US3907226A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Redundant position and attitude control for spin stabilized devices
Assignee: Raytheon Co
•
Filing: 1973-06-11
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Granted: 1975-09-23
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Expires: 1993-06-11
Abstract
Abstract Position and attitude control for a spin stabilized device is effected by utilizing two pairs of thrust producing jets. The first pair of jets (axial jets) is positioned diametrically opposite each other about the spin axis of the device for providing thrusts parallel to the spin axis. The second pair of jets (canted jets) is positioned diametrically opposite each other about the spin axis and secured at or near a corner of the device for providing thrusts passing through the center of gravity of the device. Continuous firing of one axial jet can be chosen for a time equal to an integer number of spin and nutation periods, such that the residual spin axis precession and nutation will be minimized at the end of the thrusting interval. Continuous firing of two axial jets provides translation of the device. If the instantaneous torque of each jet is unequal, the undesired spin axis precession and nutation angle is reduced to a small fraction (</=0.1) of the angle that results with firing one axial jet in the continuous mode. A pulsed firing of one axial jet generates spin axis precession where the timing of the firing sector is synchronized to the spin period by using an external spin phase reference. Pulsing of two axial jets is useful as a vernier correction to a precession maneuver, if the very small thrust difference occurs between the two axial jets. This vernier correction can be made concurrently with a translational correction if conservation of energy is desired. Firing of two canted jets, either in the pulsed or continuous modes, provides redundant translational movement of the device. Continuous firing of one canted jet over a number of spin periods provides cancellation of the thrust components normal to the spin axis to also provide redundant translational control function.
Inventors
- 👤 Murray J Neufeld
- 👤 Walter M Smotrys
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 15:36
CPC Classifications
B; B64; B64G; B64G1/00; B64G1/22; B64G1/24; B64G1/26; B64G1/244
Claims Analysis
Total Claims: 61
Claim 1
Independent Claim
203 words
In a spin stabilized device having a center of gravity, a spin axis passing through the center of gravity, and an external surface defining the outer limits of the device and providing at least one end surface passing through the spin axis at a point displaced from the center of gravity, an arrangement for control of the position and attitude of the device with respect to a fixed reference point comprising: a first pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface in a manner such as to provide thrusts whose vectors are directed parallel to the spin axis when said first pair of thrust producing means are actuated; and a second pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface in such a manner as to provide thrusts whose vectors are directed to pass through the center of gravity when said second pair of thrust producing means are actuated, the direction of the thrusts of said second pair passing at an angle Epsilon through any plane normal to the spin axis, the angle Epsilon being 0*< Epsilon <90*.
Claim 2
Dependent Claim
203 words
In a spin stabilized device having a center of gravity, a spin axis passing through the center of gravity, and an external surface defining the outer limits of the device and providing at least one end surface passing through the spin axis at a point displaced from the center of gravity, an arrangement for control of the position and attitude of the device with respect to a fixed reference point comprising: a first pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface in a manner such as to provide thrusts whose vectors are directed parallel to the spin axis when said first pair of thrust producing means are actuated; and a second pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface in such a manner as to provide thrusts whose vectors are directed to pass through the center of gravity when said second pair of thrust producing means are actuated, the direction of the thrusts of said second pair passing at an angle Epsilon through any plane normal to the spin axis, the angle Epsilon being 0*< Epsilon <90*.
Claim 3
Dependent Claim
67 words
An arrangement as in claim 1 wherein said external surface includes a cylindrical peripheral surface having an axis coinciding with the spin axis, wherein said end surface connects with said cylindrical peripheral surface to define at least two joining points having a relatively maximum distance from the center of gravity, and wherein said second pair of thrust producing means are positioned respectively at the two joining points.
Claim 4
Dependent Claim
31 words
An arrangement as in claim 1 further including controllers for each of said pairs of thrust producing means and coupled thereto for controlling said thrust producing means singly and in combination.
Claim 5
Dependent Claim
114 words
An arrangement as in claim 3 further including a master controller coupled to each of said controllers, said master controller having means operable to continuously actuate one of said first pair of thrust producing means for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device, for minimizing the residual spin axis precession and nutation at the end of actuation of said one of said first pair of thrust producing means.
Claim 6
Dependent Claim
78 words
An arrangement as in claim 3 further including a master controller coupled to each of said controllers, said master controller having means operable to continuously actuate said first pair of thrust producing means for imparting translation in the direction of the spin axis to the device and to minimize precession of the device when any of the magnitudes, directions, and moment arms of the thrust vectors of each of said first pair of thrust producing means are mismatched.
Claim 7
Dependent Claim
38 words
An arrangement as in claim 3 further including a master controller coupled to each of said controllers, said master controller having means operable to pulse one of said first pair of thrust producing means for precessing the device.
Claim 8
Dependent Claim
78 words
An arrangement as in claim 3 further including a master controller coupled to each of said controllers, said master controller means operable to pulse said first pair of thrust producing means for providing a vernier precession of the device, when any of the magnitudes, directions, and moment arms of the thrust vectors of each of said first pair of thrust producing means are mismatched, and for imparting translation in the direction of the spin axis to the device.
Claim 9
Dependent Claim
49 words
An arrangement as in claim 3 further including a master controller coupled to each of said controllers, said master controller having means operable to pulse and to continuously actuate said second pair of thrust producing means for imparting translation of the device in the direction of the spin axis.
Claim 10
Dependent Claim
55 words
An arrangement as in claim 3 further including a master controller coupled to each of said controllers, said master controller having means operable to pulse and to continuously actuate one of said second pair of thrust producing means for imparting translation perpendicular to and/or in the direction of the spin axis and of the device.
Claim 11
Independent Claim
180 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, a spin axis passing through the center of gravity, and an external surface defining the outer limits of the device and providing an end surface passing through the spin axis, comprising the steps of: utilizing a first pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface for providing thrusts whose vectors are directed parallel to the spin axis when the first pair of thrust producing means are actuated; and utilizing a second pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface for providing thrusts whose vectors are directed to pass through the center of gravity when the second pair of thrust producing means are actuated, the direction of the thrusts of said second pair of thrust producing means passing at an angle epsilon through any plane normal to the spin axis, the angle epsilon being 0*< epsilon <90*.
Claim 12
Independent Claim
180 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, a spin axis passing through the center of gravity, and an external surface defining the outer limits of the device and providing an end surface passing through the spin axis, comprising the steps of: utilizing a first pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface for providing thrusts whose vectors are directed parallel to the spin axis when the first pair of thrust producing means are actuated; and utilizing a second pair of thrust producing means positioned diametrically opposite to each other about the spin axis and secured to the end surface for providing thrusts whose vectors are directed to pass through the center of gravity when the second pair of thrust producing means are actuated, the direction of the thrusts of said second pair of thrust producing means passing at an angle epsilon through any plane normal to the spin axis, the angle epsilon being 0*< epsilon <90*.
Claim 13
Dependent Claim
101 words
A method as in claim 10 further including the step of continuously actuating one of the first pair of thrust producing means for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device, for minimizing the residual spin axis precession and nutation at the end of actuation of said one of said first pair of thrust producing means.
Claim 14
Dependent Claim
65 words
A method as in claim 10 further including the step of continuously actuating the first pair of thrust producing means for imparting translation in the direction of the spin axis to the device and to minimize precession of the device when any of the magnitudes, directions, and moment arms of the thrust vectors of each of the first pair of thrust producing means are mismatched.
Claim 15
Dependent Claim
25 words
A method as in claim 10 further including the step of pulsing one of the first pair of thrust producing means for precessing the device.
Claim 16
Dependent Claim
66 words
A method as in claim 10 further including the step of pulsing the first pair of thrust producing means for providing a vernier precession of the device, when any of the magnitudes, directions, and moment arms of the thrust vectors of each of the first pair of thrust producing means are mismatched, and for imparting translation in the direction of the spin axis to the device.
Claim 17
Dependent Claim
35 words
A method as in claim 10 further including the step of pulsing and continuously actuating the second pair of thrust producing means for imparting translation of the device in the direction of the spin axis.
Claim 18
Dependent Claim
41 words
A method as in claim 10 further including the step of pulsing and continuously actuating one of the second pair of thrust producing means for imparting translation perpendicular to and/or in the direction of the spin axis and of the device.
Claim 19
Dependent Claim
155 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device with respect to a reference point comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis for producing thrusts; and structural means for securing said pair of thrust producing means to the spin stabilized device at at least two joining points on a first plane distanced from and substantially parallel to a second plane normal to the spin axis and passing through the center of gravity, for directing the thrust vectors of the thrusts substantially through the center of gravity when said pair of thrust producing means are actuated at an angle epsilon to the second plane, the angle epsilon being 0*< epsilon <90*, and for providing the thrusts with axial and radial components.
Claim 20
Dependent Claim
155 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device with respect to a reference point comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis for producing thrusts; and structural means for securing said pair of thrust producing means to the spin stabilized device at at least two joining points on a first plane distanced from and substantially parallel to a second plane normal to the spin axis and passing through the center of gravity, for directing the thrust vectors of the thrusts substantially through the center of gravity when said pair of thrust producing means are actuated at an angle epsilon to the second plane, the angle epsilon being 0*< epsilon <90*, and for providing the thrusts with axial and radial components.
Claim 21
Dependent Claim
29 words
An arrangement as in claim 17 further including controllers for said pair of thrust producing means and coupled thereto for controlling said thrust producing means singly and in combination.
Claim 22
Dependent Claim
48 words
An arrangement as in claim 18 further including a master controller coupled to each of said controllers, said master controller having means operable to pulse and to continuously actuate said pair of thrust producing means for imparting translation of the device in the direction of the spin axis.
Claim 23
Dependent Claim
53 words
An arrangement as in claim 18 further including a master controller coupled to each of said controllers, said master controller having means operable to pulse and to continuously actuate one of said pair of thrust producing means for imparting translation perpendicular to and in the direction of the spin axis of the device.
Claim 24
Dependent Claim
48 words
An arrangement as in claim 18 further including a master controller coupled to each of said controllers, said master controller havIng means operable to pulse and to continuously actuate one of said pair of thrust producing means for imparting translation perpendicular to the spin axis of the device.
Claim 25
Dependent Claim
50 words
An arrangement as in claim 18 further including a master controller coupled to each of said controllers, said master controller having means operable to pulse and to continuously actuate one of said pair of thrust producing means for imparting translation in the direction of the spin axis of the device.
Claim 26
Independent Claim
133 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, a spin axis passing substantially through the center of gravity, and a plane normal to the spin axis and passing through the center of gravity, comprising the steps of: positioning a pair of thrust producing means substantially diametrically opposite to each other about the spin axis of the spin stabilized device; and thrusting and directing the thrust producing means for providing thrusts with axial and radial components whose resultant vector directions thereof pass substantially through the center of gravity when the pair of thrust producing means are actuated and at an angle epsilon to the plane normal to the spin axis and passing through the center of gravity, the angle epsilon being 0*< epsilon <90*.
Claim 27
Independent Claim
133 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, a spin axis passing substantially through the center of gravity, and a plane normal to the spin axis and passing through the center of gravity, comprising the steps of: positioning a pair of thrust producing means substantially diametrically opposite to each other about the spin axis of the spin stabilized device; and thrusting and directing the thrust producing means for providing thrusts with axial and radial components whose resultant vector directions thereof pass substantially through the center of gravity when the pair of thrust producing means are actuated and at an angle epsilon to the plane normal to the spin axis and passing through the center of gravity, the angle epsilon being 0*< epsilon <90*.
Claim 28
Dependent Claim
34 words
A method as in claim 23 further including the step of pulsing and continuously actuating the pair of thrust producing means for imparting translation of the device in the direction of the spin axis.
Claim 29
Dependent Claim
39 words
A method as in claim 23 further including the step of pulsing and continuously actuating one of the pair of thrust producing means for imparting translation perpendicular to and in the direction of the spin axis of the device.
Claim 30
Dependent Claim
34 words
A method as in claim 23 further including the step of pulsing and continuously actuating one of the pair of thrust producing means for imparting translation perpendicular to the spin axis of the device.
Claim 31
Dependent Claim
36 words
A method as in claim 23 further including the step of pulsing and continuously actuating one of the pair of thrust producing means for imparting translation in the direction of the spin axis of the device.
Claim 32
Dependent Claim
230 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device with respect to a reference point comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device for providing thrusts whose vectors are directed substantially parallel to the spin axis when said thrust producing means are actuated and thereby for inducing residual spin axis precession and nutation when the actuation is ended; controllers for said pair of thrust producing means and coupled thereto for controlling said thrust producing means singly and in combination; and a master controller coupled to each of said controllers, said master controller having means for continuously actuating one of said pair of thrust producing means for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device, said master controller means thereby operable for minimizing the residual spin axis precession and nutation at the end of actuation of said one of said pair of thrust producing means.
Claim 33
Dependent Claim
230 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device with respect to a reference point comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device for providing thrusts whose vectors are directed substantially parallel to the spin axis when said thrust producing means are actuated and thereby for inducing residual spin axis precession and nutation when the actuation is ended; controllers for said pair of thrust producing means and coupled thereto for controlling said thrust producing means singly and in combination; and a master controller coupled to each of said controllers, said master controller having means for continuously actuating one of said pair of thrust producing means for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device, said master controller means thereby operable for minimizing the residual spin axis precession and nutation at the end of actuation of said one of said pair of thrust producing means.
Claim 34
Dependent Claim
176 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device for providing and dirEcting thrusts whose vectors are directed substantially parallel to the spin axis when said pair of thrust producing means are actuated, and for providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; and control means coupled to said thrust producing means for continuously actuating said pair of thrust producing means for an integer number of complete spin cycles, for imparting translation to the device in the direction of its spin axis and for minimizing any precession and nutation of the device resulting from the mismatch of any of magnitudes, directions, and moment arms of the thrust vectors of each of said pair of thrust producing means.
Claim 35
Dependent Claim
176 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device for providing and dirEcting thrusts whose vectors are directed substantially parallel to the spin axis when said pair of thrust producing means are actuated, and for providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; and control means coupled to said thrust producing means for continuously actuating said pair of thrust producing means for an integer number of complete spin cycles, for imparting translation to the device in the direction of its spin axis and for minimizing any precession and nutation of the device resulting from the mismatch of any of magnitudes, directions, and moment arms of the thrust vectors of each of said pair of thrust producing means.
Claim 36
Dependent Claim
178 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for effecting corrections in the position and attitude of the device comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device for providing thrusts whose vectors are directed parallel to the spin axis when said pair of thrust producing means are actuated, and for providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; and control means for said thrust producing means and coupled thereto for controlling said thrust producing means, and having means for pulsing said pair of thrust producing means, for imparting a vernier precession force on the device by using to advantage the resultant mismatch of any of the magnitudes, directions, and moment arms of the thrust vectors of said pair of thrust producing means, and for imparting translation in the direction of the spin axis to the device.
Claim 37
Dependent Claim
178 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for effecting corrections in the position and attitude of the device comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device for providing thrusts whose vectors are directed parallel to the spin axis when said pair of thrust producing means are actuated, and for providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; and control means for said thrust producing means and coupled thereto for controlling said thrust producing means, and having means for pulsing said pair of thrust producing means, for imparting a vernier precession force on the device by using to advantage the resultant mismatch of any of the magnitudes, directions, and moment arms of the thrust vectors of said pair of thrust producing means, and for imparting translation in the direction of the spin axis to the device.
Claim 38
Independent Claim
206 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: positioning a pair of thrust producing means substantially diametrically opposite to each other about the spin axis and securing the pair of thrust producing means to the spin stabilized device for providing thrusts whose vectors thereof are directed substantially parallel to the spin axis when the pair of thrust producing means are thrusted; thrusting one of the pair of thrust producing means and thereby inducing residual spin axis precession and nutation when the thrusting is terminated; continuing the thrusting for a period of time equal to an integer number of device spin periods in accordance with the relationship N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device; and terminating the thrusting at the end of the period of time for minimizing the residual spin axis precession and nutation at the end of the thrusting of the one of the pair of thrust producing means.
Claim 39
Independent Claim
206 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: positioning a pair of thrust producing means substantially diametrically opposite to each other about the spin axis and securing the pair of thrust producing means to the spin stabilized device for providing thrusts whose vectors thereof are directed substantially parallel to the spin axis when the pair of thrust producing means are thrusted; thrusting one of the pair of thrust producing means and thereby inducing residual spin axis precession and nutation when the thrusting is terminated; continuing the thrusting for a period of time equal to an integer number of device spin periods in accordance with the relationship N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device; and terminating the thrusting at the end of the period of time for minimizing the residual spin axis precession and nutation at the end of the thrusting of the one of the pair of thrust producing means.
Claim 40
Independent Claim
178 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: securing a pair of thrust producing means to the spin stabilized device at positions substantially diametrically opposite to each other about the spin axis for providing thrusts whose vectors thereof are directed substantially parallel to the spin axis when the pair of thrust producing means are thrusted, and providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; thrusting the pair of thrust producing means for imparting translation in the direction of the spin axis to the device; continuing the thrusting for an integer number of complete spin cycles and thereby minimizing precession of the device, resulting from the mismatch of any of the magnitudes, directions, and moMent arms of the thrust vectors of each of the pair of thrust producing means; and terminating the thrusting at the end of the integer number of complete spin cycles.
Claim 41
Independent Claim
178 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: securing a pair of thrust producing means to the spin stabilized device at positions substantially diametrically opposite to each other about the spin axis for providing thrusts whose vectors thereof are directed substantially parallel to the spin axis when the pair of thrust producing means are thrusted, and providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; thrusting the pair of thrust producing means for imparting translation in the direction of the spin axis to the device; continuing the thrusting for an integer number of complete spin cycles and thereby minimizing precession of the device, resulting from the mismatch of any of the magnitudes, directions, and moMent arms of the thrust vectors of each of the pair of thrust producing means; and terminating the thrusting at the end of the integer number of complete spin cycles.
Claim 42
Independent Claim
161 words
A method for effecting corrections to the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: securing a pair of thrust producing means to the spin stabilized device at positions substantially diametrically opposite to each other about the spin axis for providing thrusts whose vectors are directed substantially parallel to the spin axis when the pair of thrust producing means are thrusted, and providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; and pulse thrusting the pair of thrust producing means and using to advantage the resultant mismatch of any of the magnitudes, directions, and moment arms of the thrust vectors of the pair of thrust producing means as a vernier precession correction force on the device, and imparting translation of the device in the direction of the spin axis to the device.
Claim 43
Independent Claim
161 words
A method for effecting corrections to the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: securing a pair of thrust producing means to the spin stabilized device at positions substantially diametrically opposite to each other about the spin axis for providing thrusts whose vectors are directed substantially parallel to the spin axis when the pair of thrust producing means are thrusted, and providing a mismatch of at least one of the magnitudes, directions and moment arms of the thrust vectors; and pulse thrusting the pair of thrust producing means and using to advantage the resultant mismatch of any of the magnitudes, directions, and moment arms of the thrust vectors of the pair of thrust producing means as a vernier precession correction force on the device, and imparting translation of the device in the direction of the spin axis to the device.
Claim 44
Dependent Claim
118 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, apparatus for control of the position and attitude of the device comprising: at least one thrust producing means for producing a thrust and means for securing said thrust producing means to the spin stabilized device at an angle epsilon to the plane normal to the spin axis for directing the thrust whose vector direction passes substantially through the center of gravity at the angle epsilon the angle epsilon being 0*< epsilon <90*, and thereby for providing the thrust with axial and radial components; and means coupled to said thrust producing means for actuating said thrust producing means.
Claim 45
Dependent Claim
118 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, apparatus for control of the position and attitude of the device comprising: at least one thrust producing means for producing a thrust and means for securing said thrust producing means to the spin stabilized device at an angle epsilon to the plane normal to the spin axis for directing the thrust whose vector direction passes substantially through the center of gravity at the angle epsilon the angle epsilon being 0*< epsilon <90*, and thereby for providing the thrust with axial and radial components; and means coupled to said thrust producing means for actuating said thrust producing means.
Claim 46
Dependent Claim
45 words
An apparatus as in claim 34 further including a master controller coupled to said controller means, said master controller having means operable to pulse and to continuously actuate said thrust producing means for imparting translation of the device in the direction of the spin axis.
Claim 47
Dependent Claim
48 words
An apparatus as in claim 34 further including a master controller coupled to said controller means, said master controller having means operable to pulse and to continuously actuate said thrust producing means for imparting translation perpendicular to and in the direction of the spin axis of the device.
Claim 48
Dependent Claim
42 words
Apparatus as in claim 34 further including a master controller coupled to said actuating means, said master controller having means operable to pulse and to continuously actuate said thrust producing means for imparting translation perpendicular to the spin axis of the device.
Claim 49
Dependent Claim
44 words
Apparatus as in claim 34 further including a master controller coupled to said actuating means, said master controller having means operable to pulse and to continuously actuate said thrust producing means for imparting translation in the direction of the spin axis of the device.
Claim 50
Independent Claim
119 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, a spin axis passing substantially through the center of gravity, and a plane normal to the spin axis and passing through the center of gravity, comprising the steps of: securing at least one thrust producing means to the spin stabilized device at an angle epsilon to the plane normal to the spin axis; thrusting the thrust producing means for providing at least one thrust; and directing the thrust vector of the thrust substantially through the center of gravity at the angle epsilon , the angle epsilon being 0*< epsilon <90*, and thereby providing the thrust vector with axial and radial components.
Claim 51
Independent Claim
119 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, a spin axis passing substantially through the center of gravity, and a plane normal to the spin axis and passing through the center of gravity, comprising the steps of: securing at least one thrust producing means to the spin stabilized device at an angle epsilon to the plane normal to the spin axis; thrusting the thrust producing means for providing at least one thrust; and directing the thrust vector of the thrust substantially through the center of gravity at the angle epsilon , the angle epsilon being 0*< epsilon <90*, and thereby providing the thrust vector with axial and radial components.
Claim 52
Dependent Claim
32 words
A method as in claim 39 further including the step of pulsing and continuously actuating the thrust producing means for imparting translation of the device in the direction of the spIn axis.
Claim 53
Dependent Claim
35 words
A method as in claim 39 further including the step of pulsing and continuously actuating the thrust producing means for imparting translation perpendicular to and in the direction of the spin axis of the device.
Claim 54
Dependent Claim
30 words
A method as in claim 39 further including the step of pulsing and continuously thrusting the thrust producing means for imparting translation perpendicular to the spin axis of the device.
Claim 55
Dependent Claim
32 words
A method as in claim 39 further including the step of pulsing and continuously thrusting the thrust producing means for imparting translation in the direction of the spin axis of the device.
Claim 56
Dependent Claim
185 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device comprising: at least one thrust producing means secured to the spin stabilized device for providing a thrust whose vector is directed substantially parallel to the spin axis when said thrust producing means is actuated and for inducing thereby residual spin axis precession and nutation when the actuation is ended; and controller means for said thrust producing means and coupled thereto for controlling said thrust producing means, and for continuously actuating said thrust producing means for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device, said controller means thereby operable for minimizing the residual spin axis precession and nutation at the end of actuation of said thrust producing means.
Claim 57
Dependent Claim
185 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device comprising: at least one thrust producing means secured to the spin stabilized device for providing a thrust whose vector is directed substantially parallel to the spin axis when said thrust producing means is actuated and for inducing thereby residual spin axis precession and nutation when the actuation is ended; and controller means for said thrust producing means and coupled thereto for controlling said thrust producing means, and for continuously actuating said thrust producing means for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device, said controller means thereby operable for minimizing the residual spin axis precession and nutation at the end of actuation of said thrust producing means.
Claim 58
Independent Claim
172 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: securing thrust producing means to the spin stabilized device for producing a thrust whose vector thereof is directed substantially parallel to the spin axis when the thrust producing means is thrusted; thrusting the thrust producing means and thereby inducing residual spin axis precession and nutation when the thrusting is terminated; continuing the thrusting for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device; and terminating the thrusting at the end of the period of time for minimizing the residual spin axis precession and nutation at the end of the thrusting of the thrust producing means.
Claim 59
Independent Claim
172 words
A method for controlling the position and attitude of a spin stabilized device having a center of gravity, and a spin axis passing substantially through the center of gravity, comprising the steps of: securing thrust producing means to the spin stabilized device for producing a thrust whose vector thereof is directed substantially parallel to the spin axis when the thrust producing means is thrusted; thrusting the thrust producing means and thereby inducing residual spin axis precession and nutation when the thrusting is terminated; continuing the thrusting for a period of time equal to an integer number of device spin periods such that N K Divided by ( delta -1), where N is the integer number of spin periods of the device, K is an integer, and delta is the ratio of spin to transverse moments of inertia of the device; and terminating the thrusting at the end of the period of time for minimizing the residual spin axis precession and nutation at the end of the thrusting of the thrust producing means.
Claim 60
Dependent Claim
153 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device with respect to a reference point comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device in such a manner as to provide thrusts whose vectors are directed to pass substantially through the center of gravity when said pair of thrust producing means are actuated, the direction of the thrusts of said pair passing at an angle epsilon through any plane normal to the spin axis, the angle epsilon being 0*< epsilon <90*; and structural means defining at least two joining pointe having a relatively maximum distance from the center of gravity, said pair of thrust producing means positioned respectively at the two joining points.
Claim 61
Dependent Claim
153 words
In a spin stabilized device having a center of gravity and a spin axis passing substantially through the center of gravity, an arrangement for control of the position and attitude of the device with respect to a reference point comprising: a pair of thrust producing means positioned substantially diametrically opposite to each other about the spin axis and secured to the spin stabilized device in such a manner as to provide thrusts whose vectors are directed to pass substantially through the center of gravity when said pair of thrust producing means are actuated, the direction of the thrusts of said pair passing at an angle epsilon through any plane normal to the spin axis, the angle epsilon being 0*< epsilon <90*; and structural means defining at least two joining pointe having a relatively maximum distance from the center of gravity, said pair of thrust producing means positioned respectively at the two joining points.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1978-09-22 | 1979-03-24 | 1979-09-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1982-09-22 | 1983-03-24 | 1983-09-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1986-09-22 | 1987-03-24 | 1987-09-23 | $7700.00 | Window Closed / Lapsed |