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A load relief system for a launch vehicle including a wind sensing system responsive to wind speed and direction at selected locations for providing an output of sensed wind speed and wind direction at the selected locations, a plant model responsive to the sensed wind speed and direction within a f

A load relief system for a launch vehicle including a wind sensing system responsive to wind speed and direction at selected locations for providing an output of sensed wind speed and wind direction at the selected locations, a plant model responsive to the sensed wind speed and direction within a finite horizon, a current state of the launch vehicle, and control commands of the launch vehicle to predict the trajectory of the launch vehicle, an error circuit responsive to the predicted trajectory and a reference trajectory to produce a trajectory error, and an optimizer responsive to the trajectory error and configured to provide control commands to compensate for wind load over the finite horizon of the launch vehicle by reducing the total angle of attack.

대표청구항 ▼

A load relief system for a launch vehicle including a wind sensing system responsive to wind speed and direction at selected locations for providing an output of sensed wind speed and wind direction at the selected locations, a plant model responsive to the sensed wind speed and direction within a f

A load relief system for a launch vehicle including a wind sensing system responsive to wind speed and direction at selected locations for providing an output of sensed wind speed and wind direction at the selected locations, a plant model responsive to the sensed wind speed and direction within a finite horizon, a current state of the launch vehicle, and control commands of the launch vehicle to predict the trajectory of the launch vehicle, an error circuit responsive to the predicted trajectory and a reference trajectory to produce a trajectory error, and an optimizer responsive to the trajectory error and configured to provide control commands to compensate for wind load over the finite horizon of the launch vehicle by reducing the total angle of attack. urface, coupled to the hinge assembly within the first hinge attachment section at a location spaced apart from the second hinge attachment section, said third turning surface being arranged in a plane substantially parallel to the plane containing the axis of the exit turning member and that is substantially parallel to the axis of the hinge assembly, said third turning surface having an axis extending away from the hinge assembly and angled toward the end section of the exit turning surface; whereby a web paper path is formed within the inverting apparatus by feeding the web over the entrance turning surface, then around the second turning surface toward and around the third turning surface toward the exit turning surface where it is turned before exiting the inverting apparatus. 8. The web inverting apparatus of claim 7, wherein the adjustable angle between the coupling angle of the exit turning surface and the coupling angle of the entrance turning surface is adjustable between 0 and 180 degrees. 9. The web inverting apparatus of claim 7, whereby the axis of the entrance turning surface is substantially perpendicular to the axis of the hinge assembly. 10. The web inverting apparatus of claim 7, whereby the axis of the exit turning surface is substantially perpendicular to the axis of the hinge assembly. 11. The web inverting apparatus of claim 7, whereby each of the angles between axes of turning surfaces as well as the angles between the axis of the hinge assembly and axes of the turning surfaces is substantially equal to angles selected from the set of angles consisting of 90 degrees and 45 degrees. 12. The web inverting apparatus of claim 7, wherein at least one of the planes that are substantially parallel to the axis of the hinge assembly contains the axis of the hinge assembly. 13. The web inverting apparatus of claim 7, further comprising a fifth turning surface disposed in the paper path between the second turning surface and the third turning surface, said fifth turning surface having an axis substantially parallel to the axis of the hinge assembly. 14. The web inverting apparatus of claim 13, wherein at least one turning surface emits an air cushion. 15. The web inverting apparatus of claim 13, wherein at least one turning surface comprises a roller member. 16. The web inverting apparatus of claim 7, further comprising a hinge frame member, wherein the entrance turning surface and the second turning surface are coupled as an entrance module, wherein the exit turning surface and the third turning surface are coupled as an exit module, and wherein the hinge frame member is coupled between the entrance module and the exit module so that the angle between the entrance module and the exit module is held substantially constant during operation of the inverting device. 17. The web inverting apparatus of claim 7, wherein the adjustable angle between the coupling angle of the exit turning surface and the coupling angle of the entrance turning surface is adjusted to align the axis of the entrance turning surface substantially perpendicular to and in line with the web supply direction of a web substrate supply system and to align the axis of the exit turning surface substantially perpendicular to and in line with the receiving direction of a web substrate receiving system. 18. The web inverting apparatus of claim 17, wherein at least one of said web substrate supply system and web substrate receiving system further comprises a plurality of systems disposed such that the web inverting apparatus operates in conjunction with a first one of the plurality of systems when the hinge assembly is disposed at a first angle and operates in conjunction with a second one of the plurality of systems when the hinge assembly is disposed at a second angle. 19. The web inverting apparatus of claim 17, wherein at least one of the web substrate receiving system and the web substrate supply system is a simplex web printing system. 20. A web i nverting apparatus, comprising: a. a hinge assembly; b. an entrance module and an exit module, each such module coupled to said hinge assembly such that the hinge assembly provides variability in the angle between the entrance module and the exit module so that a web supply system feeds a web substrate into the entrance module and the web substrate exits the exit module substantially inverted to its entrance orientation and at an angle in respect to the web substrate supply system different from its entrance angle. 21. The web inverting apparatus of claim 20, wherein the angle between web substrate entrance and web substrate exit from the web inverting apparatus may vary between 0 and 180 degrees. 22. The web inverting apparatus of claim 20, further comprising a hinge frame member coupled between the entrance module and the exit module so that the angle between the entrance module and the exit module is held substantially constant during operation of the web inverting apparatus. 23. The web inverting apparatus of claim 20, wherein the web substrate exits toward a web substrate receiving system and wherein at least one of said web substrate supply system and web substrate receiving system further comprises a plurality of systems disposed such that the web inverting apparatus operates in conjunction with a first one of the plurality of systems when the hinge assembly is disposed at a first angle and operates in conjunction with a second one of the plurality of systems when the hinge assembly is disposed at a second angle. 24. A method for inverting a web substrate in a web inverting device, comprising: a. feeding the web substrate around an entrance turning surface toward a second turning surface, said entrance turning surface being coupled to a hinge assembly within a first attachment section of said hinge assembly and said entrance turning surface having an end section away from the hinge assembly; b. weaving the web substrate path around the second turning surface toward a third turning surface, said second turning surface being coupled to the hinge assembly within a second hinge attachment section at a location spaced apart from the first hinge attachment section, said second turning surface being arranged in a plane substantially parallel to the plane containing the axis of the entrance turning surface that is substantially parallel to the axis of the hinge assembly, said second turning surface having an axis extending away from the hinge assembly and angled toward the end section of the entrance turning surface; c. turning the web substrate path around the third turning surface toward an exit turning surface, said third turning surface being coupled to the hinge assembly within the first hinge attachment section at a location spaced apart from the second hinge attachment section, said third turning surface being arranged in a plane substantially parallel to the plane containing the axis of the exit turning member that is substantially parallel to the axis of the hinge assembly, said third turning surface having an axis extending away from the hinge assembly and angled toward the end section of an exit turning surface; and d. exiting the web substrate from the web inverting device by turning the web substrate around the exit turning surface toward a preferred exit orientation, said exit turning surface being coupled to the hinge assembly within the first hinge attachment section at an angle adjustable with respect to the angle at which the entrance turning surface is coupled to the hinge assembly, said exit turning surface having an axis extending away from the hinge assembly in a different plane than the plane containing the axis of the entrance turning surface and having an end section away from the hinge assembly. arried on a negatively charged palette, said palette being propelled by a two-stage propulsion system.