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    • 9. 发明申请
    • Gimbal disturbance calibration and compenstion
    • 云台干扰校准和补偿
    • US20070027590A1
    • 2007-02-01
    • US11191805
    • 2005-07-28
    • Ketao LiuJustin BurchGregory BeckerPatrick Nelson
    • Ketao LiuJustin BurchGregory BeckerPatrick Nelson
    • G01C23/00G06F17/00
    • G01C25/00G01C19/00
    • Various embodiments of the present invention are directed to precision control system for spacecraft gimbaled payloads. Embodiments of the invention provide an innovative technique of calibrating gimbals disturbances to directly canceling gimbal control disturbances. Such a calibration system includes a receiver for receiving telemetry data for pointing a payload, a processor for calculating a disturbance parameter vector for a gimbal disturbance model with the telemetry data and a transmitter for transmitting the disturbance parameter vector to compensate for pointing error when applied in pointing the payload. The gimbal disturbance model comprises a harness stiffness term, a disturbance harmonics term and at least one friction hysteresis term. The telemetry data may be time matched prior to calculating the disturbance parameter vector. Typically, the telemetry data comprises gimbal angle and applied torque data and the disturbance parameter vector is calculated from convergence of an iterative gradient computation with the telemetry data.
    • 本发明的各种实施例涉及用于航天器万向有载荷的精密控制系统。 本发明的实施例提供了一种用于校准万向架干扰以直接抵消万向节控制扰动的创新技术。 这样的校准系统包括用于接收用于指示有效载荷的遥测数据的接收器,用于利用遥测数据计算用于万向干扰模型的扰动参数矢量的处理器,以及用于发送干扰参数矢量的发射机,以补偿当应用于 指向有效载荷 万向节干扰模型包括线束刚度项,扰动谐波项和至少一个摩擦滞后项。 遥测数据可以在计算干扰参数矢量之前进行时间匹配。 通常,遥测数据包括万向角和施加的扭矩数据,并且通过迭代梯度计算与遥测数据的收敛来计算扰动参数向量。