Orientation control apparatus for space vehicle

Claim 2

An orientation control apparatus for a space vehicle, comprising: a first orientation control system for controlling the orientation of a main body of the space vehicle on the basis of information representing a variation in the orientation of the main body; a second orientation control system for controlling the orientation of a device provided on the main body on the basis of information representing a variation in the orientation of the device; a first estimation section for estimating a target direction of the device; a second estimation section for estimating an orientation error of the device on the basis of information representing the target direction estimated by the first estimation section and on the basis of information obtained by the first orientation control system and representing a variation in the orientation of the main body; a first compensation means for correcting the operation of the second orientation control system on the basis of the orientation error estimated by the second estimation section, thereby compensating for dynamic effects which the first orientation control system may have on the second orientation control system; and a second compensation means for correcting the operation of the first orientation control system on the basis of the estimated orientation error, thereby compensating for dynamic effects which the second orientation control system may have on the first orientation control system when the first compensation means performs compensation.

Claim 3

An orientation control apparatus according to claim 1, wherein said first orientation control system includes a first detection means for detecting an orientation variation of the main body as an error angle; a first signal processor for producing a driving control signal on the basis of the error angle detected by the first orientation error angle detection means, such that the driving control signal can be used for canceling the error angle; and a first actuator, driven on the basis of the driving control signal produced by the first signal processor, for varying the orientation of the main body; said second orientation control system includes a second detection means for detecting an orientation variation of the device with reference to the information representing the target direction as an error angle; a second signal processor for producing a driving control signal on the basis of the error angle detected by the second orientation error angle detection means, such that the driving control signal can be used for canceling the error angle; and a second actuator, driven on the basis of the driving control signal produced by the second signal processor, for varying the orientation of the device; said first estimation section constantly estimates a target angle of the device and outputs an estimated value of the target angle; said second estimation section includes a subtractor for calculating a difference between a signal representing the error angle detected by the first orientation error angle detection means and the estimated value of the target angle obtained by the first estimation section, said second estimation section estimating, on the basis of an output of the subtractor, an angle by which the orientation of the device is varied as a result of an orientation variation of the main body; said first compensation means includes compensation signal generation means for generating a compensation signal which is used for compensating for the driving control of the device in accordance with the angle estimated by the second estimation section, and subtraction means for subtracting the compensation signal generated by the compensation signal generating means from the driving control signal produced by the second signal processor; and said second compensation means includes an estimation section for estimating effects which an orientation variation of the device may have on the main body by multiplying the compensation signal obtained by the first compensation means with an equivalent moment of inertia of the device; and an adder means for adding an output of the estimation section to the driving control signal produced in the first orientation control system.

Claim 4

An orientation control apparatus according to claim 1, wherein said first orientation control system includes a first angular velocity detection means for detecting an angular velocity of an orientation variation of the main body and outputting the detected angular velocity as angular velocity information; a first signal processor for producing a driving control signal on the basis of the angular velocity information output by the orientation angular velocity detection means, such that the driving control signal can be used for canceling the angular velocity; and a first actuator, driven on the basis of the driving control signal produced by the first signal processor, for varying the orientation of the main body; said second orientation control system includes an error angle detection means for detecting an orientation angle of the device with reference to a target angle as error angle information; a second signal processor for producing a driving control signal on the basis of the error angle information detected by the orientation error angle detection means, such that the driving control signal can be used for canceling the error angle; and a second actuator, driven on the basis of the driving control signal produced by the second signal processor, for varying the orientation of the device; said first estimation section constantly estimates a target angle of the device and outputs an estimated value of the target angle; said second estimation section includes an integrator for integrating the angular velocity information output by the orientation angular velocity detection means so as to convert the angular velocity information into angular information, and a subtractor for calculating a difference between an output of the integrator and the estimated value of the target angle obtained by the first estimation section, said second estimation section estimating, on the basis of an output of the subtractor, an angle by which the orientation of the device is varied as a result of an orientation variation of the main body; said first compensation means includes compensation signal generation means for generating a compensation signal which is used for compensating for the driving control of the device in accordance with the angle estimated by the second estimation section, and subtraction means for subtracting the compensation signal generated by the compensation signal generating means from the driving control signal produced by the second signal processor; and said second compensation means includes an estimation section for estimating effects which an orientation variation of the device may have on the main body by multiplying the compensation signal obtained by the first compensation means with an equivalent moment of inertia of the device; and an adder means for adding an output of the estimation section to the driving control signal produced in the first orientation control system.

Claim 5

An orientation control apparatus according to claim 1, wherein said first orientation control system includes an orientation angular velocity detection means for detecting an angular velocity of an orientation variation of the main body and outputting the detected angular velocity as angular velocity information; a first signal processor for producing a driving control signal on the basis of the angular velocity information output by the orientation angular velocity detection means, such that the driving control signal can be used for canceling the angular velocity; and a first actuator, driven on the basis of the driving control signal produced by the first signal processor, for varying the orientation of the main body; said second orientation control system includes an orientation error angle detection means for detecting an orientation angle of the device with reference to a target angle as error angle information; a second signal processor for producing a driving control signal on the basis of the error angle information detected by the orientation error angle detection means, such that the driving control signal can be used for canceling the error angle; and a second actuator, driven on the basis of the driving control signal produced by the second signal processor, for varying the orientation of the device; said first estimation section constantly estimates a variation rate of the target angle of the device and outputs an estimated value of the variation rate of the target angle; said second estimation section includes a subtractor for calculating a difference between the angular velocity information output by the orientation angular velocity detection means and the estimated value of the variation rate of the target angle, said second estimation section estimating, on the basis of an output of the subtractor, an angle by which the orientation of the device is varied as a result of an orientation variation of the main body; said first compensation means includes compensation signal generation means for generating a compensation signal which is used for compensating for the driving control of the device in accordance with the angle estimated by the second estimation section, and subtraction means for subtracting the compensation signal generated by the compensation signal generating means from the driving control signal produced by the second signal processor; and said second compensation means includes an estimation section for estimating effects which an orientation variation of the device may have on the main body by multiplying the compensation signal obtained by the first compensation means with an equivalent moment of inertia of the device; and adder means for adding an output of the estimation section to the driving control signal produced in the first orientation control system.

Claim 6

An orientation control apparatus according to claim 1, wherein said first orientation control system includes an orientation error angle detection means for detecting an orientation variation of the main body as error angle information; a first signal processor for producing a driving control signal on the basis of the angular velocity information output by the orientation error angle detection means, such that the driving control signal can be used for canceling the error angle; and a first actuator, driven on the basis of the driving control signal produced by the first signal processor, for varying the orientation of the main body; said second orientation control system includes second orientation error angle detection means for detecting an orientation variation of the device with reference to a target angle as error angle information; a second signal processor for producing a driving control signal on the basis of the error angle information detected by the second orientation error angle detection means, such that the driving control signal can be used for canceling the error angle; and a second actuator, driven on the basis of the driving control signal produced by the second signal processor, for varying the orientation of the device; said first estimation section constantly estimates a variation rate of the target angle of the device and outputs an estimated value of the variation rate of the target angle; said second estimation section includes an orientation angular velocity detection means for detecting an angular velocity of the orientation variation of the main body and outputting the detected angular velocity as angular velocity information, a subtractor for calculating a difference between the angular velocity information output by the orientation angular velocity detecting means and the estimated value of the variation rate of the target angle, said second estimation section estimating on the basis of an output of the subtractor, an angle by which the orientation of the device is varied as a result of an orientation variation of the main body; said first compensation means includes compensation signal generation means for generating a compensation signal which is used for compensating for the driving control of the device in accordance with the angle estimated by the second estimation section, and subtraction means for subtracting the compensation signal generated by the compensation signal generating means from the driving control signal produced by the second signal processor; and said second compensation means includes a compensation section for estimating an angular velocity at which the orientation of the main body is varied as a result of the orientation variation of the device, by use of the angular velocity information obtained by the orientation angular velocity detection means and for outputting an estimated value of the angular velocity as an angular velocity compensation signal; an estimation section for estimating effects which an orientation variation of the device may have on the main body by multiplying the angular velocity compensation signal obtained by the driving estimation compensation section with an equivalent moment of inertia of the device; and adder means for adding an output of the estimation section to the driving control signal produced in the first orientation control system.