US006523785B1

United Sta tes P a tent

( 12) ( 10) P a tent N 0. : US 6, 523, 785 B1
Henniga n ( 4 5) D a te o f P a tent: F eb . 25, 2003
( 54 ) REACTION WHEEL D ESATURATION 5, 14 9, 022 A * 9/1992 F la ment . . . . . . . . . . . . . . . . . . . . . . 24 4 /168
AP P ARATUS 5, 692, 707 A * 12/1997 Sma y . . . . . . . . . . . . . . . . . . . . . . . . . 24 4 /165
6, 113, 033 A * 9/2000 P a rks et a l. . . . . . . . . . . . . . . . . . 24 4 /165
( 76) IHV G HIOII Micha el ROSS Henlliga ll, 7670 Chels ea 6, 4 39, 510 B1 * 8/2002 Ba rde . . . . . . . . . . . . . . . . . . . . . . . . . 24 4 /165
P l. , Bea u mo nt, TX ( US) 77706
( * ) N o tice: Su b j ect to a ny dis cla imer, the term o f this * Cited b y ex a miner
p a tent is ex tended o r a dj u s ted u nder 35
USC' 154 ( k) ) b y 0 da ys ' P rima ry Ex a miner J . Wo o dro w Eldred
( 21) Ap p l. N 0. : 10/187, 234 ( 57) ABSTRACT
( 22) F lled: J u l 2 2002 The p res ent inv entio n p ro v ides a n a ttitu de co ntro l a ctu a tio n
( 51) Int. C] . 7 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B64 G 1/28 a p p a ra tu s a nd metho d to p erf o rm rea ctio n Wheel des a tu ra
( 52) US. Cl- . . . . - - - - - - - - - - - - - - - - - -- 24 4 /165; 24 4 /164 tio n. TWo o r mo re rea ctio n Wheels a re u s ed f o r ea ch o f the
( 58) F ield o f Sea rch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 4 /165, 164 , three a XiS_ The two rea ctio n Wheels a re u s ed to p erf o rm a
24 4 /158 R s imp le co s t ef f ectiv e electric p o Wered des a tu ra tio n o r s lo W
( 56) Ref erences Cited ing o f the rea ctio n Wheels b y ex cha nging mo mentu m With
ea ch o ther.
US. P ATEN T D OCUMEN TS
4 , 960, 250 A * 10/1990 Schmidt . . . . . . . . . . . . . . . . . . . . . 24 4 /164 4 Cla ims , 2 D ra wing Sheets
110
113 111 115130112117114
116130
123 125130122127124 121
|
130126
U. S. P a tent F eb . 25, 2003 Sheet 1 o f 2 US 6, 523, 785 B1
F ig. 1
1 13 1 1 1 1 15 130 1 12 1 1 7 1 14 123 121 125 130 122 127 124
116 130 130 126
U. S. P a tent F eb . 25, 2003 Sheet 2 o f 2 US 6, 523, 785 B1
F ig. 2
210
282 262 261 212 24 2 222 221 211 299 292 272 252 232 271 281 291 263 283
/
//
251 24 1 23] 233 253 299 293 273 223 24 3
US 6, 523, 785 B1
1
REACTION WHEEL D ESATURATION
AP P ARATUS
REF EREN CES CITED
US. P a tent D o cu ments
35114 54 Ma y, 1970 Ha milto n 24 4 /79
4 052654 Octo b er, 1977 Kra mer 318/64 9
4 77654 1 Octo b er, 1988 Ma yna rd 24 4 /165
4 960250 Octo b er, 1990 Schmidt 24 4 /164
504 2753 Au gu s t, 1991 Atla s 24 4 /165
5123617 J u ne, 1992 Linder, et a l. 24 4 /166
624 1194 J u ne, 2001 Heib erg 24 4 /165
6254 036 J u ly, 2001 Sev a s to n 24 4 /165
6285928 Sep temb er, 2001 Tilley, et a l. 701/13
BACKG ROUN D OF THE IN V EN TION
The inv entio n rela tes genera lly to the ? eld o f s p a cecra f t
a ttitu de co ntro l, a nd mo re p a rticu la rly to a n a p p a ra tu s a nd
metho d f o r u nlo a ding rea ctio n Wheel mo mentu m b y the u s e
o f a n o p p o s ing rea ctio n Wheel. Sp a cecra f t a ttitu de co ntro l is
req u ired to ma inta in p ro p er o rienta tio n o f the s p a cecra f t
rela ted to a p la net. Cu rrently s p a cecra f t a ttitu de co ntro l ma y
b e a cco mp lis hed b y s p inning the s p a cecra f t a nd b y mo u nt
ing the s ens o rs o r a ntenna s o n a des p u n p la tf o rm.
Alterna tiv ely, the s p a cecra f t ma y b e s ta b iliz ed in three a x es
b y a n a ttitu de co ntro l s ys tem u s ing f u el-b u rning thru s ters ,
b u t the u s e o f s u ch thru s ters req u ires the ex p enditu re o f f u el,
Which tends to limit the s erv ice lif e o f the s p a cecra f t.
Ano ther metho d o f three-a x is a ttitu de co ntro l is the u s e o f
rea ctio n Wheels o r mo mentu m Wheels to ef f ect p recis io n
a ttitu de co ntro l. The rea ctio n Wheels a re p o s itio ned Within
a nd ro ta te indep endently o f the s p a cecra f t. This ro ta tio n
ca u s es a to rq u e to a ct o n the inertia l ma s s o f the s p a cecra f t,
thereb y indu cing a ra dia l a ccelera tio n tha t ca u s es a ttitu dina l
mo v ement o f the s p a cecra f t. In this Wa y the to rq u e crea ted
b y the rea ctio n Wheels is u s ed to ef f ect a ttitu de co ntro l.
Env iro nmenta l dis tu rb a nce to rq u e s tha t a ct o n the s p a ce
cra f t tend to res u lt in a gra du a l increa s e in the Wheel
mo menta . In o rder to p rev ent the Wheels f ro m rea ching their
mecha nica l mo mentu m limits , a nd to thereb y ma inta in the
a b ility to p ro v ide rea ctio n Wheel b a s ed a ttitu de co ntro l, the
Wheel mo mentu m mu s t b e p erio dica lly redu ced o r des a tu
ra ted. Wheel mo mentu m ma y b e des a tu ra ted b y the u s e o f
f u el co ns u ming thru s ters , Which to rq u e the s p a cecra f t b o dy
in a ma nner Which o p p o s es the rea ctio n Wheel mo mentu m.
Ho Wev er, the u s e o f s u ch thru s ters is s u b j ect to the s a me
o b j ectio n o f limited lif etime des crib ed a b o v e. Ano ther
metho d o f rea ctio n Wheel des a tu ra tio n is the u s e o f ma gnetic
des a tu ra tio n, Which u s es ma gnetic to rq u ers to ca u s e a
decrea s e in the Wheel s p eed. In the s imp les t f o rm, the
to rq u ers a re s o leno ids tha t a re energiz ed to ca u s e cu rrent
? o W therein. When energiz ed, a ma gnetic ? eld is indu ced.
The res u lting ma gnetic ? eld s eeks to a lign its elf With the
ea rth s ma gnetic ? eld ca u s ing a to rq u e to a ct o n the s p a ce
cra f t b o dy in a ma nner, Which o p p o s es the rea ctio n Wheel
mo mentu m. Ma gnetic to rq u ers ca n no t ca u s e to rq u e in the
no rth s o u th p la ne, a ls o ma gnetic to rq u ers a re v ery ma s s iv e,
v ery s lo W a nd u s e a grea t a mo u nt o f electricity. The inv en
tio n elimina tes the need f o r thru s ter des a tu ra tio n like ma g
netic des a tu ra tio n b u t Wo u ld ha v e les s ma s s a nd p erf o rm
des a tu ra tio n f a s ter a nd co ns u me les s electricity f o r the s a me
a mo u nt o f des a tu ra tio n, Which mea ns a rea ctio n Wheel co u ld
b e ma de With a v ery s ma ll ma s s b u t Wo u ld need to b e
des a tu ra ted o f ten. Ano ther b ene? t o f the inv entio n o v er
10
20
25
30
35
4 0
4 5
50
55
60
65
2
ma gnetic des a tu ra tio n is tha t the inv entio n Wo u ld p erf o rm
b etter in high ea rth o rb its o r o ther p la nets Where there is
ma gnetic ? elds o f les s ma gnitu de.
BRIEF SUMMARY OF THE IN V EN TION
The p res ent inv entio n is a n a ttitu de co ntro l a ctu a tio n
s ys tem, Which u s es tWo rea ctio n Wheels f o r ea ch o f the three
a x is . The tWo rea ctio n Wheels ? rs t ro ta tio na l a x is a re ini
tia lly in the s a me p la ne. The tWo rea ctio n Wheels ea ch s ta rt
o f f ro ta ting in the s a me directio n to ex cha nge a n eq u a l
a mo u nt o f a ngu la r mo mentu m With the s p a cecra f t. Then the
inv entio n p erf o rms des a tu ra tio n o f the tWo rea ctio n Wheels
b y f ree s p inning b o th o f the rea ctio n Wheels a b o u t a s eco nd
a x is , Which is p erp endicu la r to the ? rs t a x is , While b eing
ro ta ted a b o u t a third a x is , Which is p erp endicu la r to the
s eco nd a x is . The tWo rea ctio n Wheels Wo u ld b e ro ta ted s o
tha t the tWo rea ctio n Wheels b ring their o Wn ? rs t a x is
a ngu la r mo mentu m in p la ne With the third a x is p la ne a nd a re
then ro ta ting in the s a me p la ne b u t in o p p o s ite directio ns a nd
then ca n b e s lo Wed do Wn b y ex cha nging mo mentu m With
ea ch o ther.
BRIEF D ESCRIP TION OF THE D RAWIN G S
The ma ny o b j ects a nd a dv a nta ges o f the p res ent inv entio n
Will b eco me a p p a rent to tho s e s killed in the a rt When the
f o llo Wing des crip tio n o f a n ex a mp le o f the b es t mo de f o r
p ra cticing the inv entio n is rea d in co nj u nctio n With the
a cco mp a nying dra Wing Wherein:
F IG . 1 illu s tra tes the P ref erred Emb o diment a nd rep re
s ents the gimb a ls three-dimens io na l o rienta tio n la id o u t in
o ne p la ne f o r s imp licity.
F IG . 2 illu s tra tes the Seco nd Ma j o r Emb o diment a nd
rep res ents the gimb a ls three-dimens io na l o rienta tio n la id o u t
in o ne p la ne f o r s imp licity.
D ETAILED D ESCRIP TION OF THE
P REF ERRED EMBOD IMEN TS
The inv entio n is a n a ttitu de co ntro l a ctu a to r s ys tem,
Which u s es tWo rea ctio n Wheels f o r ea ch o f the three a x is .
The tWo rea ctio n Wheels ? rs t ro ta tio na l a x is a re initia lly in
the s a me p la ne, b u t the tWo rea ctio n Wheels do no t s ha re the
s a me center o f ma s s . The tWo rea ctio n Wheels ea ch s ta rt o f f
ro ta ting in the s a me directio n to ex cha nge a n eq u a l a mo u nt
o f a ngu la r mo mentu m With the s p a cecra f t, b u t like a ll
rea ctio n Wheels they ev entu a lly ga in to mu ch s p eed a nd
mu s t b e s lo Wed do Wn o r b eco me u nu s a b le. The inv entio n
p erf o rms des a tu ra tio n o f the tWo rea ctio n Wheels b y f ree
s p inning b o th o f the rea ctio n Wheels a b o u t a s eco nd a x is ,
While b eing ro ta ted a b o u t a third a x is , Which is p erp endicu
la r to the s eco nd a x is . The tWo rea ctio n Wheels Wo u ld b e
ro ta ted s o tha t the tWo rea ctio n Wheels b ring their o Wn
a ngu la r mo mentu m in p la ne With the third a x is a nd a re then
ro ta ting in the s a me p la ne b u t in o p p o s ite directio ns a nd then
ca n b e s lo Wed do Wn b y ex cha nging mo mentu m a nd ca ncel
ing ea ch o ther o u t. The s a id des a tu ra tio n Will ha v e no net
to rq u e o n the s p a cecra f t.
As s ho Wn in F IG . 1 The inv entio n ( 110) is co mp ris ed o f
tWo rea ctio n Wheels ( 111) a nd ( 121) . The lef t rea ctio n Wheel
( 111) ma y b e in the f o rm o f a dis k o r, a s a f u rther ex a mp le,
ma y b e in the f o rm o f ring o r, a s a f u rther ex a mp le, ma y b e
in the f o rm o f a s p here. The right rea ctio n Wheel ( 121) is
identica l in f o rm, s iz e a nd ma s s to s a id lef t rea ctio n Wheel
( 111) . The lef t rea ctio n Wheel ( 111) is ro ta tio na lly co u p led to
the lef t rea ctio n Wheel a ctu a to r ( 112) a b o u t a lef t rea ctio n
Wheel a x is . The lef t rea ctio n Wheel a ctu a to r ( 112) v ia
US 6, 523, 785 B1
3
electro nic co mp u ter co ntro l ha s the mea ns to ro ta te s a id lef t
rea ctio n Wheel ( 111) a b o u t s a id lef t rea ctio n Wheel a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n
o f s a id lef t rea ctio n Wheel ( 111) a b o u t s a id lef t rea ctio n
Wheel a x is a nd f u rther ha v ing mea ns to f ree s p in o r a llo W
s a id lef t rea ctio n Wheel ( 111) to ro ta te f reely With no
res is ta nce a b o u t s a id lef t rea ctio n Wheel a x is in b o th direc
tio ns . The lef t rea ctio n Wheel a ctu a to r ( 112) is ro ta tio na lly
co u p led to the lef t gimb a l ( 117) a b o u t a lef t rea ctio n Wheel
a ctu a to r a x is , Which is p erp endicu la r to the lef t rea ctio n
Wheel a x is . The lef t gimb a l ( 117) b eing la rger tha n a nd
dis p o s ed a b o u t s a id lef t rea ctio n Wheel ( 111) a nd s a id lef t
rea ctio n Wheel a ctu a to r ( 112) . The lef t rea ctio n Wheel a ctu a
to r a x is co ntro l u nits ( 113) a nd ( 114 ) v ia electro nic co mp u ter
co ntro l ha v e the mea ns to ro ta te s a id lef t rea ctio n Wheel
a ctu a to r ( 112) a b o u t s a id lef t rea ctio n Wheel a ctu a to r a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n
o f s a id lef t rea ctio n Wheel a ctu a to r ( 112) a b o u t s a id lef t
rea ctio n Wheel a ctu a to r a x is a nd f u rther ha v ing mea ns to
f ree s p in o r a llo W s a id lef t rea ctio n Wheel a ctu a to r ( 112) to
ro ta te f reely With no res is ta nce a b o u t s a id lef t rea ctio n Wheel
a ctu a to r a x is in b o th directio ns . The lef t gimb a l ( 117) is
ro ta tio na lly co u p led to the s p a cecra f t ( 130) a b o u t a lef t
gimb a l a x is , Which is p erp endicu la r to s a id lef t rea ctio n
Wheel a ctu a to r a x is . The s p a cecra f t ( 130) b eing la rger tha n
a nd dis p o s ed a b o u t s a id lef t gimb a l ( 117) . The lef t gimb a l
a x is co ntro l u nits ( 115) a nd ( 116) v ia electro nic co mp u ter
co ntro l ha v e the mea ns to ro ta te s a id lef t gimb a l ( 117) a b o u t
s a id lef t gimb a l a x is in b o th directio ns a nd f u rther ha v ing
mea ns to s to p the ro ta tio n o f s a id lef t gimb a l ( 117) a b o u t
s a id lef t gimb a l a x is a nd f u rther ha v ing mea ns to f ree s p in
o r a llo W s a id lef t gimb a l ( 117) to ro ta te f reely With no
res is ta nce a b o u t s a id lef t gimb a l a x is in b o th directio ns . The
right rea ctio n Wheel ( 121) is ro ta tio na lly co u p led to s a id
right rea ctio n Wheel a ctu a to r ( 122) a b o u t a right rea ctio n
Wheel a x is . The right rea ctio n Wheel a ctu a to r ( 122) v ia
electro nic co mp u ter co ntro l ha s the mea ns to ro ta te s a id
right rea ctio n Wheel ( 121) a b o u t s a id right rea ctio n Wheel
a x is in b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id right rea ctio n Wheel ( 121) a b o u t s a id right
rea ctio n Wheel a x is a nd f u rther ha v ing mea ns to f ree s p in o r
a llo W s a id right rea ctio n Wheel ( 121) to ro ta te f reely With no
res is ta nce a b o u t s a id right rea ctio n Wheel a x is in b o th
directio ns . The right rea ctio n Wheel a ctu a to r ( 122) is ro ta
tio na lly co u p led to the right gimb a l ( 127) a b o u t a right
rea ctio n Wheel a ctu a to r a x is , Which is p erp endicu la r to s a id
right rea ctio n Wheel a x is . The right gimb a l b eing la rger tha n
a nd dis p o s ed a b o u t s a id right rea ctio n Wheel a nd s a id right
rea ctio n Wheel a ctu a to r. The right rea ctio n Wheel a ctu a to r
a x is co ntro l u nits ( 123) a nd ( 124 ) v ia electro nic co mp u ter
co ntro l ha v e the mea ns to ro ta te s a id right rea ctio n Wheel
a ctu a to r ( 122) a b o u t s a id right rea ctio n Wheel a ctu a to r a x is
in b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id right rea ctio n Wheel a ctu a to r ( 122) a b o u t
s a id right rea ctio n Wheel a ctu a to r a x is a nd f u rther ha v ing
mea ns to f ree s p in o r a llo W s a id right rea ctio n Wheel a ctu a to r
( 122) to ro ta te f reely With no res is ta nce a b o u t s a id right
rea ctio n Wheel a ctu a to r a x is in b o th directio ns . The right
gimb a l ( 127) is ro ta tio na lly co u p led to the s p a cecra f t ( 130)
a b o u t a right gimb a l a x is , Which is p erp endicu la r to s a id
right rea ctio n Wheel a ctu a to r a x is . The s p a cecra f t ( 130)
b eing la rger tha n a nd dis p o s ed a b o u t s a id right gimb a l ( 127) .
The right gimb a l a x is co ntro l u nits ( 125) a nd ( 126) v ia
electro nic co mp u ter co ntro l ha v e the mea ns to ro ta te s a id
right gimb a l ( 127) a b o u t s a id right gimb a l a x is in b o th
directio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f
s a id right gimb a l ( 127) a b o u t s a id right gimb a l a x is a nd
10
15
25
35
4 5
55
65
4
f u rther ha v ing mea ns to f ree s p in o r a llo W s a id right gimb a l
( 127) to ro ta te f reely With no res is ta nce a b o u t s a id right
gimb a l a x is in b o th directio ns . Attitu de co ntro l s ens o rs a nd
a co ntro l co mp u ter v ia electro nic co ntro l Wo u ld co ntro l the
inv entio n. Typ ica lly s lip rings o r s imila r dev ices a re u s ed to
b ring the electrica l s igna ls into a nd o u t o f ro ta ting gimb a ls ,
b u t if the gimb a ls a re limited to 380 degrees o f ro ta tio n With
a s to p then ca b les o r limited dis p la cement s igna l tra ns f er
a s s emb lies ma y b e u s ed to p a s s the s igna ls . To o p era te the
inv entio n a nd p erf o rm des a tu ra tio n the f o llo Wing o p era
tio na l s tep s mu s t b e f o llo Wed.
Step #101 The ro ta tio na l a x is o f s a id lef t rea ctio n Wheel
( 111) a nd s a id right rea ctio n Wheel ( 121) a re b o th initia lly in
the s a me p la ne, b u t s a id lef t rea ctio n Wheel ( 111) a nd s a id
right rea ctio n Wheel ( 121) do no t s ha re the s a me center o f
ma s s . The lef t rea ctio n Wheel a ctu a to r a x is co ntro l u nits
( 113) a nd ( 114 ) s to p the ro ta tio n o f s a id lef t rea ctio n Wheel
a ctu a to r ( 112) a b o u t s a id lef t rea ctio n Wheel a ctu a to r a x is .
The lef t gimb a l a x is co ntro l u nits ( 115) a nd ( 116) s to p the
ro ta tio n o f s a id lef t gimb a l ( 117) a b o u t s a id lef t gimb a l a x is .
The right rea ctio n Wheel a ctu a to r a x is co ntro l u nits ( 123)
a nd ( 124 ) s to p the ro ta tio n o f s a id right rea ctio n Wheel
a ctu a to r ( 122) a b o u t s a id right rea ctio n Wheel a ctu a to r a x is .
The right gimb a l a x is co ntro l u nits ( 125) a nd ( 126) s to p the
ro ta tio n o f s a id right gimb a l ( 127) a b o u t s a id right gimb a l
a x is . The tWo rea ctio n Wheel a ctu a to rs ( 112) a nd ( 122) s ta rt
o f f ro ta ting the tWo rea ctio n Wheels ( 111) a nd ( 121) in the
s a me directio n. The tWo rea ctio n Wheels ( 111) a nd ( 121)
ex cha nge a n eq u a l a mo u nt o f a ngu la r mo mentu m With the
s p a cecra f t ( 130) in the s a me p la ne a nd in the s a me directio n.
The a ngu la r mo mentu m o f the tWo rea ctio n Wheels ( 111) a nd
( 121) Will b e eq u a l.
Step #102 The lef t rea ctio n Wheel a ctu a to r a x is co ntro l
u nits ( 113) a nd ( 114 ) f ree s p in s a id lef t rea ctio n Wheel
a ctu a to r ( 112) a b o u t s a id lef t rea ctio n Wheel a ctu a to r a x is .
The right rea ctio n Wheel a ctu a to r a x is co ntro l u nits ( 123)
a nd ( 124 ) f ree s p in s a id right rea ctio n Wheel a ctu a to r ( 122)
a b o u t s a id right rea ctio n Wheel a ctu a to r a x is . The lef t gimb a l
a x is co ntro l u nits ( 115) a nd ( 116) ro ta te s a id lef t gimb a l
( 117) a b o u t s a id lef t gimb a l a x is . The right gimb a l a x is
co ntro l u nits ( 125) a nd ( 126) ro ta te s a id right gimb a l ( 127)
a b o u t s a id right gimb a l a x is in the o p p o s ite directio n o f the
ro ta tio n o f s a id lef t gimb a l ( 117) a b o u t s a id lef t gimb a l a x is ,
Which Will ca u s e s a id lef t rea ctio n Wheel ( 111) a nd s a id right
rea ctio n Wheel ( 121) to mo v e in o p p o s ite directio ns in o rder
to b ring the a ngu la r mo mentu m o f s a id lef t rea ctio n Wheel
( 111) a nd s a id right rea ctio n Wheel ( 121) in p la ne With the
ro ta tio n b eing crea ted b y s a id lef t gimb a l a x is co ntro l u nits
( 115) a nd ( 116) a nd s a id right gimb a l a x is co ntro l u nits ( 125)
a nd ( 126) , Which Will b ring the a ngu la r mo mentu m o f s a id
lef t rea ctio n Wheel ( 111) in p la ne With the lef t gimb a l a x is
a nd the a ngu la r mo mentu m o f s a id right rea ctio n Wheel
( 121) in p la ne With the right gimb a l a x is , b u t no W the
a ngu la r mo mentu m o f s a id lef t rea ctio n Wheel ( 111) a nd s a id
right rea ctio n Wheel ( 121) is in the s a me p la ne b u t in
o p p o s ite directio ns .
Step #103 N o W tha t the tWo rea ctio n Wheels ( 111) a nd
( 121) ha v e their a ngu la r mo mentu m in o p p o s ite directio ns
des a tu ra tio n ca n b egin. The lef t rea ctio n Wheel a ctu a to r a x is
co ntro l u nits ( 113) a nd ( 114 ) s to p the ro ta tio n o f s a id lef t
rea ctio n Wheel a ctu a to r ( 112) a b o u t s a id lef t rea ctio n Wheel
a ctu a to r a x is . The lef t gimb a l a x is co ntro l u nits ( 115) a nd
( 116) s to p the ro ta tio n o f s a id lef t gimb a l ( 117) a b o u t s a id
lef t gimb a l a x is . The right rea ctio n Wheel a ctu a to r a x is
co ntro l u nits ( 123) a nd ( 124 ) s to p the ro ta tio n o f s a id right
rea ctio n Wheel a ctu a to r ( 122) a b o u t s a id right rea ctio n Wheel
a ctu a to r a x is . The right gimb a l a x is co ntro l u nits ( 125) a nd
US 6, 523, 785 B1
5
( 126) s to p the ro ta tio n o f s a id right gimb a l ( 127) a b o u t s a id
right gimb a l a x is . The lef t rea ctio n Wheel a ctu a to r ( 112)
s to p s the ro ta tio n o f s a id lef t rea ctio n Wheel ( 111) a b o u t s a id
lef t rea ctio n Wheel a x is . The right rea ctio n Wheel a ctu a to r
( 122) s to p s the ro ta tio n o f s a id right rea ctio n Wheel ( 121)
a b o u t s a id right rea ctio n Wheel a x is . The lef t rea ctio n Wheel
( 111) a nd s a id right rea ctio n Wheel ( 121) Will b e des a tu ra ted
With the mo mentu m f ro m the tWo rea ctio n Wheels ( 111) a nd
( 121) ca nceling ea ch o ther o u t a nd theref o re the des a tu ra tio n
p ro ces s Wo u ld ha v e no net a ngu la r mo mentu m a p p lied to the
s p a cecra f t ( 130) . The rea ctio n Wheels ( 111) a nd ( 121) no W
b eing des a tu ra ted ca n b e res et to s tep #101 f o r a ngu la r
mo mentu m ex cha nge With the s p a cecra f t ( 130) .
SECON D MAJ OR EMBOD IMEN T OF THE
IN V EN TION
The Seco nd Ma j o r Emb o diment o f the inv entio n is a n
a ttitu de co ntro l a ctu a to r s ys tem, Which u s es tWo rea ctio n
Wheels f o r ea ch o f the three a x is . The tWo rea ctio n Wheels
ro ta tio na l a x is a re initia lly in the s a me p la ne. The tWo
rea ctio n Wheels s ha re the s a me center o f ma s s a nd a re u s ed
to p erf o rm a s imp le co s t ef f ectiv e electric p o Wered des a tu
ra tio n o r s lo Wing o f the rea ctio n Wheels . The tWo rea ctio n
Wheels in ea ch a x is s ta rt o f f ro ta ting in the s a me directio n to
a p p ly to rq u e o r a ngu la r mo mentu m to the s p a cecra f t, b u t
like a ll rea ctio n Wheels they ev entu a lly ga in to mu ch s p eed
a nd mu s t b e s lo Wed do Wn o r b eco me u nu s a b le. The inv en
tio n p erf o rms des a tu ra tio n o f the tWo rea ctio n Wheels b y
ro ta ting b o th o f the rea ctio n Wheels a ga ins t ea ch o ther. The
tWo rea ctio n Wheels Wo u ld b e ro ta ted s o tha t the tWo
rea ctio n Wheel s till s ha re the s a me ro ta tio na l a x is p la ne a nd
the s a me center o f ma s s b u t a re then ro ta ting in o p p o s ite
directio ns a nd then ca n b e s lo Wed do Wn b y b rea king a ga ins t
ea ch o ther. The s a id des a tu ra tio n Will ha v e no net to rq u e o n
the s p a cecra f t.
As s ho Wn in F IG . 2 The inv entio n ( 210) is co mp ris ed o f
tWo rea ctio n Wheels , a n inner rea ctio n Wheel ( 211) a nd a n
o u ter rea ctio n Wheel ( 212) . The inner rea ctio n Wheel ( 211)
ma y b e in the f o rm o f a dis k o r, a s a f u rther ex a mp le, ma y
b e in the f o rm o f ring o r, a s a f u rther ex a mp le, ma y b e in the
f o rm o f a s p here. The o u ter rea ctio n Wheel ( 212) is in the
f o rm o f a ring. The inner rea ctio n Wheel ( 211) is ro ta tio na lly
co u p led to the inner rea ctio n Wheel a ctu a to r ( 221) a b o u t a n
inner rea ctio n Wheel a x is . The inner rea ctio n Wheel a ctu a to r
( 221) v ia electro nic co mp u ter co ntro l ha s the mea ns to ro ta te
s a id inner rea ctio n Wheel ( 211) a b o u t s a id inner rea ctio n
Wheel a x is in b o th directio ns a nd f u rther ha v ing mea ns to
s to p the ro ta tio n o f s a id inner rea ctio n Wheel ( 211) a b o u t
s a id inner rea ctio n Wheel a x is a nd f u rther ha v ing mea ns to
f ree s p in o r a llo W s a id inner rea ctio n Wheel ( 111) to ro ta te
f reely With no res is ta nce a b o u t s a id inner rea ctio n Wheel a x is
in b o th directio ns . The inner rea ctio n Wheel a ctu a to r is
s u p p o rted b y a nes ted gimb a l co n? gu ra tio n, Which inclu des
three s u cces s iv ely la rger a nd co ncentrica lly dis p o s ed inner
inner gimb a l ( 231) , inner middle gimb a l ( 24 1) a nd inner
o u ter gimb a l ( 251) .
The inner rea ctio n Wheel a ctu a to r ( 221) is ro ta tio na lly
co u p led to the inner inner gimb a l ( 231) a b o u t a n inner
rea ctio n Wheel a ctu a to r a x is , Which is p erp endicu la r to s a id
inner rea ctio n Wheel a x is . The inner inner gimb a l ( 231)
b eing la rger tha n a nd dis p o s ed a b o u t s a id inner rea ctio n
Wheel a ctu a to r ( 221) a nd s a id inner rea ctio n Wheel ( 211) .
The inner inner gimb a l ( 231) is ro ta tio na lly co u p led to s a id
inner middle gimb a l ( 24 1) a b o u t a n inner inner gimb a l a x is ,
Which is p erp endicu la r to s a id inner rea ctio n Wheel a ctu a to r
a x is . The inner middle gimb a l ( 24 1) is ro ta tio na lly co u p led
to s a id inner o u ter gimb a l ( 251) a b o u t a n inner middle
10
15
25
35
4 5
55
65
6
gimb a l a x is , Which is p erp endicu la r to s a id inner inner
gimb a l a x is . The inner o u ter gimb a l ( 251) is ro ta tio na lly
co u p led to s a id o u ter rea ctio n Wheel a ctu a to r ( 261) a b o u t a n
inner o u ter gimb a l a x is , Which is p erp endicu la r to s a id inner
middle gimb a l a x is . The o u ter rea ctio n Wheel ( 212) is
ro ta tio na lly co u p led to s a id o u ter rea ctio n Wheel a ctu a to r
( 261) a b o u t a n o u ter rea ctio n Wheel a x is . The o u ter rea ctio n
Wheel a ctu a to r ( 261) a nd s a id o u ter rea ctio n Wheel ( 212) a re
la rger tha n a nd dis p o s ed a b o u t s a id inner o u ter gimb a l. The
o u ter rea ctio n Wheel a ctu a to r ( 261) v ia electro nic co mp u ter
co ntro l ha s the mea ns to ro ta te s a id o u ter rea ctio n Wheel
( 212) a b o u t s a id o u ter rea ctio n Wheel a x is in b o th directio ns
a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f s a id o u ter
rea ctio n Wheel ( 212) a b o u t s a id o u ter rea ctio n Wheel a x is
a nd f u rther ha v ing mea ns to f ree s p in o r a llo W s a id o u ter
rea ctio n Wheel ( 212) to ro ta te f reely With no res is ta nce a b o u t
s a id o u ter rea ctio n Wheel a x is in b o th directio ns . The o u ter
rea ctio n Wheel a ctu a to r is s u p p o rted b y a nes ted gimb a l
co n? gu ra tio n, Which inclu des three s u cces s iv ely la rger a nd
co ncentrica lly dis p o s ed o u ter inner gimb a l ( 271) , o u ter
middle gimb a l ( 281) a nd o u ter o u ter gimb a l ( 291) . The o u ter
rea ctio n Wheel a ctu a to r ( 261) is ro ta tio na lly co u p led to s a id
o u ter inner gimb a l ( 271) a b o u t a n o u ter rea ctio n Wheel
a ctu a to r a x is , Which is p erp endicu la r to s a id inner o u ter
gimb a l a x is . The s a id o u ter inner gimb a l ( 271) b eing la rger
tha n a nd dis p o s ed a b o u t s a id o u ter rea ctio n Wheel a ctu a to r
( 261) a nd s a id o u ter rea ctio n Wheel ( 212) . The o u ter inner
gimb a l ( 271) is ro ta tio na lly co u p led to s a id o u ter middle
gimb a l ( 281) a b o u t a n o u ter inner gimb a l a x is , Which is
p erp endicu la r to s a id o u ter rea ctio n Wheel a ctu a to r a x is . The
o u ter middle gimb a l ( 281) is ro ta tio na lly co u p led to s a id
o u ter o u ter gimb a l ( 291) a b o u t a n o u ter middle gimb a l a x is ,
Which is p erp endicu la r to s a id o u ter inner gimb a l a x is . The
o u ter o u ter gimb a l ( 291) is ro ta tio na lly co u p led to the
s p a cecra f t ( 299) a b o u t a n o u ter o u ter gimb a l a x is , Which is
p erp endicu la r to s a id o u ter middle gimb a l a x is . The s p a ce
cra f t ( 299) b eing la rger tha n a nd dis p o s ed a b o u t s a id o u ter
o u ter gimb a l ( 291) . Sa id inner rea ctio n Wheel a ctu a to r a x is
co ntro l u nits ( 222) a nd ( 223) ha v e the mea ns to ro ta te s a id
inner rea ctio n Wheel a ctu a to r ( 221) a b o u t s a id inner rea ctio n
Wheel a ctu a to r a x is in b o th directio ns a nd f u rther ha v ing
mea ns to s to p the ro ta tio n o f s a id inner rea ctio n Wheel
a ctu a to r ( 221) a b o u t s a id inner rea ctio n Wheel a ctu a to r a x is
a nd f u rther ha v ing mea ns to f ree s p in o r a llo W s a id inner
rea ctio n Wheel a ctu a to r ( 221) to ro ta te f reely With no res is
ta nce a b o u t s a id inner rea ctio n Wheel a ctu a to r a x is in b o th
directio ns . Sa id inner inner gimb a l a x is co ntro l u nits ( 232)
a nd ( 233) ha v e the mea ns to ro ta te s a id inner inner gimb a l
( 231) a b o u t s a id inner inner gimb a l a x is in b o th directio ns
a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f s a id inner
inner gimb a l ( 231) a b o u t s a id inner inner gimb a l a x is a nd
f u rther ha v ing mea ns to f ree s p in o r a llo W s a id inner inner
gimb a l ( 231) to ro ta te f reely With no res is ta nce a b o u t s a id
inner inner gimb a l a x is in b o th directio ns . Sa id inner middle
gimb a l a x is co ntro l u nits ( 24 2) a nd ( 24 3) ha v e the mea ns to
ro ta te s a id inner middle gimb a l ( 24 1) a b o u t s a id inner
middle gimb a l a x is in b o th directio ns a nd f u rther ha v ing
mea ns to s to p the ro ta tio n o f s a id inner middle gimb a l ( 24 1)
a b o u t s a id inner middle gimb a l a x is a nd f u rther ha v ing
mea ns to f ree s p in o r a llo W s a id inner middle gimb a l ( 24 1)
to ro ta te f reely With no res is ta nce a b o u t s a id inner middle
gimb a l a x is in b o th directio ns . Sa id inner o u ter gimb a l a x is
co ntro l u nits ( 252) a nd ( 253) ha v e the mea ns to ro ta te s a id
inner o u ter gimb a l ( 251) a b o u t s a id inner o u ter gimb a l a x is
in b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id inner o u ter gimb a l ( 251) a b o u t s a id inner
o u ter gimb a l a x is a nd f u rther ha v ing mea ns to f ree s p in o r
US 6, 523, 785 B1
7
a llo w s a id inner o u ter gimb a l ( 251) to ro ta te f reely With no
res is ta nce a b o u t s a id inner o u ter gimb a l a x is in b o th direc
tio ns . Sa id o u ter rea ctio n Wheel a ctu a to r a x is co ntro l u nits
( 262) a nd ( 263) ha v e the mea ns to ro ta te s a id o u ter rea ctio n
Wheel a ctu a to r ( 261) a b o u t s a id o u ter rea ctio n Wheel a ctu a
to r a x is in b o th directio ns a nd f u rther ha v ing mea ns to s to p
the ro ta tio n o f s a id o u ter rea ctio n Wheel a ctu a to r ( 261) a b o u t
s a id o u ter rea ctio n Wheel a ctu a to r a x is a nd f u rther ha v ing
mea ns to f ree s p in o r a llo w s a id o u ter rea ctio n Wheel
a ctu a to r ( 261) to ro ta te f reely With no res is ta nce a b o u t s a id
o u ter rea ctio n Wheel a ctu a to r a x is in b o th directio ns . Sa id
o u ter inner gimb a l a x is co ntro l u nits ( 272) a nd ( 273) ha v e
the mea ns to ro ta te s a id o u ter inner gimb a l ( 271) a b o u t s a id
o u ter inner gimb a l a x is in b o th directio ns a nd f u rther ha v ing
mea ns to s to p the ro ta tio n o f s a id o u ter inner gimb a l ( 271)
a b o u t s a id o u ter inner gimb a l a x is a nd f u rther ha v ing mea ns
to f ree s p in o r a llo W s a id o u ter inner gimb a l ( 271) to ro ta te
f reely With no res is ta nce a b o u t s a id o u ter inner gimb a l a x is
in b o th directio ns . Sa id o u ter middle gimb a l a x is co ntro l
u nits ( 282) a nd ( 283) ha v e the mea ns to ro ta te s a id o u ter
middle gimb a l ( 281) a b o u t s a id o u ter middle gimb a l a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n
o f s a id o u ter middle gimb a l ( 281) a b o u t s a id o u ter middle
gimb a l a x is a nd f u rther ha v ing mea ns to f ree s p in o r a llo W
s a id o u ter middle gimb a l ( 281) to ro ta te f reely With no
res is ta nce a b o u t s a id o u ter middle gimb a l a x is in b o th
directio ns . Sa id o u ter o u ter gimb a l a x is co ntro l u nits ( 292)
a nd ( 293) ha v e the mea ns to ro ta te s a id o u ter o u ter gimb a l
( 291) a b o u t s a id o u ter o u ter gimb a l a x is in b o th directio ns
a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f s a id o u ter
o u ter gimb a l ( 291) a b o u t s a id o u ter o u ter gimb a l a x is a nd
f u rther ha v ing mea ns to f ree s p in o r a llo W s a id o u ter o u ter
gimb a l ( 291) to ro ta te f reely With no res is ta nce a b o u t s a id
o u ter o u ter gimb a l a x is in b o th directio ns . The tWo rea ctio n
Wheels ( 211) a nd ( 212) s ha re the s a me o r center o f ma s s .
Attitu de co ntro l s ens o rs a nd a co ntro l co mp u ter v ia elec
tro nic co ntro l Wo u ld co ntro l the inv entio n. Typ ica lly s lip
rings o r s imila r dev ices a re u s ed to b ring the electrica l
s igna ls into a nd o u t o f ro ta ting gimb a ls , b u t if the gimb a ls
a re limited to 380 degrees ro ta tio n With a s to p then ca b les o r
limited dis p la cement s igna l tra ns f er a s s emb lies ma y b e u s ed
to p a s s the s igna ls . To o p era te the inv entio n a nd p erf o rm
des a tu ra tio n the f o llo Wing o p era tio na l s tep s mu s t b e f o l
lo Wed.
STEP #201 The inner rea ctio n Wheel a ctu a to r a x is co ntro l
u nits ( 222) a nd ( 223) s to p the ro ta tio n o f s a id inner rea ctio n
Wheel a ctu a to r ( 221) a b o u t s a id inner rea ctio n Wheel a ctu a
to r a x is . The inner inner gimb a l a x is co ntro l u nits ( 232) a nd
( 233) s to p the ro ta tio n o f s a id inner inner gimb a l ( 231) a b o u t
s a id inner inner gimb a l a x is . The inner middle gimb a l a x is
co ntro l u nits ( 24 2) a nd ( 24 3) s to p the ro ta tio n o f s a id inner
middle gimb a l ( 24 1) a b o u t s a id inner middle gimb a l a x is .
The inner o u ter gimb a l a x is co ntro l u nits ( 252) a nd ( 253)
s to p the ro ta tio n o f s a id inner o u ter gimb a l ( 251) a b o u t s a id
inner o u ter gimb a l a x is . The o u ter rea ctio n Wheel a ctu a to r
a x is co ntro l u nits ( 262) a nd ( 263) s to p the ro ta tio n o f s a id
o u ter rea ctio n Wheel a ctu a to r ( 261) a b o u t s a id o u ter rea ctio n
Wheel a ctu a to r a x is . The o u ter inner gimb a l a x is co ntro l
u nits ( 272) a nd ( 273) s to p the ro ta tio n o f s a id o u ter inner
gimb a l ( 271) a b o u t s a id o u ter inner gimb a l a x is . The o u ter
middle gimb a l a x is co ntro l u nits ( 282) a nd ( 283) s to p the
ro ta tio n o f s a id o u ter middle gimb a l ( 281) a b o u t s a id o u ter
middle gimb a l a x is . The o u ter o u ter gimb a l a x is co ntro l
u nits ( 292) a nd ( 293) s to p the ro ta tio n o f s a id o u ter o u ter
gimb a l ( 291) a b o u t s a id o u ter o u ter gimb a l a x is . The tWo
rea ctio n Wheel a ctu a to rs ( 221) a nd ( 261) s ta rt o f f ro ta ting
s a id inner rea ctio n Wheel ( 211) a nd s a id o u ter rea ctio n Wheel
10
15
25
35
4 5
55
65
8
( 212) in the s a me p la ne a nd the s a me directio n a nd ea ch o f
the tWo rea ctio n Wheels ( 211) a nd ( 212) a p p ly a n eq u a l
a mo u nt o f to rq u e o r a ngu la r mo mentu m to the s p a cecra f t in
the s a me p la ne a nd in the s a me directio n. The a ngu la r
mo mentu m o f the tWo rea ctio n Wheels ( 211) a nd ( 212) Will
b e eq u a l, b u t the ma s s a nd the rev o lu tio ns p er minu te o f the
tWo rea ctio n Wheels ( 211) a nd ( 212) ma y no t b e eq u a l.
Ev entu a lly the tWo rea ctio n Wheels ( 211) a nd ( 212) ga in to o
mu ch s p eed a nd mu s t b e s lo Wed do Wn o r b eco me u nu s a b le.
STEP #202 The inner middle gimb a l a x is co ntro l u nits
( 24 2) a nd ( 24 3) f ree s p in the ro ta tio n o f s a id inner middle
gimb a l ( 24 1) a b o u t s a id inner middle gimb a l a x is . The inner
rea ctio n Wheel a ctu a to r a x is co ntro l u nits ( 222) a nd ( 223)
f ree s p in the ro ta tio n o f s a id inner rea ctio n Wheel a ctu a to r
( 221) a b o u t s a id inner rea ctio n Wheel a ctu a to r a x is . The
o u ter rea ctio n Wheel a ctu a to r a x is co ntro l u nits ( 262) a nd
( 263) f ree s p in the ro ta tio n o f s a id o u ter rea ctio n Wheel
a ctu a to r ( 261) a b o u t s a id o u ter rea ctio n Wheel a ctu a to r a x is .
The o u ter inner gimb a l a x is co ntro l u nits ( 272) a nd ( 273)
f ree s p in the ro ta tio n o f s a id o u ter inner gimb a l ( 271) a b o u t
s a id o u ter inner gimb a l a x is . The o u ter middle gimb a l a x is
co ntro l u nits ( 282) a nd ( 283) f ree s p in the ro ta tio n o f s a id
o u ter middle gimb a l ( 281) a b o u t s a id o u ter middle gimb a l
a x is . The o u ter o u ter gimb a l a x is co ntro l u nits ( 292) a nd
( 293) f ree s p in the ro ta tio n o f s a id o u ter o u ter gimb a l ( 291)
a b o u t s a id o u ter o u ter gimb a l a x is . Beca u s e a ll o f the o u ter
a x is co ntro l u nits a re f ree s p inning the inner rea ctio n Wheel
( 211) a nd the o u ter rea ctio n Wheel ( 212) ha v e a co mp lete
f ree s p in rela tio n to the s p a cecra f t ( 299) , mea ning tha t the
tWo rea ctio n Wheels ( 211) a nd ( 212) ca n ro ta te a lo ng a ny
a x is Which p a s s es thro u gh their center o f ma s s in rela tio n to
ea ch o ther Witho u t ha v ing a ny s igni? ca nt to rq u e o r a ngu la r
mo mentu m a p p lied to the s p a cecra f t ( 299) . The inner o u ter
gimb a l a x is co ntro l u nits ( 252) a nd ( 253) s to p the ro ta tio n o f
s a id inner o u ter gimb a l ( 251) a b o u t s a id inner o u ter gimb a l
a x is . At this p o int, the inner rea ctio n Wheel a ctu a to r a x is a nd
s a id inner middle gimb a l a x is Will b e the s a me. The inner
inner gimb a l a x is co ntro l u nits ( 232) a nd ( 233) ro ta te s a id
inner inner gimb a l ( 231) a b o u t s a id inner inner gimb a l a x is .
When the inner inner gimb a l a x is co ntro l u nits ( 232) a nd
( 233) ro ta te, s a id inner inner gimb a l ( 231) a b o u t s a id inner
inner gimb a l a x is . The inner rea ctio n Wheel a ctu a to r ( 221)
a nd s a id inner rea ctio n Wheel ( 211) Will a ls o b e f o rced to
ro ta te a b o u t s a id inner inner gimb a l a x is , b u t b eca u s e inner
rea ctio n Wheel a ctu a to r ( 221) is f ree s p inning a b o u t s a id
inner rea ctio n Wheel a ctu a to r a x is , Which is p erp endicu la r to
s a id inner inner gimb a l a x is , the s a id inner rea ctio n Wheel
a ctu a to r ( 221) a nd s a id inner rea ctio n Wheel ( 211) Will b e
f ree to ro ta te a lo ng the inner rea ctio n Wheel a ctu a to r a x is ,
Which Will a llo W s a id inner rea ctio n Wheel ( 211) to b ring it s
o Wn a ngu la r mo mentu m a x is in p la ne With the a ngu la r
mo tio n b eing crea ted b y the inner inner gimb a l a x is co ntro l
u nits ( 232) a nd ( 233) a b o u t s a id inner inner gimb a l a x is .
When the inner inner gimb a l a x is co ntro l u nits ( 232) a nd
( 233) ro ta te s a id inner middle gimb a l ( 24 1) a b o u t s a id inner
inner gimb a l a x is in the o p p o s ite directio n o f the ro ta tio n o f
s a id inner inner gimb a l ( 231) a b o u t s a id inner inner gimb a l
a x is . The o u ter rea ctio n Wheel a ctu a to r ( 261) a nd s a id o u ter
rea ctio n Wheel ( 212) Will a ls o b e f o rced to ro ta te a b o u t s a id
inner inner gimb a l a x is in the o p p o s ite directio n o f the
ro ta tio n o f s a id inner inner gimb a l a nd s a id inner rea ctio n
Wheel a ctu a to r ( 221) a nd s a id inner rea ctio n Wheel ( 211)
a b o u t s a id inner inner gimb a l a x is , b eca u s e s a id inner o u ter
gimb a l a x is co ntro l u nits s to p the ro ta tio n o f s a id inner o u ter
gimb a l a b o u t s a id inner o u ter gimb a l a x is , b u t b eca u s e the
inner middle gimb a l ( 24 1) is f ree s p inning a b o u t s a id inner
middle gimb a l a x is , Which is p erp endicu la r to s a id inner
US 6, 523, 785 B1
inner gimb a l a x is , the o u ter rea ctio n Wheel a ctu a to r ( 261)
a nd s a id o u ter rea ctio n Wheel ( 212) Will b e f ree to ro ta te
a b o u t s a id inner middle gimb a l a x is , Which Will a llo w s a id
o u ter rea ctio n Wheel ( 212) to b ring it s o Wn a ngu la r mo men
tu m a x is in p la ne With the a ngu la r mo tio n b eing crea ted b y
s a id inner inner gimb a l a x is co ntro l u nits ( 232) a nd ( 233) .
The ma s s a nd the rev o lu tio ns p er minu te o f the tWo rea ctio n
Wheel ( 211) a nd ( 212) mu s t b e a dj u s ted s o tha t When the tWo
rea ctio n Wheels tu rn a ga ins t ea ch o ther the tWo rea ctio n
Wheels ( 211) a nd ( 212) Will b ring the a ngu la r mo mentu m o f
s a id rea ctio n Wheels ( 211) a nd ( 212) in p la ne a t the s a me
time With the a ngu la r mo mentu m b eing ca u s ed b y the
ro ta tio n o f the inner inner gimb a l a b o u t s a id inner inner
gimb a l a x is .
The tWo rea ctio n Wheels ( 211) a nd ( 212) Will b e ro ta ting
in o p p o s ite directio ns a b o u t s a id inner inner gimb a l a x is .
G yro s co p ic ef f ect Will ca u s e them b o th to mo v e in o p p o s ite
directio ns to s eek to b ring their o Wn a ngu la r mo mentu m a x is
in p la ne With the a ngu la r mo tio n b eing crea ted b y s a id inner
inner gimb a l a x is co ntro l u nits ( 232) a nd ( 233) . The s a id
inner rea ctio n Wheel ( 211) Will ro ta te in o ne directio n a b o u t
s a id inner rea ctio n Wheel a ctu a to r a x is a nd s a id o u ter
rea ctio n Wheel ( 212) Will ro ta te in the o p p o s ite directio n
a b o u t s a id inner middle gimb a l a x is , s ince the tWo rea ctio n
Wheels ( 211) a nd ( 212) a re tu rning in o p p o s ite directio ns ,
s a id rea ctio n Wheels ( 211) a nd ( 212) Will mo v e in o p p o s ite
directio ns to s eek to b ring their o Wn a ngu la r mo mentu m a x is
in p la ne With the a ngu la r mo tio n b eing crea ted b y s a id inner
inner gimb a l a x is co ntro l u nits ( 232) a nd ( 233) , theref o re
this Will b ring their o Wn a ngu la r mo mentu m a x is in p la ne
With the a ngu la r mo tio n b eing crea ted b y s a id inner inner
gimb a l a x is co ntro l u nits ( 232) a nd ( 233) , b u t no W s a id
rea ctio n Wheels ( 211) a nd ( 212) Will ha v e their a ngu la r
mo mentu m in the s a me p la ne b u t in o p p o s ite directio ns .
STEP #203 N o W tha t the tWo rea ctio n Wheels ( 211) a nd
( 212) ha v e their a ngu la r mo mentu m in o p p o s ite directio ns
des a tu ra tio n ca n b egin. The inner rea ctio n Wheel a ctu a to r
a x is co ntro l u nits ( 222) a nd ( 223) s to p the ro ta tio n o f s a id
inner rea ctio n Wheel a ctu a to r ( 221) a b o u t s a id inner rea ctio n
Wheel a ctu a to r a x is . The inner inner gimb a l a x is co ntro l
u nits ( 232) a nd ( 233) s to p the ro ta tio n o f s a id inner inner
gimb a l ( 231) a b o u t s a id inner inner gimb a l a x is . The inner
middle gimb a l a x is co ntro l u nits ( 24 2) a nd ( 24 3) s to p the
ro ta tio n o f s a id inner middle gimb a l ( 24 1) a b o u t s a id inner
middle gimb a l a x is . The inner o u ter gimb a l a x is co ntro l
u nits ( 252) a nd ( 253) s to p the ro ta tio n o f s a id inner o u ter
gimb a l ( 251) a b o u t s a id inner o u ter gimb a l a x is . The o u ter
rea ctio n Wheel a ctu a to r a x is co ntro l u nits ( 262) a nd ( 263)
f ree s p in the ro ta tio n o f s a id o u ter rea ctio n Wheel a ctu a to r
( 261) a b o u t s a id o u ter rea ctio n Wheel a ctu a to r a x is . The
o u ter inner gimb a l a x is co ntro l u nits ( 272) a nd ( 273) f ree
s p in the ro ta tio n o f s a id o u ter inner gimb a l ( 271) a b o u t s a id
o u ter inner gimb a l a x is . The o u ter middle gimb a l a x is
co ntro l u nits ( 282) a nd ( 283) f ree s p in the ro ta tio n o f s a id
o u ter middle gimb a l ( 281) a b o u t s a id o u ter middle gimb a l
a x is . The o u ter o u ter gimb a l a x is co ntro l u nits ( 292) a nd
( 293) f ree s p in the ro ta tio n o f s a id o u ter o u ter gimb a l ( 291)
a b o u t s a id o u ter o u ter gimb a l a x is . The o u ter a x is co ntro l
u nits rema in in f ree s p in mo de mea ning they a llo W co mp lete
ro ta tio na l mo v ement a lo ng ea ch o f their a x is With no ne o r
little res is ta nce, b eca u s e o f this the inner rea ctio n Wheel
( 211) a nd the o u ter rea ctio n Wheel ( 212) a re in co mp lete f ree
s p in rela tio n to the s p a cecra f t ( 299) , mea ning tha t the tWo
rea ctio n Wheels ( 211) a nd ( 212) ca n ro ta te a lo ng a ny a x is
Which p a s s es thro u gh their center o f ma s s in rela tio n to ea ch
o ther Witho u t ha v ing a ny s igni? ca nt to rq u e o r a ngu la r
mo mentu m a p p lied to the s p a cecra f t ( 299) . N o W the inner
15
25
35
4 5
55
65
10
rea ctio n Wheel a ctu a to r ( 221) s to p s the ro ta tio n o f s a id inner
rea ctio n Wheel ( 211) a b o u t s a id inner rea ctio n Wheel ( 212)
a x is a nd the o u ter rea ctio n Wheel a ctu a to r ( 261) s to p s the
ro ta tio n o f s a id o u ter rea ctio n Wheel a b o u t s a id o u ter rea c
tio n Wheel a x is , Which mea ns the tWo rea ctio n Wheels ( 211)
a nd ( 212) Will b e des a tu ra ted With the mo mentu m f ro m the
tWo rea ctio n Wheels ( 211) a nd ( 212) ca nceling ea ch o ther
o u t. The tWo rea ctio n Wheels ( 211) a nd ( 212) no W b eing
des a tu ra ted ca n b e res et to s tep #201 f o r a ngu la r mo mentu m
ex cha nge With the s p a cecra f t ( 299) .
D u ring the co mp lete des a tu ra tio n p ro ces s in s tep s #202
a nd #203 the tWo rea ctio n Wheels ( 211) a nd ( 212) a re in
co mp lete f ree s p in rela tio n to the s p a cecra f t ( 299) , mea ning
tha t the tWo rea ctio n Wheels ( 211) a nd ( 212) ca n ro ta te a lo ng
a ny a x is Which p a s s es thro u gh their center o f ma s s in
rela tio n to ea ch o ther Witho u t ha v ing a ny s igni? ca nt to rq u e
o r a ngu la r mo mentu m a p p lied to the s p a cecra f t ( 299) .
Other emb o diments o f the inv entio n Will b e a p p a rent to
tho s e s killed in the a rt. F o r ex a mp le, in the P ref erred
Emb o diment the rea ctio n Wheels ma y ex ceed tWo in
nu mb er, a nd ma y ha v e a p a ir o f rea ctio n Wheels f o r ea ch o f
the three a x is a nd a dditio na l Wheels ma y b e u s ed a s a b a ck
u p in ca s e a rea ctio n Wheel f a ils , a ls o the rea ctio n Wheels
ma y ha v e a rb itra ry o rienta tio n a nd p la cement in the s p a ce
cra f t. In the Seco nd Ma j o r Emb o diment the rea ctio n Wheels
ma y ex ceed tWo in nu mb er o f co ncentrica lly dis p o s ed
rea ctio n Wheels , a nd ma y ha v e a p a ir o f rea ctio n Wheels o r
mo re f o r ea ch o f the three a x is a nd a dditio na l Wheels ma y b e
u s ed a s a b a ck u p in ca s e a rea ctio n Wheel f a ils , a ls o the
rea ctio n Wheels ma y ha v e a rb itra ry o rienta tio n a nd p la ce
ment in the s p a cecra f t. Thu s , While the inv entio n ha s b een
p a rticu la rly s ho Wn a nd des crib ed With res p ect to the P re
f erred Emb o diments a nd Seco nd Ma j o r Emb o diments
thereo f , it Will b e u nders to o d b y tho s e s killed in the a rt tha t
cha nges in the f o rm a nd deta ils ma y b e ma de therein Witho u t
dep a rting f ro m the s co p e a nd s p irit o f the inv entio n. The
inv entio n ma y b e emb o died in o ther s p eci? c f o rms Witho u t
dep a rting f ro m the s p irit o r es s entia l cha ra cteris tics thereo f .
The p res ent emb o diments a re theref o re to b e co ns idered in
a ll res p ects a s illu s tra tiv e a nd no t res trictiv e, the a p p ended
cla ims ra ther tha n b y the f o rego ing des crip tio n, a nd a ll
cha nges Which co me Within the mea ning a nd ra nge o f
eq u iv a lency o f the cla ims a re theref o re intended to b e
emb ra ced therein.
I cla im:
1. An a ttitu de co ntro l a ctu a tio n s ys tem f o r s p a cecra f t,
Which ha s mea ns to a ctu a te the a ttitu de o f the s p a cecra f t a nd
ha s mea ns to des a tu ra te the rea ctio n Wheels With the u s e o f
mo mentu m ex cha nge, Which is Within the clo s ed s ys tem o f
the s p a cecra f t, the a p p a ra tu s co mp ris ing:
a lef t rea ctio n Wheel, s a id lef t rea ctio n Wheel b eing in the
f o rm o f a dis k,
a lef t rea ctio n Wheel a ctu a to r, s a id lef t rea ctio n Wheel
a ctu a to r b eing ro ta tio na lly co u p led to s a id lef t rea ctio n
Wheel a b o u t a lef t rea ctio n Wheel a x is a nd f u rther s a id
lef t rea ctio n Wheel a ctu a to r ha v ing mea ns to ro ta te s a id
lef t rea ctio n Wheel a b o u t s a id lef t rea ctio n Wheel a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id lef t rea ctio n Wheel a b o u t s a id lef t
rea ctio n Wheel a x is a nd f u rther ha v ing mea ns to f ree
s p in s a id lef t rea ctio n Wheel a b o u t s a id lef t rea ctio n
Wheel a x is in b o th directio ns ,
a lef t gimb a l, s a id lef t gimb a l b eing la rger tha n a nd
dis p o s ed a b o u t s a id lef t rea ctio n Wheel a nd s a id lef t
rea ctio n Wheel a ctu a to r a nd f u rther b eing ro ta tio na lly
co u p led to s a id lef t rea ctio n Wheel a ctu a to r a b o u t a lef t
US 6, 523, 785 B1
11
rea ctio n Wheel a ctu a to r a x is , s a id lef t rea ctio n Wheel
a ctu a to r a x is b eing p erp endicu la r to s a id lef t rea ctio n
Wheel a x is ,
tWo lef t rea ctio n Wheel a ctu a to r a x is co ntro l u nits , s a id
la rger tha n a nd dis p o s ed a b o u t s a id right girnb a l a nd
f u rther b eing ro ta tio na lly co u p led to s a id right girnb a l
12
s tep #101 the ro ta tio na l a x is o f s a id lef t rea ctio n Wheel
a nd s a id right rea ctio n Wheel a re b o th initia lly in the
s a me p la ne, b u t s a id lef t rea ctio n Wheel a nd s a id right
rea ctio n Wheel do no t s ha re the s a me center o f ma s s ,
the lef t rea ctio n Wheel a ctu a to r a x is co ntro l u nits s to p
lef t rea ctio n Wheel a ctu a to r a x is co ntro l u nits ha v ing 5 _ _ _
mea ns to ro ta te s a id lef t rea ctio n Wheel a ctu a to r a b o u t th ? ro ta tlo n o f . Sa ld lef t rea cno n Wheel a ctu a to r a b o u t
s a id lef t rea ctio n Wheel a ctu a to r a x is in b o th directio ns Stu d lef t rea cnq n Wheel a ctu a to r a XlS the lef t gtmb a l
. . . a x is co ntro l u nits s to p the ro ta tio n o f s a id lef t girnb a l
a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f s a id lef t - - - - -
. . . a b o u t s a id lef t girnb a l a x is , the right rea ctio n Wheel
rea ctlo n Wheel a ctu a to r a b o u t Stu d lef t rea ctlo n _ Whe_ e1 a ctu a to r a x is co ntro l u nits s to p the ro ta tio n o f s a id right
a ctu a to r to ns a nd f u rther ha v mg mea ns to f ree Sp m Sa ld 1O rea ctio n Wheel a ctu a to r a b o u t s a id right rea ctio n Wheel
lef t rea ctio n Wheel a ctu a to r a b o u t s a id lef t rea ctio n a ctha t0r a x is , the right girnb a l a x is Co ntro l u nits St0p
Wheel a ctu a to r a x is in b o th directio ns > the ro ta tio n o f s a id right girnb a l a b o u t s a id right girnb a l
tWo lef t girnb a l a x is co ntro l u nits , s a id lef t girnb a l a x is a x is , the tWo rea ctio n Wheel a ctu a to rs s ta rt o f f ro ta ting
co ntro l u nits ha v ing mea ns to ro ta te s a id lef t girnb a l the tWo rea ctio n Wheels in the s a me directio n, the tWo
a b o u t s a id lef t girnb a l a x is in b o th directio ns a nd 15 rea ctio n Wheels ex cha nge a n eq u a l a mo u nt o f a ngu la r
f u rther ha v ing mea ns to s to p the ro ta tio n o f s a id lef t mo mentu m With the s p a cecra f t in the s a me p la ne a nd in
girnb a l a b o u t s a id lef t girnb a l a x is a nd f u rther ha v ing the Sa me directio n,
mea ns to f ree 5p m Sa id lef t gimb a l a b o u t Sa id lef t s tep #102 the lef t rea ctio n Wheel a ctu a to r a x is co ntro l
girnb a l a x is in b o th directio ns , u nits f ree s p in s a id lef t rea ctio n Wheel a ctu a to r a b o u t
a right rea ctio n Wheel, s a id right rea ctio n Wheel b eing in 20 Sa ld lef t rea ctlo n Wheel a ctu a to r, a x ls the rtght tea ctlo n
the f o rm o f a dis k, Wheel a ctu a to r a x is co ntro l u nits f ree s p in s a id right
_ _ _ _ _ rea ctio n Wheel a ctu a to r a b o u t s a id right rea ctio n Wheel
a right rea ctio n Wheel a ctu a to r, s a id right rea ctio n Wheel a ctu a to r a x is , the lef t girnb a l a x is Co ntro l u nits ro ta te
a ctu a to r b eing ro ta tio na lly Co u p led to Sa td right rea o ' s a id lef t girnb a l a b o u t s a id lef t girnb a l a x is , the right
tlo n Wheel a b o u t a nght rea o tlo n Wheel a a ? s a nd f u rther 25 girnb a l a x is co ntro l u nits ro ta te s a id right girnb a l a b o u t
Sa ld ngtlt tea o tlo n Wheel a ctu a to r ha v lng mea ns _ to s a id right girnb a l a x is in the o p p o s ite directio n o f the
ro ta te Sa lo o ght rea ctlo n Wheel a b o u t Sa ld ngb t rea ctlo n ro ta tio n o f s a id lef t girnb a l a b o u t s a id lef t girnb a l a x is ,
Wheel a XlS 1n b o th dlrectlo ns a nd f u rtho r ha v mg mea ns Which Will ca u s e s a id lef t rea ctio n Wheel a nd s a id right
to Sto p the ro ta tlo n o f Sa ld nght rea ctlo n Wheel a b o u t rea ctio n Wheel to mo v e in o p p o s ite directio ns in o rder
s a id right rea ctio n Wheel a x is a nd f u rther ha v ing mea ns 30 t0 b ring the a ngu la r mo mentu m o f Sa id lef t rea ctio n
to f ro e Sp in Sa id rtgb t rea ctio tl Wheel a b o u t Sa id right Wheel a nd s a id right rea ctio n Wheel in p la ne With the
rea o tlo n Wheel a XlS 1n b o th dlrectlo ns > ro ta tio n b eing crea ted b y s a id lef t girnb a l a x is co ntro l
a right gu hb a h Sa id right gu hb a t b eing la rger tha n a nd u nits a nd s a id right girnb a l a x is co ntro l u nits , Which
dis p o s ed a b o u t Sa id right ro a o tto u Wheel a nd Sa id right Will b ring the a ngu la r mo mentu m o f s a id lef t rea ctio n
rea ctio n Wheel a ctu a to r a nd f u rther b eing ro ta tio na lly 35 Wheel in p la ne With the lef t ghhha l a x is a nd the a ngu la r
co u p led to s a id right rea ctio n Wheel a ctu a to r a b o u t a mo mentu m o f Sa id right rea ctio n Wheel in p la ne With
right rea ctio n Wheel a ctu a to r a x is , s a id right rea ctio n the right girnb a l a x is , ho w the a ngu la r mo mentu m o f
Wheel a o tu a to r a x is b eing P erp endicu la r to Sa id right s a id lef t rea ctio n Wheel a nd s a id right rea ctio n Wheel is
ro a o tio h Wheel a x is , in the s a me p la ne b u t in o p p o s ite directio ns ,
tWo right rea ctio n Wheel a ctu a to r a x is co ntro l u nits , s a id 4 0 Step #103 ho w tha t the tWO rea ctio n Wheels a ngu la r
right rea ctio n Wheel a ctu a to r a x is co ntro l u nits ha v ing mo mentu m is in Op p o s ite directio ns des a tu ra tiOn ea h
mea ns to ro ta te Sa id right ro a o tio h Wheel a o tu a to r a b o u t b egin, the lef t rea ctio n Wheel a ctu a to r a x is co ntro l u nits
Sa id right ro a o tio h Wheel a o tu a to r a x is in b o th du o o ' s to p the ro ta tio n o f s a id lef t rea ctio n Wheel a ctu a to r
tto u s a nd f u rther ha v ing mea ns to Sto p the ro ta tio n o f a b o u t s a id lef t rea ctio n Wheel a ctu a to r a x is , the lef t
Sa id right ro a o tio h Wheel a o tu a to r a b o u t Sa id right 4 5 girnb a l a x is co ntro l u nits s to p the ro ta tio n o f s a id lef t
rea ctio n Wheel a ctu a to r a x is a nd f u rther ha v ing mea ns girnb a l a b o u t Sa id lef t girnb a l a x is , the right rea ctio n
to f ree Sp in Sa id right ro a o tio h Wheel a o tu a to r a b o u t Sa id Wheel a ctu a to r a x is co ntro l u nits s to p the ro ta tio n o f
right rea ctio n Wheel a ctu a to r a x is in b o th directio ns , Sa id right rea ctio n Wheel a etu a t0r a b o u t Sa id right
tWo right girnb a l a x is co ntro l u nits , s a id right girnb a l a x is rea ctio n Wheel a ctu a to r a x is , the right gimb a l a x is
Co ntro l u nits ha v ing mea ns to ro ta te s a id right girnb a l 50 co ntro l u nits s to p the ro ta tio n o f s a id right girnb a l a b o u t
a b o u t s a id right girnb a l ends in b o th directio ns a nd s a id right girnb a l a x is , the lef t rea ctio n Wheel a ctu a to r
f u rther ha v ing mea ns t0 s to p the f Ota tiOIl 0f Sa id right s to p s the ro ta tio n o f s a id lef t rea ctio n Wheel a b o u t s a id
girnb a l a b Ollt Sa id right girnb a l a XiS a nd f u rther ha v ing lef t rea ctio n Wheel a x is , the right rea ctio n Wheel a ctu a
Inea nS to f ree Sp in Sa id right girnb a l a b Ollt Sa id right to r s to p s the ro ta tio n o f s a id right rea ctio n Wheel a b o u t
girnb a l a XiS in b Oth dif ectiOIlS, 55 s a id right rea ctio n Wheel a x is , Which mea ns s a id lef t
a s p a cecra f t, s a id s p a cecra f t b eing la rger tha n a nd dis - rea ctio n Wheel a nd s a id right rea ctio n Wheel Will b e
p o s ed a b o u t s a id lef t girnb a l a nd f u rther b eing ro ta tio n- des a tu ra ted With the mo mentu m f ro m the tWo rea ctio n
a lly co u p led to s a id lef t girnb a l a b o u t a lef t girnb a l a x is , Wheels ca nceling ea ch o ther o u t a nd theref o re the
s a id lef t girnb a l a x is b eing p erp endicu la r to s a id lef t des a tu ra tio n p ro ces s Wo u ld ha v e no net a ngu la r
rea ctio n Wheel a ctu a to r a x is , a ls o s a id s p a cecra f t b eing 60 mo mentu m a p p lied to the s p a cecra f t, the rea ctio n
Wheels no W b eing des a tu ra ted ca n b e res et to s tep #101
f o r a ngu la r mo mentu m ex cha nge With the s p a cecra f t.
a b o u t a right girnb a l a x is , s a id right girnb a l a x is b eing 3. An a ttitu de co ntro l a ctu a tio n s ys tem f o r s p a cecra f t,
p erp endicu la r to s a id right rea ctio n Wheel a ctu a to r a x is . Which ha s mea ns to a ctu a te the a ttitu de o f the s p a cecra f t a nd
2. Ap p a ra tu s a cco rding to cla im 1 Wherein the metho d f o r 65 ha s mea ns to des a tu ra te the rea ctio n Wheels With the u s e o f
a ttitu de co ntro l a ctu a tio n a nd rea ctio n Wheel des a tu ra tio n, mo mentu m ex cha nge, Which is Within the clo s ed s ys tem o f
the metho d co mp ris ing s tep s o f : the s p a cecra f t, the a p p a ra tu s co mp ris ing:
US 6, 523, 785 B1
13
a n inner rea ctio n Wheel, s a id inner rea ctio n Wheel b eing
in the f o rm o f a dis k,
a n inner rea ctio n Wheel a ctu a to r, s a id inner rea ctio n Wheel
a ctu a to r b eing ro ta tio na lly co u p led to s a id inner rea c
tio n Wheel a b o u t a n inner rea ctio n Wheel a x is a nd
f u rther s a id inner rea ctio n Wheel a ctu a to r ha v ing mea ns
to ro ta te s a id inner rea ctio n Wheel a b o u t s a id inner
rea ctio n Wheel a x is in b o th directio ns a nd f u rther
ha v ing mea ns to s to p the ro ta tio n o f s a id inner rea ctio n
Wheel a b o u t s a id inner rea ctio n Wheel a x is a nd f u rther
ha v ing mea ns to f ree s p in s a id inner rea ctio n Wheel
a b o u t s a id inner rea ctio n Wheel a x is in b o th directio ns ,
a n inner inner girnb a l, s a id inner inner girnb a l b eing la rger
tha n a nd dis p o s ed a b o u t s a id inner rea ctio n Wheel a nd
s a id inner rea ctio n Wheel a ctu a to r a nd f u rther b eing
ro ta tio na lly co u p led to s a id inner rea ctio n Wheel a ctu a
to r a b o u t a n inner rea ctio n Wheel a ctu a to r a x is , s a id
inner rea ctio n Wheel a ctu a to r a x is b eing p erp endicu la r
to s a id inner rea ctio n Wheel a x is ,
a n inner rniddle girnb a l, s a id inner rniddle girnb a l b eing
la rger tha n a nd dis p o s ed a b o u t s a id inner inner girnb a l
a nd f u rther b eing ro ta tio na lly co u p led to s a id inner
inner girnb a l a b o u t a n inner inner girnb a l a x is , s a id
inner inner girnb a l a x is b eing p erp endicu la r to s a id
inner rea ctio n Wheel a ctu a to r a x is ,
a n inner o u ter girnb a l, s a id inner o u ter girnb a l b eing la rger
tha n a nd dis p o s ed a b o u t s a id inner rniddle girnb a l a nd
f u rther b eing ro ta tio na lly co u p led to s a id inner rniddle
girnb a l a b o u t a n inner rniddle girnb a l a x is , s a id inner
rniddle girnb a l a x is b eing p erp endicu la r to s a id inner
inner girnb a l a x is ,
a n o u ter rea ctio n Wheel, s a id o u ter rea ctio n Wheel b eing
in the f o rm o f a ring, a ls o s a id o u ter rea ctio n Wheel
b eing la rger tha n a nd dis p o s ed a b o u t s a id inner o u ter
girnb a l,
a n o u ter rea ctio n Wheel a ctu a to r, s a id o u ter rea ctio n Wheel
a ctu a to r b eing la rger tha n a nd dis p o s ed a b o u t s a id inner
o u ter girnb a l, a ls o s a id o u ter rea ctio n Wheel a ctu a to r
b eing ro ta tio na lly co u p led to s a id o u ter rea ctio n Wheel
a b o u t a n o u ter rea ctio n Wheel a x is s a id o u ter rea ctio n
Wheel a ctu a to r ha v ing mea ns to ro ta te s a id o u ter rea c
tio n Wheel a b o u t s a id o u ter rea ctio n Wheel a x is in b o th
directio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n
o f s a id o u ter rea ctio n Wheel a b o u t s a id o u ter rea ctio n
Wheel a x is a nd f u rther ha v ing mea ns to f ree s p in s a id
o u ter rea ctio n Wheel a b o u t s a id o u ter rea ctio n Wheel
a x is in b o th directio ns ,
a n o u ter inner girnb a l, s a id o u ter inner girnb a l b eing la rger
tha n a nd dis p o s ed a b o u t s a id o u ter rea ctio n Wheel
a ctu a to r a nd s a id o u ter rea ctio n Wheel a nd f u rther b eing
ro ta tio na lly co u p led to s a id o u ter rea ctio n Wheel a ctu a
to r a b o u t a n o u ter rea ctio n Wheel a ctu a to r a x is , s a id
o u ter rea ctio n Wheel a ctu a to r a x is b eing p erp endicu la r
to s a id inner o u ter girnb a l a x is ,
a n o u ter rniddle girnb a l, s a id o u ter rniddle girnb a l b eing
la rger tha n a nd dis p o s ed a b o u t s a id o u ter inner girnb a l
a nd f u rther b eing ro ta tio na lly co u p led to s a id o u ter
inner girnb a l a b o u t a n o u ter inner girnb a l a x is , s a id
o u ter inner girnb a l a x is b eing p erp endicu la r to s a id
o u ter rea ctio n Wheel a ctu a to r a x is ,
a n o u ter o u ter girnb a l, s a id o u ter o u ter girnb a l b eing la rger
tha n a nd dis p o s ed a b o u t s a id o u ter rniddle girnb a l a nd
f u rther b eing ro ta tio na lly co u p led to s a id o u ter rniddle
girnb a l a b o u t a n o u ter rniddle girnb a l a x is , s a id o u ter
rniddle girnb a l a x is b eing p erp endicu la r to s a id o u ter
inner girnb a l a x is ,
10
15
25
35
4 5
55
65
14
a s p a cecra f t, s a id s p a cecra f t b eing la rger tha n a nd dis
p o s ed a b o u t s a id o u ter o u ter girnb a l a nd f u rther b eing
ro ta tio na lly co u p led to s a id o u ter o u ter girnb a l a b o u t a n
o u ter o u ter girnb a l a x is , s a id o u ter o u ter girnb a l a x is
b eing p erp endicu la r to s a id o u ter rniddle girnb a l a x is ,
tWo inner rea ctio n Wheel a ctu a to r a x is co ntro l u nits , s a id
inner rea ctio n Wheel a ctu a to r a x is co ntro l u nits ha v ing
mea ns to ro ta te s a id inner rea ctio n Wheel a ctu a to r a b o u t
s a id inner rea ctio n Wheel a ctu a to r a x is in b o th direc
tio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f
s a id inner rea ctio n Wheel a ctu a to r a b o u t s a id inner
rea ctio n Wheel a ctu a to r a x is a nd f u rther ha v ing mea ns
to f ree s p in s a id inner rea ctio n Wheel a ctu a to r a b o u t
s a id inner rea ctio n Wheel a ctu a to r a x is in b o th
directio ns ,
tWo inner inner girnb a l a x is co ntro l u nits , s a id inner inner
girnb a l a x is co ntro l u nits ha v ing mea ns to ro ta te s a id
inner inner girnb a l a b o u t s a id inner inner girnb a l a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id inner inner girnb a l a b o u t s a id inner
inner girnb a l a x is a nd f u rther ha v ing mea ns to f ree s p in
s a id inner inner girnb a l a b o u t s a id inner inner girnb a l
a x is in b o th directio ns ,
tWo inner rniddle girnb a l a x is co ntro l u nits , s a id inner
rniddle girnb a l a x is co ntro l u nits ha v ing mea ns to ro ta te
s a id inner rniddle girnb a l a b o u t s a id inner rniddle
girnb a l a x is in b o th directio ns a nd f u rther ha v ing mea ns
to s to p the ro ta tio n o f s a id inner rniddle girnb a l a b o u t
s a id inner rniddle girnb a l a x is a nd f u rther ha v ing mea ns
to f ree s p in s a id inner rniddle girnb a l a b o u t s a id inner
rniddle girnb a l a x is in b o th directio ns ,
tWo inner o u ter girnb a l a x is co ntro l u nits , s a id inner o u ter
girnb a l a x is co ntro l u nits ha v ing mea ns to ro ta te s a id
inner o u ter girnb a l a b o u t s a id inner o u ter girnb a l a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id inner o u ter girnb a l a b o u t s a id inner
o u ter girnb a l a x is a nd f u rther ha v ing mea ns to f ree s p in
s a id inner o u ter girnb a l a b o u t s a id inner o u ter girnb a l
a x is in b o th directio ns ,
tWo o u ter rea ctio n Wheel a ctu a to r a x is co ntro l u nits , s a id
o u ter rea ctio n Wheel a ctu a to r a x is co ntro l u nits ha v ing
mea ns to ro ta te s a id o u ter rea ctio n Wheel a ctu a to r a b o u t
s a id o u ter rea ctio n Wheel a ctu a to r a x is in b o th direc
tio ns a nd f u rther ha v ing mea ns to s to p the ro ta tio n o f
s a id o u ter rea ctio n Wheel a ctu a to r a b o u t s a id o u ter
rea ctio n Wheel a ctu a to r a x is a nd f u rther ha v ing mea ns
to f ree s p in s a id o u ter rea ctio n Wheel a ctu a to r a b o u t
s a id o u ter rea ctio n Wheel a ctu a to r a x is in b o th
directio ns ,
tWo o u ter inner girnb a l a x is co ntro l u nits , s a id o u ter inner
girnb a l a x is co ntro l u nits ha v ing mea ns to ro ta te s a id
o u ter inner girnb a l a b o u t s a id o u ter inner girnb a l a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id o u ter inner girnb a l a b o u t s a id o u ter
inner girnb a l a x is a nd f u rther ha v ing mea ns to f ree s p in
s a id o u ter inner girnb a l a b o u t s a id o u ter inner girnb a l
a x is in b o th directio ns ,
tWo o u ter rniddle girnb a l a x is co ntro l u nits , s a id o u ter
rniddle girnb a l a x is co ntro l u nits ha v ing mea ns to ro ta te
s a id o u ter rniddle girnb a l a b o u t s a id o u ter rniddle
girnb a l a x is in b o th directio ns a nd f u rther ha v ing mea ns
to s to p the ro ta tio n o f s a id o u ter rniddle girnb a l a b o u t
s a id o u ter rniddle girnb a l a x is a nd f u rther ha v ing mea ns
to f ree s p in s a id o u ter rniddle girnb a l a b o u t s a id o u ter
rniddle girnb a l a x is in b o th directio ns ,
tWo o u ter o u ter girnb a l a x is co ntro l u nits , s a id o u ter o u ter
girnb a l a x is co ntro l u nits ha v ing mea ns to ro ta te s a id
US 6, 523, 785 B1
15
o u ter o u ter gimb a l a b o u t s a id o u ter o u ter gimb a l a x is in
b o th directio ns a nd f u rther ha v ing mea ns to s to p the
ro ta tio n o f s a id o u ter o u ter gimb a l a b o u t s a id o u ter
o u ter gimb a l a x is a nd f u rther ha v ing mea ns to f ree s p in
s a id o u ter o u ter gimb a l a b o u t s a id o u ter o u ter gimb a l
a x is in b o th directio ns .
4 . Ap p a ra tu s a cco rding to cla im 3 Wherein the metho d f o r
a ttitu de co ntro l a ctu a tio n a nd rea ctio n Wheel des a tu ra tio n,
the metho d co mp ris ing s tep s o f :
s tep #201 the inner rea ctio n Wheel a x is a nd the o u ter
rea ctio n Wheel a x is a re initia lly in the s a me p la ne, s a id
inner rea ctio n Wheel a ctu a to r a x is co ntro l u nits s to p the
ro ta tio n o f s a id inner rea ctio n Wheel a ctu a to r a b o u t s a id
inner rea ctio n Wheel a ctu a to r a x is , s a id inner inner
gimb a l a x is co ntro l u nits s to p the ro ta tio n o f s a id inner
inner gimb a l a b o u t s a id inner inner gimb a l a x is , s a id
inner middle gimb a l a x is co ntro l u nits s to p the ro ta tio n
o f s a id inner middle gimb a l a b o u t s a id inner middle
gimb a l a x is , s a id inner o u ter gimb a l a x is co ntro l u nits
s to p the ro ta tio n o f s a id inner o u ter gimb a l a b o u t s a id
inner o u ter gimb a l a x is , s a id o u ter rea ctio n Wheel
a ctu a to r a x is co ntro l u nits s to p the ro ta tio n o f s a id o u ter
rea ctio n Wheel a ctu a to r a b o u t s a id o u ter rea ctio n Wheel
a ctu a to r a x is , s a id o u ter inner gimb a l a x is co ntro l u nits
s to p the ro ta tio n o f s a id o u ter inner gimb a l a b o u t s a id
o u ter inner gimb a l a x is , s a id o u ter middle gimb a l a x is
co ntro l u nits s to p the ro ta tio n o f s a id o u ter middle
gimb a l a b o u t s a id o u ter middle gimb a l a x is , s a id o u ter
o u ter gimb a l a x is co ntro l u nits s to p the ro ta tio n o f s a id
o u ter o u ter gimb a l a b o u t s a id o u ter o u ter gimb a l a x is ,
a t this p o int s a id inner rea ctio n Wheel a ctu a to r a x is a nd
s a id inner middle gimb a l a x is a re the s a me, the tWo
rea ctio n Wheels s ha re the s a me center o f ma s s a nd the
tWo rea ctio n Wheel a ctu a to rs s ta rt o f f ro ta ting the tWo
rea ctio n Wheels in the s a me p la ne a nd in the s a me
directio n a nd ea ch o f the tWo rea ctio n Wheels ex cha nge
a n eq u a l a mo u nt o f a ngu la r mo mentu m With the s p a ce
cra f t in the s a me p la ne a nd in the s a me directio n,
s tep #202 s a id inner rea ctio n Wheel a ctu a to r a x is co ntro l
u nits f ree s p in the ro ta tio n o f s a id inner rea ctio n Wheel
a ctu a to r a b o u t s a id inner rea ctio n Wheel a ctu a to r a x is ,
s a id inner middle gimb a l a x is co ntro l u nits f ree s p in the
ro ta tio n o f s a id inner middle gimb a l a b o u t s a id inner
middle gimb a l a x is , s a id o u ter rea ctio n Wheel a ctu a to r
a x is co ntro l u nits f ree s p in the ro ta tio n o f s a id o u ter
rea ctio n Wheel a ctu a to r a b o u t s a id o u ter rea ctio n Wheel
a ctu a to r a x is , s a id o u ter inner gimb a l a x is co ntro l u nits
f ree s p in the ro ta tio n o f s a id o u ter inner gimb a l a b o u t
s a id o u ter inner gimb a l a x is , s a id o u ter middle gimb a l
a x is co ntro l u nits f ree s p in the ro ta tio n o f s a id o u ter
15
25
35
4 5
16
middle gimb a l a b o u t s a id o u ter middle gimb a l a x is ,
s a id o u ter o u ter gimb a l a x is co ntro l u nits f ree s p in the
ro ta tio n o f s a id o u ter o u ter gimb a l a b o u t s a id o u ter
o u ter gimb a l a x is , s a id inner o u ter gimb a l a x is co ntro l
u nits s to p the ro ta tio n o f s a id inner o u ter gimb a l a b o u t
s a id inner o u ter gimb a l a x is , s a id inner inner gimb a l
a x is co ntro l u nits ro ta te s a id inner inner gimb a l a b o u t
s a id inner inner gimb a l a x is , Which Will ca u s e s a id
inner rea ctio n Wheel a nd s a id o u ter rea ctio n Wheel to
ro ta te in o p p o s ite directio ns a b o u t s a id inner inner
gimb a l a x is , Which Will ca u s e s a id inner rea ctio n Wheel
a nd s a id o u ter rea ctio n Wheel to mo v e in o p p o s ite
directio ns in o rder to b ring the a ngu la r mo mentu m o f
s a id inner rea ctio n Wheel a nd s a id o u ter rea ctio n Wheel
in p la ne With the ro ta tio n b eing crea ted b y s a id inner
inner gimb a l a x is co ntro l u nits , Which Will b ring the
a ngu la r mo mentu m o f s a id inner rea ctio n Wheel a nd
s a id o u ter rea ctio n Wheel in p la ne With the inner inner
gimb a l a x is , b u t no W the a ngu la r mo mentu m o f s a id
inner rea ctio n Wheel a nd s a id o u ter rea ctio n Wheel is in
o p p o s ite directio ns ,
Step #203 s a id inner rea ctio n Wheel a ctu a to r a x is co ntro l
u nits s to p the ro ta tio n o f s a id inner rea ctio n Wheel
a ctu a to r a b o u t s a id inner rea ctio n Wheel a ctu a to r a x is ,
s a id inner inner gimb a l a x is co ntro l u nits s to p the
ro ta tio n o f s a id inner inner gimb a l a b o u t s a id inner
inner gimb a l a x is , s a id inner middle gimb a l a x is co ntro l
u nits s to p the ro ta tio n o f s a id inner middle gimb a l
a b o u t s a id inner middle gimb a l a x is , s a id inner o u ter
gimb a l a x is co ntro l u nits s to p the ro ta tio n o f s a id inner
o u ter gimb a l a b o u t s a id inner o u ter gimb a l a x is , s a id
o u ter rea ctio n Wheel a ctu a to r a x is co ntro l u nits f ree
s p in the ro ta tio n o f s a id o u ter rea ctio n Wheel a ctu a to r
a b o u t s a id o u ter rea ctio n Wheel a ctu a to r a x is , s a id o u ter
inner gimb a l a x is co ntro l u nits f ree s p in the ro ta tio n o f
s a id o u ter inner gimb a l a b o u t s a id o u ter inner gimb a l
a x is , s a id o u ter middle gimb a l a x is co ntro l u nits f ree
s p in the ro ta tio n o f s a id o u ter middle gimb a l a b o u t s a id
o u ter middle gimb a l a x is , s a id o u ter o u ter gimb a l a x is
co ntro l u nits f ree s p in the ro ta tio n o f s a id o u ter o u ter
gimb a l a b o u t s a id o u ter o u ter gimb a l a x is , s a id inner
rea ctio n Wheel a ctu a to r s to p s the ro ta tio n o f s a id inner
rea ctio n Wheel a b o u t s a id inner rea ctio n Wheel a x is a nd
s a id o u ter rea ctio n Wheel a ctu a to r s to p s the ro ta tio n o f
s a id o u ter rea ctio n Wheel a b o u t s a id o u ter rea ctio n
Wheel a x is , s a id inner rea ctio n Wheel a nd s a id o u ter
rea ctio n Wheel no W b eing des a tu ra ted ca n b e res et to
s tep #201 f o r a ngu la r mo mentu m ex cha nge With the
s p a cecra f t.