Device, system and method for attitude control

• US 9,850,009 B2
• Filed: 12/17/2013
• Issued: 12/26/2017
• Est. Priority Date: 12/26/2012
• Status: Active Grant

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Verbin, Dov
• Primary Examiner(s): Bonzell, Philip J
• Application Number:
  US14/651,632
• Publication Number:
  US 20160107769A1
• Time in Patent Office: 1,470 Days
• CPC Class Codes: B64G 1/286 using control momentum gyroscopes (CMGs)
• CPC Class Codes: G01C 19/30 Erection devices, i.e. devices for restoring rotor axis to a desired position for instrument indicating the vertical G01C19/46

Abstract

A control moment gyroscope (CMG) is provided, selectively having a first spatial configuration and a second spatial configuration at least during operation of the CMG. In the first spatial configuration the CMG occupies a smaller volume than in the second spatial configuration. For example, in the first spatial configuration no part of the CMG projects beyond a predetermined geometrical boundary, while in the second spatial configuration, a portion of the CMG projects beyond the geometrical boundary.

Claims

1. A control moment gyroscope (CMG) configured for selectively and alternately providing a first spatial configuration and a second spatial configuration at least during operation of the CMG, the CMG comprising:

a variable external envelope enclosing a variable volume;

wherein in said first spatial configuration, said variable volume is smaller than in said second spatial configuration;

wherein in said first spatial configuration, no part of said CMG projects beyond a predetermined geometrical boundary;

wherein in said second spatial configuration, a portion of said CMG projects beyond said predetermined geometrical boundary; and

a cover configured for selectively providing each one of an undeployed configuration and a deployed configuration, wherein in said first spatial configuration said cover is in the undeployed configuration, and wherein in said second spatial configuration said cover is in the deployed configuration.

2. The vehicle according to claim 1, wherein said cover comprises any one of:

a flexible skin and a rib structure, wherein said rib structure is configured for changing from a compact form to a projecting form, to enable the cover to selectively adopt said deployed configuration and said undeployed configuration;

or

a plurality of nested telescopic elements configured for telescopically extending to a projecting form and for telescopically retracting to provide a compact form, to enable the cover to selectively adopt said deployed configuration and said undeployed configuration.

3. The vehicle according to claim 1, wherein said cover is configured for at least one of thermally protecting said CMG or part thereof, mechanically protecting said CMG or part thereof, or remaining locked in said deployed configuration after deployment from said undeployed configuration.

4. The CMG according to claim 1, wherein said CMG is configured to be installed in a vehicle, wherein said predetermined geometrical boundary is a vehicle external geometrical boundary of the vehicle, wherein in said first spatial configuration said rotor assembly is inwards of said vehicle external geometrical boundary, and wherein in said second spatial configuration at least a part of said rotor assembly can project outwards beyond said vehicle external geometrical boundary.

5. The CMG according to claim 4, wherein said vehicle external geometrical boundary is a payload envelope associated with the vehicle.

6. An attitude control system (ACS), comprising:

at least one CMG, wherein said at least one CMG includes the CMG as defined in claim 1.

7. The ACS according to claim 6, further comprising one of said CMG configured for providing smooth control of a line of sight (LOS) of a space vehicle with respect to the surface of the Earth.

8. The ACS according to claim 6, further comprising two of said CMGs configured for providing attitude maneuvering for a space vehicle with respect to two orthogonal spatial axes.

9. The ACS according to claim 6, further comprising three of said CMGs configured for providing attitude maneuvering for a space vehicle with respect to three orthogonal spatial axes.

10. A vehicle comprising the ACS as defined in claim 6.

11. The vehicle according to claim 10, further comprising a vehicle external configuration optimized for being enclosed within a respective payload envelope, wherein in said first spatial configuration the respective said one or more CMG are enclosed within said payload envelope, and wherein in said second spatial configuration parts of one or more of the respective said one or more CMG project outside of said payload envelope.

12. A vehicle, comprising:

a vehicle external geometrical envelope; and

at least one control moment gyroscope (CMG) configured for selectively and alternately providing a first spatial configuration and a second spatial configuration at least during operation of the at least one CMG, the at least one CMG including a variable CMG external envelope enclosing a variable volume;

wherein in said first spatial configuration, said variable volume is smaller than in said second spatial configuration;

wherein in said first spatial configuration, no part of said at least one CMG projects beyond said vehicle external geometrical envelope; and

wherein in said second spatial configuration, a portion of said at least one CMG projects beyond said vehicle external geometrical envelope.

13. The vehicle according to claim 12, further comprising a rotor assembly pivotably mounted to a housing defining a vehicle interface, wherein in said first spatial configuration said rotor assembly is inwards of said vehicle interface, and wherein in said second spatial configuration at least a part of said rotor assembly projects outwards of said vehicle interface.

14. The vehicle according to claim 13, wherein said rotor assembly includes a rotor element rotatably mounted about a spin axis to a first gimbal, wherein said first gimbal is rotatably mounted to a second gimbal about a first gimbal axis, and wherein said second gimbal is rotatably mounted to said housing for selective controlled rotation of the rotor assembly about a second gimbal axis with respect to said housing, for selective controlled rotation of the rotor assembly about each one of said first gimbal axis and said second axis with respect to said housing.

15. The vehicle according to claim 13, wherein said rotor assembly includes a rotor element rotatably mounted about a spin axis to a gimbal, wherein said gimbal is rotatably mounted to said housing for selective controlled rotation of the rotor assembly about a gimbal axis with respect to said housing, and wherein said gimbal axis is orthogonal to said spin axis.

16. The vehicle according to claim 15, further comprising a shroud for said rotor assembly and configured for pivoting with said rotor assembly about said gimbal axis.

17. The vehicle according to claim 16, wherein said shroud is configured for providing at least one of thermal protection or mechanical protection to said rotor assembly.

18. A method for controlling a spatial attitude of a vehicle, the method comprising

providing the vehicle as defined in claim 12;

and

operating at least one said CMG between a respective said first spatial configuration and a respective said second spatial configuration.

19. The method according to claim 18, wherein the at least one CMG is operated to provide at least one of:

smooth control of a line of sight (LOS) of the vehicle with respect to the surface of the Earth;

attitude maneuvering for the vehicle with respect to two orthogonal spatial axes;

or

attitude maneuvering for the vehicle with respect to three orthogonal spatial axes.