Abstract: A method for controlling transition from thruster control to momentum wheel control to minimize nutation angle and transition time in a three-axis stabilized spacecraft employing an internal body fixed-momentum wheel as an attitude stabilizer. The method employs direct, substantially real-time measurement of momentum components and angular rates and generates paired roll thrust impluses and paired yaw thrust impulses in synchronization with the nutation period of the spacecraft to drive the spacecraft to a state of substantially zero nutation. The controller employs a deadbeat principle in a closed-loop real-time feedback system. In a preferred embodiment, the impulsive thruster firing commands in roll and yaw are simultaneous, spaced one-half nutation period apart in time with the effect that the target momentum is achieved in one to three pairs of impulse firings.

Abstract: An attitude control system for a three-axis controlled spacecraft (1) in which the location of thrusters causes significant cross-coupling torques. A thruster command conditioning electronics module (TCCEM) (3) is positioned between the conventional roll, pitch, and yaw loop controllers (41-43) and the thrusters (61-63). The TCCEM (3) converts spacecraft-axis-based torque requirement signals (TDX, TDY, TDZ) emanating from the loop controllers (41-43) into scalar quantities (UL, UM, UN) that are input to thruster modulators (51-53) that turn on one or more thrusters of the thruster pairs (L,M,N). The TCCEM (3) causes the spacecraft (1) attitude to be adjusted as commanded by the torque requirement signals (TDX, TDY TDZ) despite the presence of the cross-coupling. Two embodiments are illustrated: a working embodiment in which cross-coupling torques are produced about two axes (Y,Z), and a more general embodiment in which cross-coupling torques are present about all three axes (X,Y,Z).