Abstract:
A method for controlling the direction of a spacecraft of the type having a controller for calculating thrust forces comprises a plurality of thrusters disposed on said spacecraft in a spaced relationship relative to one another and aligning and locating each of said plurality of thrusters at a predetermined angle on said spacecraft relative to first, second and third orthogonally oriented axes such that the firing of any given pair of thrusters produces a torque about one of said spacecraft axes; and firing of all of said plurality of said thrusters in equal amounts at one time to cause the spacecraft to move in a linear manner along one of said three orthognally disposed axes.

Description:
FIELD OF THE INVENTION 
     The present invention relates to a three-axis attitude control system for a satellite, and deals more particularly with an improvement in such controls whereby a satellite may effect torque control using only paired thrusters and without the heretofore known requirement of matrix inversions to effect such control. 
     BACKGROUND OF THE INVENTION 
     Spacecraft perform various maneuvers after they are launched into space and once they are on-station in a selected orbit. For example, after a spacecraft is launched into a low orbit, it may be required to raise the spacecraft to a selected higher (e.g., Geosynchronous) orbit by firing the spacecraft&#39;s main thruster. This type of maneuver is known as an orbit-raising maneuver. Also by example, after the spacecraft is on-station in the higher orbit, various forces (e.g., solar forces) may impinge on the spacecraft and cause the spacecraft to drift away from its selected orbit into another incorrect orbit. Thus, periodic (e.g., monthly) orbital maneuvers are often required to return the spacecraft to its correct orbit. These types of maneuvers are known as station-keeping maneuvers. 
     During each of the maneuvers, the controlling of the spacecraft&#39;s attitude to orient the spacecraft&#39;s communication hardware to a preselected planetary location and/or to correctly orient the spacecraft&#39;s thrust vector is essential. Thus, spacecraft are typically equipped with control systems which enable the attitude of the spacecraft to be controlled within pre-established limits. Such control systems often employ spacecraft thrusters for producing torques on the spacecraft, if needed, for correcting the spacecraft attitude. By example, during orbit-raising maneuvers, attitude control can be maintained by activating selected ones of the spacecraft&#39;s thrusters to create a desired torque in order to correct the spacecraft&#39;s attitude. Since the spacecraft&#39;s thrusters are normally-off during these maneuvers, and are only activated when needed, these thrusters function in an &#34;on-modulation mode&#34; and may be referred to as &#34;on-modulated thrusters&#34;. Also by example, during station-keeping maneuvers, where selected ones of the spacecraft&#39;s thrusters are normally-on for performing station-keeping functions, these thrusters can be used to achieve attitude control in order to create a desired torque on the spacecraft which will correct the spacecraft&#39;s attitude. 
     There are several spacecraft systems used for controlling station-keeping and attitude including, by example, one system which may be understood in view of the block diagram of a spacecraft thruster control system shown in FIG. 1. Sensors 1, which may be, for example, earth sensors, sense the spacecraft dynamics, such as the attitude of the spacecraft during a maneuver, and provide the sensed information to a controller block 3 via a hardware (H/W) and software (S/W) interface 2. The controller block 3 determines whether there is error between the sensed attitude and a desired or reference attitude and, if there is such an error, calculates torques necessary to be produced by selected thrusters 6 to minimize the error. A duty cycle for the thrusters is then calculated based upon the calculated torques and an amount of torque known to be produced by the selected thrusters when the thrusters are activated. A thruster hardware control block 5 provided and is responsive to receiving a pulse from a modulator block connected to the controller for controlling an appropriate thruster corresponding to the pulse. Once the thruster is commanded to activate, valves of the thruster emit a stored fuel and a stored oxidizer which combust upon contacting one another to generate a force of a known magnitude. 
     In the past the control system for controlling the coordinated On and OFF conditions of one or more thrusters to effect such movements of the spacecraft in space required the manipulation of large matrixes including the multiplication thereof, even in spacecraft wherein only four thrusters are used. These types of spacecraft are usually the less-expensive spacecraft. One prior art patent which illustrates such known control systems which are usable with such spacecraft is set forth in U.S. Pat. No. 5,140,525. This system is driven by established methods in constrained optimization theory which involve among other things, weighted pseudo inversions of torque matrixes, etc., requiring the use of a highly memory intensive flight computer on board the spacecraft. 
     Reference may be had to other patents which involve similar satellite controls as follows: 
     
         ______________________________________  3,866,025    Cavanagh  4,537,375    Chan  4,599,697    Chan et al.  4,758,957    Hubert et al.  4,961,551    Rosen______________________________________ 
    
     Accordingly it is an object of the present invention to provide a satellite control system which does not use either pseudo-inverses nor matrix inversions nor any matrix operations. 
     It is a further object of the invention to provide a satellite control system and thruster arrangement aligned optimally prior to spacecraft fabrication so as to guarantee positive ON-times for all four thrusters, independent of the sign and/or magnitude of the desired torques. 
     It is a further object of the invention to provide a control system which effects satellite control of the aforementioned type accomplished through non-linear computer coded logic that is easy to implement. 
     SUMMARY OF THE INVENTION 
     The invention resides in a method of controlling the direction of a spacecraft by providing a plurality of thrusters disposed on the spacecraft in a spaced relationship relative to one another and aligning and locating each of the plurality of thrusters at a predetermine angle on the spacecraft relative to first, second and third orthogonally oriented axes such that the firing of any given pair of thrusters produces a torque about one of the spacecraft axes. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     FIG. 1 is a schematic drawing of a spacecraft capable employing the system of the present invention. 
     FIG. 2 a rear view of the spacecraft showing the thruster array embodying the invention. 
     FIGS. 3a and 3b are flowcharts of the thruster control program. 
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     Referring now to FIG. 2, it should be seen that the numeral 10 generally identifies a spacecraft 10. The spacecraft 10 has a center of gravity which is identified as 12 in FIG. 1. Attitude sensors for sensing movements about the indicated X, Y, and Z axes are provided and are shown together as block 14. Signals are generated from the sensor block 14 and are coupled to a controller 16 for generating thruster controls. A plurality of thrusters referenced as 1, 2, 3, and 4 are provided and are arranged on the spacecraft in accordance with one aspect of the invention. Each of the thrusters is controllably connected to the controller 16 to effect control of the ON and OFF conditions of each thruster. 
     For purposes of discussion, the spacecraft 10 is shown relative to three coordinate axes which have been referenced as X, Y, and Z, and will also be referenced in describing the associated three axis control torques. Also, for purposes of illustration and discussion of spacecraft orientation relative to the earth below, the indicated positive Y direction is south, the indicated negative Y direction is north, while the indicated positive Z direction is east and the indicated negative Z direction is west, and the X axis direction into the page is positive and is directed toward the earth while the negative X axis is directed away from the earth. The center of gravity 12 of the spacecraft 10 is disposed coincidentally with the Z axis and the thruster configuration of the present invention is disposed about the mass center 12 such that thrusters 1 and 2 are located above the Z axis and thrusters 3 and 4 are located below the Z axis. 
     Once the spacecraft 10 is on-station in its designated orbit, various forces (e.g., solar radiation) may impinge on the spacecraft and cause it to drift away from its selected orbit into another, incorrect, orbit. Thus, periodic (e.g., monthly) station-keeping maneuvers are often required to return the satellite to its correct orbit. During station-keeping maneuvers, it is necessary to fire selected pairs of the thrusters 1, 2, 3, and 4 to effect such correction. 
     To these ends, the spacecraft thrusters are aligned and located at the fabrication stage so that any given pair of thrusters produces a torque about a spacecraft axis (X,Y,Z) of either zero or (plus/minus) twice the torque of a single thruster. Six possible thruster pairs give six pure torques (one positive, one negative) about each of the spacecraft&#39;s three axes as can be seen from Table 2. 
     The thruster array is thus a constrained, nonlinear parameter optimization that as part of the spacecraft design selects the locations and orientations (i.e., angles) of the thruster nozzles to effect controlled torques about each of the X, Y and Z axes. 
     The thrusters are primarily used in pairs to produce spacecraft control torques. This is done, for example, in a four thruster array, by selecting the locations and angles of each thruster so that, any pair of six possible pairs of thrusters (e.g., thruster 1 and 2 together, or 1 and 4, or 2 and 3, etc.) products a positive (or negative) torque solely along one of the three spacecraft axes (X,Y,Z). Producing pure torques along a different set of spacecraft axes (x&#39;, y&#39;, z&#39;) requires only a simple coordinate transformation inside the optimization algorithm. Either way, the resulting six possible pair combinations span the torque space of the spacecraft using only four thrusters. 
     The optimization of the thruster array on the spacecraft 10 is such that it aligns each thruster so that the torque produced along each spacecraft axis is equal (or equal and opposite) to the corresponding torques of the other three thrusters when generated by a selected pair of the thrusters 1-4. That is, Tx-.linevert split.Tx 1  .linevert split.=.linevert split.Tx 2  .linevert split.=.linevert split.Tx 3  .linevert split.=.linevert split.Tx 4  .linevert split., and so forth for Ty and Tx. It is this result that enables a pair of thrusters, fired together, to produce positive or negative torques purely along one of the three spacecraft axes. 
     In addition, the thruster configuration of FIG. 2 is a departure from configuration heretofore known in that if all the thrusters are activated in unison, it will result in pure linear motion along the indicated X axis. The firing of all thrusters to effect such linear movement may have particular usefulness during orbit-raising maneuvers where a newly launched satellite is raised from a lower orbit to a selected, higher (e.g., Geosynchronous) orbit. 
     Table 1 below shows an example set of thruster torques (T) expressed in Newton-meters (Nm) generated by each thruster 1, 2, 3 and 4 for the design configuration of the invention shown in FIG. 2. 
     For purposes of this discussion, each of the thrusters in the embodiment of FIG. 2 are labeled 1, 2, 3 and 4 which are correspondingly labeled to the thruster number referred to in the Tables 1 and 2 and the flow charts of FIGS. 3a and 3b. 
     
                       TABLE 1______________________________________EXAMPLE THRUSTER TORQUESThruster Tx            Ty      TzNo.      Nm            Nm      Nm______________________________________1        0.175         -0.250  0.5002        -0.175        0.250   0.5003        0.175         0.250   -0.5004        -0.175        -0.250  -0.500______________________________________ 
    
     Taking each of the thruster torques Tx, Ty, and Tz produced respectively by thrusters 1, 2, 3, and 4 as set forth above and pairing them in all possible combinations, a result is achieved which includes the torque products set forth below in Table 2. The value η is the torque that any two thrusters produces, either zero torque or ± twice the thrust values for Tx, Ty, or Tz. 
     
                       TABLE 2______________________________________THRUSTER FIRING PAIRS                            Thrusters                            ComposingNo. of Ctrl Torque               this Firing PairFiring Direction/ Thruster Pair Torques                            (1 = on, 0 = off)Pair   Axis       η, (Nm)    1   2   3   4______________________________________1      +x         +(2 * Tx) =   0.35                            1   0   1   02      -x         -(2 * Tx) = -0.35                            0   1   0   13      +y         +(2 * Ty) =   0.50                            0   1   1   04      -y         -(2 * Ty) =   0.50                            1   0   0   15      +z         +(2 * Tz) =   1.00                            1   1   0   06      -z         -(2 * Tz) =   1.00                            0   0   1   1______________________________________ 
    
     For example, consider briefly that the spacecraft controller determines that over a next processor or duty cycle ΔT c , (e.g., 64 ms) of controller 16 that the following control torques T d  are required: 
     (T dx , T dy , T dz )=(0.4, -0.2, 0.5) Nm. 
     Using the individual thruster torques of Table 1 for this example, a value η for each paired thruster torque is determined: 
     (η x , η y , η z )=(2*0.175, 2*0.250, 2*0.500)=(0.35, 0.50, 1.00) Nm.; for ΔT c  =64 ms 
     Following the algorithm outlined in FIGS. 3a and 3b (steps 102-118) which will be discussed in greater detail later, nondimensional firing times σ are calculated. 
     (σ 1 , σ 2 , σ 3 , σ 4 )=(2.24, 0.50, 1.114, 0.60) 
     These values are then scaled to available thrust (steps 120, 122) which results in: 
     (σ 1 , σ 2 , σ 3 , σ 4 )=(1.00, 0.22, 0.51, 0.27) 
     Then, the dimensional pulsewidths are calculated for each of four thrusters in milliseconds as set forth in step 124: 
     (ΔT 1 , ΔT 2 , ΔT 3 , ΔT 4 )=(64.00, 14.27, 32.61, 17.12) ms 
     Typically, pulsewidths having minimum thresholds are eliminated. For example, if the minimum pulsewidth is 32 ms, with a quantization of 2 ms beyond this minimum, then from steps 126 and 128: 
     (ΔT 1 , ΔT 2 , ΔT 3 , ΔT 4 ) actual  =(64, 0, 32, 0)ms. 
     Normally, these pulsewidths would be sent to the control system to provide the controller with values for the actual thrusts and torques produced by the thrust producing algorithm. 
     Referring now more specifically to the control program illustrated in FIGS. 3a and 3b, it should be seen that the sensor block 16 senses the attitude of the spacecraft and provides information representing the sensed attitude to the controller. The controller block 3 then determines whether there is a difference between the sensed attitude and a desired or reference attitude and, if there such an difference, calculates torques necessary to be produced by at least one of the thruster sets to minimize the difference. The calculated torques Tx, Ty and Tz are then divided by the known and predetermined torque η x , η y , η z  that is characteristic of each thruster pair when fired as part of a duty cycle. 
     Referring now to the flowchart blocks of FIGS. 3a and 3b, a four thruster system is disclosed. The program at the start of the duty cycle, first intializes the values of σ 1 , σ 2 , σ 3 , σ 4  to 0 (step 100) which otherwise represent fractions of the duty cycle ΔT c . The controller next determines a value for the required torque about the X axis, Td x , by interrogating the sensor block 14. Once a Td x  value is established, the program next determines the rotational sense i.e. positive or negative of the torque to be applied. 
     A determination is thus made as to whether the Td x  value is a positive or negative number (step 102). If the value of Td x  is greater than 0, the program executes the functions set forth in step 104. That is, for generating a positive torque Tx about the X axis, thrusters 1 and 3 are used and dimensionless thruster firing times σ 1 , σ 3  must be calculated for and assigned to each thruster based upon the required force. 
     The calculation for the σ 1  value for thruster 1 is done by dividing the established Td x  value by the corresponding thruster pair torque (η x ) which, as shown in the data set forth in TABLE 2, corresponds to the thruster pair torque for [PAIR 1]. In a like manner, the value of σ 3  for thruster 3 is also calculated by dividing the established Td x  by the same corresponding thruster pair torque (η x ) because thrusters 1 and 3 are paired to generate positive X axis torque. 
     If it is determined at step 102 that the established value for the Td x  is a negative number, e.g. meaning that a negative torque is needed, the control program executes the functions set forth at step 106. That is, for generating a negative torque Tx about the X axis, thrusters 2 and 4 are used and dimensionless thruster firing times σ 2 , σ 4  must be calculated and assigned to each thruster based upon the required force needed. The calculation for the σ 2  value for thruster 2 is done by dividing the established -Td x  value by the corresponding thruster pair torque (η x ) which as shown in the data set forth in TABLE 2 corresponds to the thruster pair torque for [PAIR 2]. In a like manner, the value of σ 4  for thruster 4 is also calculated by dividing the established -Td x  by the same corresponding thruster pair torque (η x ) because thrusters 2 and 4 are paired to generate a negative X axis torque. 
     The control program sequentially next establishes a Td y  value by interrogating the sensor block 14 and then determining whether the applied torque is to be positive or negative (Step 108). If Td y  is a positive number then the functions in step 110 are executed. That is, for generating a positive torque Ty about the Y axis, thrusters 2 and 3 are used and dimensionless thruster firing times σ 2 , σ 3  must be calculated and assigned to each thruster based upon the required force needed. 
     The calculation for the σ 2  value for thruster 2 is done by dividing the established Td y  value by the corresponding thruster pair torque (η y ) for the involved thruster pair and, as set forth in TABLE 2, this corresponds to the thruster pair torque for [PAIR 3]. In a like manner, the value of σ 3  for thruster 3 is also calculated by dividing the established Td y  by the same corresponding thruster pair torque (η y ) because thrusters 2 and 3 are paired to generate positive Y axis torque. 
     If it is determined at step 108 that the established value for the Td y  is a negative number, e.g. meaning that a negative torque is needed, the control program executes the functions set forth at step 112. That is, for generating a negative torque -Ty about the Y axis, thrusters 1 and 4 are used and dimensionless thruster firing times σ 1 , σ 4  must be calculated and assigned to each thruster based upon the required force needed. 
     The calculation for the σ 1  value for thruster 1 is done by dividing the established -Td y  value by the corresponding thruster pair torque (η y ) which, as shown in the data set forth in TABLE 2, corresponds to the thruster pair torque for [PAIR 4]. In a like manner, the value of σ 4  for thruster 4 is also calculated by dividing the established -Td y  by the same corresponding thruster pair torque (η y ) because thrusters 2 and 4 are paired to generate a negative Y axis torque. 
     The control program again sequentially next establishes a Td z  by interrogating the sensor block 14 and then determining whether the applied torque is to be positive or negative (Step 114). If Td z  is a positive number, then the functions in step 116 are executed. That is, for generating a positive torque Tz about the Z axis, thrusters 1 and 2 are used and dimensionless thruster firing times σ 1 , σ 2  must be calculated and assigned to each thruster based upon the required force needed. 
     The calculation for the σ 1  value for thruster 1 is done by dividing the established Td z  value by the corresponding thruster pair torque (η z ) for the involved thruster pair, and as set forth, in TABLE 2, this value corresponds to the thruster pair torque for [PAIR 5]. In a like manner, the value of σ 2  for thruster 2 is also calculated by dividing the established Td z  by the same corresponding thruster pair torque (η z ) because thrusters 1 and 2 are paired to generate positive Z axis torque. 
     If it is determined at step 114 that the established value for the Td z  is a negative number, e.g. meaning that a negative torque is needed, the control program executes the functions set forth at step 118. That is, for generating a negative torque -Tz about the Z axis, thrusters 3 and 4 are used and dimensionless thruster firing times σ 3 , σ 4  must be calculated and assigned to each thruster based upon the required force needed. 
     The calculation for the σ 3  value for thruster 3 is done by dividing the established -Td z  value by the corresponding thruster pair torque (η z ) which as shown in the data set forth in TABLE 2 corresponds to the thruster pair torque for [PAIR 6]. In a like manner, the value of σ 4  for thruster 4 is also calculated by dividing the established -Td z  by the same corresponding thruster pair torque (η z ) because thrusters 3 and 4 are paired to generate a negative Z axis torque. 
     It should be understood that throughout the foregoing calculations, from step 100 to step 118, the values of the firing times σ 1 , σ 2 , σ 3 , σ 4  are continuously summed such that by the end of the sequence up to either of steps 116 or 118, a firing time for each of the thrusters 1, 2, 3, 4 is determined which takes into account corrections needed relative to each axis, X, Y, and Z, for the given duty cycle ΔT c . 
     Following this, the control program checks each of the calculated values σ 1 , σ 2 , σ 3 , σ 4  to determine if any value is greater than unity (step 120). If so, then using the largest magnitude value which exceeds unity, the remaining values are scaled or normalized relative to it (step 122). 
     Next the control program calculates dimensional pulsewidths for each of the four thrusters based upon a given processor duty cycle time ΔT c , which in the illustrated example is equal to 64 ms. This is done by multiplying each of the values σ 1 , σ 2 , σ 3 , σ 4  by the duty cycle time ΔT c  to produce the product pulsewidth for each thruster. 
     Finally, a check is made to determine whether any of the pulsewidths calculated for each thruster is below a minimal threshold pulsewidth ΔT min  (step 126). If a pulsewidth T 1 , T 2 , T 3 , T 4  is below this threshold, then it is set to zero. Following this, the calculated pulse width values T 1 , T 2 , T 3 , T 4  are used by the controller 16 in the thrust producing algorithm. 
     By the foregoing, a method of allocating thruster pulsewidths for the three desired torques T dx , T dy , and T dz  has been disclosed. However numerous substitution and modifications may be had without departing from the spirit od the invention. For example, in the preferred embodiment shown and discussed, a spacecraft with a four thruster array is disclosed. However, it is well within the scope of the invention to provide a thruster array comprised of, for example, six thrusters with the additional two thruster being located on the north and south faces of the spacecraft and a paired torque for these additional thrusters accounted for in the same manner as discussed above. 
     Accordingly, the invention has been described by way of illustration rather than limitation.