Torque control system for reaction wheel assemblies and the like
First Claim
1. A control torque command circuit in a reaction wheel assembly which includes a sensitive element rotating at an angular velocity, ω
- , for controlling the attitude of a vehicle comprisingmeans for computing a desired torque command signal to control the attitude of said vehicle and providing said torque command signal at an output terminal of said computing means,means coupled to said output terminal of said computing means for integrating said torque command signal and producing an integrated torque command output signal,sensing means for measuring the angular velocity, ω
, of said sensitive element and producing an output signal proportional thereto,combining means having a first input terminal coupled to said integrating means for receiving said integrated torque command output signal and a second input terminal coupled to said means for measuring angular velocity for producing an output error signal proportional to the difference between said integrated torque command signal and said output error signal, andmotor means coupled to said combining means for receiving said output error signal and producing a torque output which is applied to said sensitive element thereby producing a change in said angular velocity, ω
, whereby the torque applied to said sensitive element is substantially equal to said commanded torque signal and is compensated for the presence of undesired disturbance torques on said assembly and anomolies in said control circuit.
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Accused Products
Abstract
An improvement in torque control systems for reaction wheel assemblies and the like used primarily for stabilizing space vehicles such as satellites including means for integrating the torque command signal and combining the integrated torque command signal with a feedback signal proportional to the angular speed of the rotor of the reaction wheel assembly thereby producing an error signal proportional to the difference between the integrated torque command signal and the angular speed signal. The error signal is coupled to the rotor spin motor which produces a resultant output torque that has been compensated for disturbance torques and other anomalies whereby the resultant torque applied to the rotor and consequently to the satellite is substantially equal to the commanded torque.
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Citations
16 Claims
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1. A control torque command circuit in a reaction wheel assembly which includes a sensitive element rotating at an angular velocity, ω
- , for controlling the attitude of a vehicle comprising
means for computing a desired torque command signal to control the attitude of said vehicle and providing said torque command signal at an output terminal of said computing means, means coupled to said output terminal of said computing means for integrating said torque command signal and producing an integrated torque command output signal, sensing means for measuring the angular velocity, ω
, of said sensitive element and producing an output signal proportional thereto,combining means having a first input terminal coupled to said integrating means for receiving said integrated torque command output signal and a second input terminal coupled to said means for measuring angular velocity for producing an output error signal proportional to the difference between said integrated torque command signal and said output error signal, and motor means coupled to said combining means for receiving said output error signal and producing a torque output which is applied to said sensitive element thereby producing a change in said angular velocity, ω
, whereby the torque applied to said sensitive element is substantially equal to said commanded torque signal and is compensated for the presence of undesired disturbance torques on said assembly and anomolies in said control circuit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
- , for controlling the attitude of a vehicle comprising
Specification