G - Physics – 05 – D
Patent
G - Physics
05
D
G05D 1/08 (2006.01)
Patent
CA 2452250
The invention relates to a method and device for controlling the attitude of a satellite comprising at least four control moment gyros (10a 10d) having respective gyro wheels (12). The gyro wheels are mounted on gimbals that can be moved (14) around axes which are parallel (18) to one or other of only two different directions, said directions being fixed in relation to the satellite. For this purpose, the attitude of the satellite is measured using sensors that are disposed on board the satellite; the control torque required to perform an attitude reorientation manoeuvre is calculated; a local linearisation calculation is performed based on the pseudo-inverse of the Jacobian matrix of the function linking the orientations of the gimbals of the gyrodynes at the total kinetic moment of the cluster in order to determine a new orientation for said gimbals; and the precession speeds of at least one of the gimbals of the gyrodynes supplying the control torque are controlled in order to produce the desired configuration. The calculation is performed by applying a cluster configuration search constraint which is removed from the singular configurations by division, between the two groups of gyrodynes, of the component of the total kinetic moment of the cluster which is simultaneously perpendicular to both directions.
Pour piloter l'attitude d'un satellite comportant au moins quatre actionneurs gyroscopiques (10a-10d) ayant des toupies respectives (12) montées sur des cardans orientables (14) autour d'axes parallèles (18) à l'une ou l'autre de seulement deux directions différentes et fixes par rapport au satellite, on mesure l'attitude du satellite à l'aide de capteurs embarqués sur le satellite, on calcule le besoin de couple de commande pour effectuer une manoeuvre de réorientation de l'attitude, on effectue un calcul de linéarisation locale basé sur la pseudo-inversion de la matrice jacobienne de la fonction liant les orientations des cardans des actionneurs au moment cinétique total de la grappe pour déterminer une nouvelle orientation des cardans, et on commande des vitesses de précession de l'un au moins des cardans des actionneurs fournissant le couple de commande pour arriver à la configuration recherchée. On effectue le calcul en appliquant une contrainte de recherche de configuration de grappe éloignée des configurations singulières par répartition, entre les deux groupes d'actionneurs, de la composante du moment cinétique total de la grappe qui est perpendiculaire à la fois à l'une et à l'autre des deux directions.
Defendini Ange
Lagadec Kristen
Morand Julien
Eads Astrium Sas
Goudreau Gage Dubuc
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