How can I transform torque commands into correctly timed activation of the relevant thrusters if the thrusters torque arm are not equal?

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Stefano Rossi

Usually you should use a proper bang-bang system and tune the PWM in function of the known torque arm.

Knowing geometry misalignments of the thrusters and torques arm is critical.

James Garry

Hatem,

Generally the PWM ratio with scale with moment arm, linearly.

So, if you're commanding one thruster with a moment arm, d, with a mark-space ratio of X, then an arm that is 10% longer will require a 10% higher mark-space ratio to have the same command authority.

Stefano's comment is absolutely spot-on, remember Mars Climate Orbiter?

Hatem Elattar

Thanks a lot