Boots – shoes – and leggings
Patent
1990-01-02
1991-06-18
Black, Thomas G.
Boots, shoes, and leggings
364459, 244171, G06F 1550, B64G 136
Patent
active
050253816
ABSTRACT:
An attitude control loop for a spacecraft uses a proportional-integral-derivative (PID) controller for control about an axis. The spacecraft body has at least a primary mechanical resonance. The attitude sensors are collocated, or both on the rigid portion of the spacecraft. The flexure attributable to the resonance may result in instability of the system. A compensator for the control loop has an amplitude response which includes a component which rolls off beginning at frequencies below the resonance, and which also includes a component having a notch at a notch frequency somewhat below the resonant frequency. The phase response of the compensator tends toward zero at low frequencies, and tends toward -180.degree. as frequency increases toward the notch frequency. At frequencies above the notch frequency, the phase decreases from +180.degree., becoming more negative, and tending toward -90.degree. at frequencies far above the resonance frequency. Near the resonance frequency, the compensator phase is near zero.
REFERENCES:
patent: 4294420 (1981-10-01), Broquet
patent: 4549123 (1985-10-01), Hagglund et al.
patent: 4556956 (1985-12-01), Dickenson et al.
patent: 4591118 (1986-05-01), Chan
patent: 4727472 (1988-02-01), Deutsch et al.
patent: 4879643 (1989-11-01), Chakravarty et al.
patent: 4958788 (1990-09-01), Namera et al.
Goodzeit Neil E.
Linder David M.
Black Thomas G.
General Electric Company
Meise William H.
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