US 12,617,554 B2Granted

Systems and methods for combined control moment gyroscope and thruster control

AssigneeThe Boeing Company

InventorChristopher J. Heiberg

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Abstract

Systems and methods disclosed provide for attitude control of a body, the body including a plurality of thrusters and a plurality of gimballed rotors. Operations performed include: receiving a command vector representing a desired torque on the body, generating a Jacobian matrix that, when applied to a combined gimbal rate and thrust command vector, generates the command vector, generating components of a weighted pseudo inverse of the Jacobian matrix and using the components with the command vector in order to generate the combined gimbal rate and thrust command vector. Generating components of the weighted pseudo inverse of the Jacobian matrix can include generating a weighting matrix including a plurality of diagonal elements, the plurality of diagonal elements representing at least the plurality of gimballed rotors and the plurality of thrusters.

Claims27

Dependent claims

A system for attitude control of a body, the system comprising:

a module for controlling at least one control moment gyroscope array and a plurality of thrusters, wherein the at least one control moment gyroscope array comprises a plurality of gimballed rotors, and wherein the at least one control moment gyroscope array and the plurality of thrusters are configured to provide said attitude control to the body, the module being responsive to a gimbal rate command and a thruster command;
a processor;
and
a non-transitory computer storage medium storing instructions that when executed by the processor cause the processor to perform operations comprising:
receiving a command vector representing a desired torque vector on said body associated with said attitude control;
generating a Jacobian matrix Ā that, when applied to a combined gimbal rate and thrust command vector, generates said command vector;
generating components of a weighted pseudo inverse of said Jacobian matrix Ā and using said components with said command vector in order to generate said combined gimbal rate and thrust command vector;
providing said gimbal rate command to said module based on said generated combined gimbal rate and thrust command vector;
and
providing said thrust command to said module based on said generated combined gimbal rate and thrust command vector;
wherein said generating components of said weighted pseudo inverse of said Jacobian matrix Ā comprises generating a weighting matrix W comprising a plurality of diagonal elements, said plurality of diagonal elements representing at least said plurality of gimballed rotors and said plurality of thrusters.

8 more elements

A method for attitude control of a body using at least one control moment gyroscope array and a plurality of thrusters, wherein the at least one control moment gyroscope array comprises a plurality of gimballed rotors, and wherein the at least one control moment gyroscope array and the plurality of thrusters provide said attitude control of said body in response to an attitude control instruction set, the method comprising:

acquiring a command vector representing a desired torque vector on said body associated with said attitude control;
generating a Jacobian matrix Ā that, when applied to a combined gimbal rate and thrust command vector, generates said command vector;
generating components of a weighted pseudo inverse of said Jacobian matrix Ā and using said components with said command vector in order to generate said combined gimbal rate and thrust command vector;
determining said attitude control instruction set based on said generated combined gimbal rate and thrust command vector;
and
providing said attitude control instruction set to said at least one control moment gyroscope array and said plurality of thrusters;
wherein said generating components of said weighted pseudo inverse of said Jacobian matrix Ā comprises generating a weighting matrix W comprising a plurality of diagonal elements, said plurality of diagonal elements representing at least said plurality of gimballed rotors and said plurality of thrusters.

4 more elements

A non-transitory computer-readable medium storing instructions that when executed by a system for attitude control of a body cause the system to perform a method for attitude control using at least one control moment gyroscope array and a plurality of thrusters, wherein the at least one control moment gyroscope array comprises a plurality of gimballed rotors, the method comprising:

acquiring a command vector representing a desired torque vector on said body associated with said attitude control;
generating a Jacobian matrix Ā that, when applied to a combined gimbal rate and thrust command vector, generates said command vector;
generating components of a weighted pseudo inverse of said Jacobian matrix Ā and using said components with said command vector in order to generate said combined gimbal rate and thrust command vector;
determining an attitude control instruction set based on said generated combined gimbal rate and thrust command vector;
and
providing said attitude control instruction set to said at least one control moment gyroscope array and said plurality of thrusters;
wherein said generating components of said weighted pseudo inverse of said Jacobian matrix Ā comprises generating a weighting matrix W comprising a plurality of diagonal elements, said plurality of diagonal elements representing at least said plurality of gimballed rotors and said plurality of thrusters.

4 more elements

Dependencies are inferred from the claim text.