Method and system for CMG array singularity avoidance

Details Method and system for CMG array singularity avoidance Method and system for CMG array singularity avoidance

2007-07-24

2007-07-24

Collins, Timothy D. (Department: 3643)

Aeronautics and astronautics

Spacecraft

Attitude control

C701S013000, C244S165000

Reexamination Certificate

active

10897494

ABSTRACT:
The present method provides a method for avoiding singularities in the movement of CMGs in an array of CMGs in a spacecraft. In a first step, a torque command representing a desired torque to produce an attitude adjustment for the spacecraft is received. Next, a range-space gimbal rate required to produce the desired torque based on the desired torque and a Jacobian matrix is calculated. Then, a null-space gimbal rate that assists in the avoidance of singularities is calculated. The total gimbal rate command is determined by summing the range-space gimbal rate and the null-space gimbal rate. Then, the total gimbal rate command is provided to the CMGs to produce the total gimbal rate.

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