Patent ID: 6039290
Filing Date: 2000-03-21
Classification: B25J,B64G

Abstract:
A satellite attitude control comprising a plurality of control moment gyros in an array and a controller for changing a gimbal angle on each gyro, characterized in that the controller comprises signal processing means comprising:means for receiving a desired satellite attitude signal;means for producing an actual satellite attitude signal;means for producing an attitude error signal from desired satellite attitude signal and the actual satellite attitude signal;means for producing a torque command signal in response to the attitude error signal;means for producing an angular rate signal for each gyro using a pseudo inverse control law that uses said torque command signal and a Jacobean value for the angle of the a gyro, said pseudo inverse including a term that prevents a singularity in the angular rate signal; andmeans for rotating a gyro in the array in response to the angular rate signal.