Energy storage attitude control and reference system

An energy storage, attitude control and reference system for a craft comprising:

• at least two pairs of flywheels with the angular momenta of each pair balanced to produce zero net angular momentum;
• at least four motor/generator units each including one of said flywheels in its rotor structure;
• a pair of bearings for supporting each of said flywheels;
• means for measuring the position of each said flywheel relative to its bearings;
• means, responsive to said means for measuring, for determining attitude reference about three mutually perpendicular axes of the craft;
• means for resolving current to and from said motor/generator units;
• means for applying torques to each said flywheel through its respective bearings for controlling attitude of the craft about said three mutually perpendicular axes;
• and
• means for maintaining at zero the net torque exerted by the motor/generators on the craft and for controlling the energy storage level of said flywheels.

An energy storage, attitude control and reference system for a craft comprising:

• at least two flywheels with their angular momenta balanced to produce zero net angular momentum;
• at least two motor/generator units each including one of said flywheels in its rotor structure;
• a pair of bearings for supporting each of said flywheels;
• means for measuring the position of each said flywheel relative to its bearings;
• means, responsive to said means for measuring, for determining attitude reference about two mutually perpendicular axes of the craft;
• means for resolving current to and from said motor/generator units;
• means, responsive to said means for determining, for applying torques to each said flywheel through its respective bearings for controlling attitude of the craft about said two mutually perpendicular axes;
• gyroscope means for sensing rotation of the craft about a third axis perpendicular to the first two;
• and
• means, responsive to said gyroscope means and said means for resolving current, for exerting torques on each said flywheel through its respective motor/generator to provide attitude control of the craft about said third axis and for controlling the energy storage level of said flywheels.