Patent ID: 8113468

Claim:
A satellite comprising: a plurality of reaction wheel assemblies configured to provide attitude for the satellite; a plurality of gimbaled thrusters; and flight logic configured to control the plurality of reaction wheel assemblies and the plurality of gimbaled thrusters, to direct the plurality of reaction wheel assemblies to provide proper attitude for the satellite, and to use the plurality of gimbaled thrusters to control a total momentum of the satellite, the total momentum including the momentum associated with the plurality of reaction wheel assemblies; wherein the flight logic includes: a reaction wheel control module configured to control the plurality of reaction wheel assemblies; and a maneuver control module configured to use the plurality of gimbaled thrusters to control the momentum associated with the plurality of reaction wheel assemblies; wherein the maneuver control module further includes a momentum adjust module and a gimbal module; wherein the momentum adjust module is configured to receive information relating to the speed of the plurality of reaction wheel assemblies and a momentum command as input and generate a plurality of outputs including a first output relating to a reaction wheel momentum adjust torque, a second output relating to a thruster momentum adjust torque and a third output relating to an integral momentum adjust torque; wherein the gimbal module is configured to use the second and third outputs from the momentum adjust module to generate a plurality of outputs including a first output relating to a torque deficit and a second output to be used to control the plurality of gimbaled thrusters; and wherein the reaction wheel control module is configured to use the first outputs from the momentum adjust module and the gimbal module respectively to generate an output to be used to control the plurality of reaction wheel assemblies.