blohm Gmbh

Messerschmitt-bolkow-blohm Gesellschaft MIT Beschrankter Haftung

Messerschmitt-boelkow-blohm Gesellschaft MIT Beschraenkter Haftung

Eveline Gottzein

Michael Surauer

Helmut Bittner

Christian Roche

Gerhard Bohn

Ernst Bruderle

Rolf Keeve

Friedrich Ossenberg-Franzes

An arrangement for the attitude stabilization of flexible vehicles, such as ircraft and spacecraft. Such vehicles, due to their lightweight construction and/or large spatial extension or high degree of slenderness, have structurally weakly-dampened bending vibrations and/or torsional vibrations. For generating the forces and moments required for stabilizing such vehicle, discontinuously operating units are used. In one embodiment, for each vehicle axis, an observer or Kalman filter is employed for obtaining estimated values of the state variables of the vehicle system to be controlled. The observer has a first transfer function of at most third order. A state controller device is responsive to the observer for controlling the state variables. A modulator network is responsive to the state controller device wherein the modulator network has a relay characteristic. In this embodiment, a feedback path is arranged from the output of the modulator network to the observer which eliminates the need for a special modulator network having a second transfer function and also eliminates internal modulator feedback. In another form of the invention, the feedback is arranged from the input of the modulator to the observer and a low pass filter is included between the state controller device and the modulator network. The filter has either at least two low pass filter sections of first order or a single low pass filter section of at least second order. The break-point frequencies of the filter section or sections lies between the natural frequency of the rigid body and the lower structural resident frequency of the respective vehicle axis. Equivalent circuits are disclosed for replacing the observer and state controller device as described above. Adaptive techniques as well as digital realizations of the various embodiments are also disclosed.

Arrangement for the attitude stabilization of flexible vehicles with

The air gap between the rail or rails and an electromagnetically levitated ehicle is optimally controlled with regard to the power or energy consumption. This result is achieved by a control employing two control channels. One control channel is constructed as a non-linear support or guide controller for regulating or contolling the air gap width in response to disturbances of short duration. The other control channel is constructed to cause a reduction of the air gap width or rather of the rated air gap width for adapting of the air gap width to the spectrum and amplitude distribution of the disturbances to which the levitated vehicle is exposed. This type of control may be employed for the regulating of the air gap between the support magnets and the respective rail and also for controlling the air gap between the guide magnet and the respective rail to reduce the energy required for maintaining these air gaps at an optimally efficient width.

Method and circuit arrangement for optimally controlling an air gap

The magnets supporting a magnetic suspension vehicle are vibrationally isolated from the vehicle body by mounting a number of the magnets on each chassis with individual spring arrangements whose reactive moments are greater than the pitch and roll moments tending to deflect the magnets.

Magnetically suspended vehicle

A magnetic suspension vehicle carries serially arranged magnet structures which are serially coupled to each other and resiliently mounted for adaptation to an associated rail arrangement.

Magnet suspension railway vehicle

A controller for the attitude stabilization of a satellite. The controller odifies the action of a first control circuit by responding to the signals of attitude .phi. and angular velocity of attitude .phi. developed by the first control circuit. A second control circuit includes a comparator, two Schmitt trigger circuits, two AND elements and two OR elements. Signals from the AND elements and uncorrected thrust nozzle control signals from the first control circuit are supplied to the OR elements. The output of the OR elements control the thrust nozzles of the satellite.

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Oberpframmern, Germany

Eveline Gottzein