Methods and systems for reducing angular velocity using a gyroscope array
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G01C-019/00
G01C-023/00
출원번호
US-0787189
(2010-05-25)
등록번호
US-8346538
(2013-01-01)
발명자
/ 주소
Kreider, Thom
Underhill, Brian
Hamilton, Brian
출원인 / 주소
Honeywell International Inc.
대리인 / 주소
Ingrassia Fisher & Lorenz, P.C.
인용정보
피인용 횟수 :
1인용 특허 :
7
초록▼
Methods and systems are provided for reducing angular velocity of a vehicle using a gyroscope array. A method comprises dithering a gyroscope of the gyroscope array, obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope, determining a gimbal rate command to reduce a
Methods and systems are provided for reducing angular velocity of a vehicle using a gyroscope array. A method comprises dithering a gyroscope of the gyroscope array, obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope, determining a gimbal rate command to reduce angular velocity of the vehicle based on the current through the gimbal motor obtained while dithering the gyroscope, and operating the gimbal motor of the gyroscope based on the gimbal rate command.
대표청구항▼
1. A method for controlling angular velocity of a vehicle using a control moment gyroscope (CMG) array including a plurality of control moment gyroscopes (CMGs) onboard the vehicle, the method comprising: dithering the plurality of CMGs over a time interval;obtaining gimbal motor currents for the pl
1. A method for controlling angular velocity of a vehicle using a control moment gyroscope (CMG) array including a plurality of control moment gyroscopes (CMGs) onboard the vehicle, the method comprising: dithering the plurality of CMGs over a time interval;obtaining gimbal motor currents for the plurality of CMGs during the time interval;determining an angular velocity of the vehicle based on the gimbal motor currents;determining a deceleration torque command for the CMG array based on the angular velocity of the vehicle; andoperating the CMG array in a manner that is influenced by the deceleration torque command. 2. The method of claim 1, wherein determining the angular velocity comprises, for each CMG of the plurality of CMGs: determining a gyroscopic precession torque at the respective CMG; anddetermining a component of the angular velocity of the vehicle based on the gyroscopic precession torque. 3. The method of claim 2, wherein: determining the component of the angular velocity of the vehicle for each CMG of the plurality of CMGs results in a plurality of angular velocity components; anddetermining the angular velocity further comprises transforming the plurality of angular velocity components from a reference frame corresponding to output axes of the plurality of CMGs to a reference frame corresponding to the vehicle. 4. The method of claim 3, wherein transforming the plurality of angular velocity components comprises: determining a transformation matrix for transformation from the reference frame corresponding to the vehicle to the reference frame corresponding to the output axes of the plurality of CMGs; andtransforming the plurality of angular velocity components to the reference frame corresponding to the vehicle based on the transformation matrix. 5. The method of claim 3, wherein transforming the plurality of angular velocity components comprises the steps of: determining an n×3 transformation matrix for transformation from the reference frame corresponding to the vehicle to the reference frame corresponding to the output axes of the plurality of CMGs; andarranging the plurality of angular velocity components into a n×1 matrix; andmultiplying a Moore-Penrose pseudoinverse of the n×3 transformation matrix by the n×1 matrix of angular velocity components to obtain an estimated angular velocity vector. 6. The method of claim 1, wherein determining the deceleration torque command comprises: determining angular momentum of the vehicle based on the angular velocity and an inertia of the vehicle; anddetermining a torque command that opposes angular momentum of the vehicle. 7. The method of claim 1, wherein dithering the plurality of CMGs comprises, for each CMG of the plurality of CMGs: rotating a gimbal of the respective CMG by a first angular displacement in a first direction during a first portion of the time interval; androtating the gimbal by the first angular displacement in a second direction over a second portion of the time interval, the second direction being opposite the first direction. 8. The method of claim 7, wherein obtaining gimbal motor currents for the plurality of CMGs comprises, for each CMG of the plurality of CMGs: obtaining a first current through a gimbal motor of the respective CMG while rotating the gimbal in the first direction;obtaining a second current through the gimbal motor while rotating the gimbal in the second direction; andaveraging the first current and the second current. 9. The method of claim 1, wherein operating the CMG array based on the deceleration torque command comprises, for each CMG of the plurality of CMGs: determining a deceleration gimbal rate command for the respective CMG based on the deceleration torque command;superimposing a dithering command over the deceleration gimbal rate command, resulting in a dithered deceleration gimbal rate command for the respective CMG; andoperating a gimbal motor of the respective CMG based on the dithered deceleration gimbal rate command. 10. A control system for an agile vehicle, the control system comprising: a control moment gyroscope (CMG) array comprising a plurality of CMGs onboard the agile vehicle;a plurality of current sensors, each current sensor being configured to measure current through a gimbal motor of a respective CMG of the plurality of CMGs; anda control module coupled to the CMG array and the plurality of current sensors, wherein in response to a triggering event, the control module is configured to: dither the plurality of CMGs;obtain gimbal motor currents for the plurality of CMGs while dithering the plurality of CMGs;determine an estimated angular velocity of the agile vehicle based on the gimbal motor currents;determine a torque command to reduce angular momentum of the agile vehicle based on the estimated angular velocity of the agile vehicle; andoperate the CMG array based at least in part on the torque command. 11. The control system of claim 10, wherein each CMG of the plurality of CMGs includes a transmission assembly coupled to the output of its gimbal motor. 12. The control system of claim 11, wherein the control module is configured to determine the estimated angular velocity by: determining a gyroscopic precession torque at the output of the transmission assembly of each CMG of the plurality of CMGs, resulting in a plurality of gyroscopic precession torques; anddetermining angular velocity components based on the plurality of gyroscopic precession torques. 13. The control system of claim 12, wherein the control module is configured to determine the gyroscopic precession torque at the output of the transmission assembly of a respective CMG of the plurality of CMGs by multiplying the obtained gimbal motor current for the respective CMG by a gear ratio of the transmission assembly of the respective CMG divided by a torque constant of the gimbal motor of the respective CMG. 14. The control system of claim 12, wherein the control module is configured to transform the angular velocity components from a reference frame corresponding to the output axes of the plurality of CMGs to a reference frame corresponding to the agile vehicle to determine the estimated angular velocity. 15. The control system of claim 10, further comprising an attitude control system (ACS) communicatively coupled to the control module, the ACS being configured to provide torque commands for reorienting the agile vehicle, wherein the control module is configured to identify the triggering event in response to an interruption of communication between the ACS and the control module. 16. A method for controlling angular velocity of a vehicle using a gyroscope array onboard the vehicle, the method comprising: dithering a gyroscope of the gyroscope array;obtaining current through a gimbal motor of the gyroscope while dithering the gyroscope;determining a gimbal rate command to reduce angular velocity of the vehicle based on the current through the gimbal motor obtained while dithering the gyroscope; andoperating the gimbal motor of the gyroscope based on the gimbal rate command. 17. The method of claim 16, the gyroscope including a gimbal having a gimbal axis, wherein determining the gimbal rate command comprises: determining a gyroscopic precession torque component at the gimbal axis based on the current through the gimbal motor obtained while dithering the gyroscope; anddetermining the gimbal rate command based on the gyroscopic precession torque component. 18. The method of claim 17, wherein operating the gimbal motor of the gyroscope based on the gimbal rate command comprises rotating the gimbal about the gimbal axis in a direction that the gyroscopic precession torque component would have rotated the gimbal if the gimbal motor were capable of being backdriven. 19. The method of claim 16, wherein dithering the gyroscope comprises: rotating a gimbal of the gyroscope by a first angular displacement in a first direction; androtating the gimbal by the first angular displacement in a second direction, the second direction being opposite the first direction. 20. The method of claim 19, wherein obtaining current through the gimbal motor comprises: obtaining a first current through the gimbal motor while rotating the gimbal in the first direction;obtaining a second current through the gimbal motor while rotating the gimbal in the second direction; andaveraging the first current and the second current.
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이 특허에 인용된 특허 (7)
Bonn, J. Jeff; Peck, Mason A., Dynamic CMG array and method.
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