This patent document describes a reaction wheel desaturation apparatus and method. It uses two reaction wheels for each of the three axes of a spacecraft. The two reaction wheels initially rotate in the same direction to exchange angular momentum with the spacecraft. Desaturation is then performed by free spinning the two reaction wheels about a second axis perpendicular to the first, while rotating about a third axis perpendicular to the second. This causes the reaction wheels to bring their first axis angular momentum into the plane of the third axis, and rotate in opposite directions to exchange momentum and slow down.
This patent document describes a reaction wheel desaturation apparatus and method. It uses two reaction wheels for each of the three axes of a spacecraft. The two reaction wheels initially rotate in the same direction to exchange angular momentum with the spacecraft. Desaturation is then performed by free spinning the two reaction wheels about a second axis perpendicular to the first, while rotating about a third axis perpendicular to the second. This causes the reaction wheels to bring their first axis angular momentum into the plane of the third axis, and rotate in opposite directions to exchange momentum and slow down.
This patent document describes a reaction wheel desaturation apparatus and method. It uses two reaction wheels for each of the three axes of a spacecraft. The two reaction wheels initially rotate in the same direction to exchange angular momentum with the spacecraft. Desaturation is then performed by free spinning the two reaction wheels about a second axis perpendicular to the first, while rotating about a third axis perpendicular to the second. This causes the reaction wheels to bring their first axis angular momentum into the plane of the third axis, and rotate in opposite directions to exchange momentum and slow down.
( 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.