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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 217 records · Page 12
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks

Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.

Mclauchlan, Robert A.↗
DOE OSTI2026

Use of Power Hardware-in-the-Loop and Controller Hardware-in-the-Loop to De-Risk the Use Of Grid-Forming Fuel Cell Inverters in Microgrids

Microgrids continue to proliferate, particularly those that rely on inverter-based resources as the microgrid's voltage and frequency leader. Hardware-in-the-loop simulations can de-risk microgrid deployments, and therefore we need power-hardware-in-the-loop (PHIL) interfaces for grid-forming (GFM) inverters to enable simulations of seamless transitions between islanded and grid-connected operation. Such interfaces are particularly challenging when the inverters need to switch modes, i.e., between grid-following (GFL) and GFM as the microgrid transitions between grid-connected and islanded operation. This presentation shows the use of PHIL interfaces for such microgrids and the preliminary experimental results.

24 POWER TRANSMISSION AND DISTRIBUTION↗
NASA NTRS1988

Simulation and control of a 20 kHz spacecraft power system

A detailed computer representation of four Mapham inverters connected in a series, parallel arrangement has been implemented. System performance is illustrated by computer traces for the four Mapham inverters connected to a Litz cable with parallel resistance and dc receiver loads at the receiving end of the transmission cable. Methods of voltage control and load sharing between the inverters are demonstrated. Also, the detailed computer representation is used to design and to demonstrate the advantages of a feed-forward voltage control strategy. It is illustrated that with a computer simulation of this type, the performance and control of spacecraft power systems may be investigated with relative ease and facility.

Wasynczuk, O.↗
NASA NTRS1994

Design of power electronics for TVC and EMA systems

The EMA systems proposed for future space transportation applications are high power systems operating at voltages up to 270 Vdc and at current levels on the order of hundreds of amperes. The position of the actuator is controlled by modulating the flow of energy from the source to an electric motor with an inverter. Hard-switching of the semiconductor devices in the inverter results in considerable device switching stresses and losses and in the generation of substantial amounts of EMI. Both of these can be reduced by employing zero-voltage-switching (ZVS) techniques in the inverter. This project has focused on the development of a ZVS inverter for the Marshall Space Center EMA prototypes, which utilize brushless dc motors to convert electrical energy to mechanical energy. An inverter which permitted zero-voltage switching and a quasi-PWM operation was selected for study and implementation. A waveshaping circuit is added to the front of a standard three-phase inverter to achieve the desired switching properties. This circuit causes the input voltage of the three-phase inverter to ring to zero where it is clamped for a short period of time. During this zero-voltage period, any of the semiconductor switches in the three-phase inverter are switched on or off at zero voltage resulting in a reduction in switching losses and EMI. The operation of this waveshaping circuit and its interaction with the three-phase inverter are described. The different circuit modes were analyzed using equivalent circuits. Based on this analysis, design relationships were developed for calculating component values for the circuit elements in the waveshaping circuit. Waveforms of various voltages and currents in the waveshaping circuit were plotted and used to determine the ratings of the semiconductors in the waveshaping circuit. The implementation of this inverter are described. Block diagrams for the overall control system and the waveshaping circuit control are presented and discussed. The current control scheme employed in the controller is also described.

Nelms, R. Mark↗
NASA NTRS1982

Advances in series resonant inverter technology and its effect on spacecraft employing electric propulsion

The efficiency of transistorized Series Resonant Inverters (SRIs), which is higher than that of silicon-controlled rectifier alternatives, reduces spacecraft radiator requirements by 40% and may eliminate the need for heat pipes on 30-cm ion thruster systems. Recently developed 10- and 25-kW inverters have potential applications in gas thrusters, and represent the first spaceborne SRI designs for such power levels. Attention is given to the design and control system approaches employed in these inverter designs to improve efficiency and reduce weight, along with the impact of such improved parameters on electric propulsion systems.

Robson, R. R.↗
DOE OSTI2024

Equivalent-Circuit Models of Grid-Forming IBRs for Electromagnetic-Transient Simulations

We derive equivalent-circuit models of control- and physical-layer subsystems of grid-forming (GFM) inverter-based resources (IBRs) for electromagnetic-transient (EMT) simulations. Three different primary controllers are considered: Droop, Virtual Synchronous Machine (VSM), and dispatchable Virtual Oscillator Control (dVOC). In addition, the models include cascaded voltage- and current-control loops, and LCL output filters. Simulations for a single-inverter setup and for a network of five inverters in a modified IEEE 14-bus topology are presented. The equivalent-circuit models simulated with analog electronic circuit-simulator software (in our case, LTspice) offer the same accuracy, and with no explicit tuning of the solver, lower computational burden compared to block-diagram-based implementations in commercial off-the-shelf EMT software (in our case, MATLAB-Simulink).

electromagnetic transient simulation↗
DOE OSTI2024

Equivalent-Circuit Models of Grid-Forming IBRs for Electromagnetic-Transient Simulations: Preprint

We derive equivalent-circuit models of control- and physical-layer subsystems of grid-forming (GFM) inverter-based resources (IBRs) for electromagnetic-transient (EMT) simulations. Three different primary controllers are considered: droop, virtual synchronous machine (VSM), and dispatchable virtual oscillator control (dVOC). In addition, the models include cascaded voltage- and current-control loops, and LCL output filters. Simulations for a single-inverter setup and for a network of five inverters in a modified IEEE 14-bus topology are presented. The equivalent-circuit models simulated with analog electronic circuit-simulator software (in our case, LTspice) offer the same accuracy with up to 150x lower computational burden compared to block-diagram-based implementations in commercial off-the-shelf EMT software (in our case, MATLAB-Simulink).

circuit-equivalent model↗
NASA NTRS1991

Adaptive control of space-based robot manipulators

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

Walker, Michael W.↗
NASA NTRS1994

Design of power electronics for TVC and EMA systems

The Component Development Division of the Propulsion Laboratory at Marshall Space Flight Center (MSFC) is currently developing a class of electromechanical actuators (EMA's) for use in space transportation applications such as thrust vector control (TVC) and propellant control valves (PCV). These high power servomechanisms will require rugged, reliable, and compact power electronic modules capable of modulating several hundred amperes of current at up to 270 volts. MSFC has selected the brushless dc motor for implementation in EMA's. A previous project performed by Auburn University examined the use of the resonant dc link (RDCL) inverter, pulse density modulation (PDM), and mos-controlled thyristors (MCT's) for speed control of a brushless dc motor. The speed of the brushless dc motor is proportional to the applied stator voltage. In a PDM system, the control system determines the number of resonant voltage pulses which must be applied to the stator to achieve a desired speed. The addition of a waveshaping circuit to the front end of a standard three-phase inverter yields a RDCL inverter; the resonant voltage pulses are produced through the action of this wave shaping circuit and the inverter. This project has focused on the implementation of a system which permits zero-voltage switching with the bus voltage clamped at the input voltage level. In the same manner as the RDCL inverter, the inverter selected for this implementation is a combination of waveshaping circuit and a standard three-phase inverter. In addition, this inverter allows a pulse-width modulated (PWM)-like control scheme instead of a PDM scheme. The operation of waveshaping circuit will be described through analysis and waveforms. Design relationships will also be presented.

Nelms, R. Mark↗
NASA NTRS1973

The application of standardized control and interface circuits to three dc to dc power converters.

Standardized control and interface circuits were applied to the three most commonly used dc to dc converters: the buck-boost converter, the series-switching buck regulator, and the pulse-modulated parallel inverter. The two-loop ASDTIC regulation control concept was implemented by using a common analog control signal processor and a novel digital control signal processor. This resulted in control circuit standardization and superior static and dynamic performance of the three dc-to-dc converters. Power components stress control, through active peak current limiting and recovery of switching losses, was applied to enhance reliability and converter efficiency.

Yu, Y.↗
NASA NTRS1986

Nonlinear attitude control of elastic spacecraft-antenna system

An approach to large angle rotational maneuvers of a spacecraft-beam-tip body (an antenna or a reflector) configuration based on nonlinear invertibility and linear feedback stabilization is presented. A control law u sub d is derived to obtain independent decoupled control of attitude angles, lateral elastic deflections, slopes due to bending and angular deflection due to torsion at the tip of the beam using torquers and force actuators. For the stabilization of the elastic oscillations, a linear feedback control law, u sub s, is obtained based on a linearized model about the terminal state augmented with a servo-compensator. Simulation results obtained for single axis control, for simplicity, show that large slewing and elastic mode stabilization can be accomplished in spite of uncertainty in the system using the total control u = u sub d + u sub s.

Singh, S. N.↗
NASA NTRS1984

Inverse Modelling to Obtain Head Movement Controller Signal

Experimentally obtained dynamics of time-optimal, horizontal head rotations have previously been simulated by a sixth order, nonlinear model driven by rectangular control signals. Electromyography (EMG) recordings have spects which differ in detail from the theoretical rectangular pulsed control signal. Control signals for time-optimal as well as sub-optimal horizontal head rotations were obtained by means of an inverse modelling procedures. With experimentally measured dynamical data serving as the input, this procedure inverts the model to produce the neurological control signals driving muscles and plant. The relationships between these controller signals, and EMG records should contribute to the understanding of the neurological control of movements.

Kim, W. S.↗
NASA NTRS1982

Transistorized PWM inverter-induction motor drive system

This paper describes the development of a transistorized PWM inverter-induction motor traction drive system. A vehicle performance analysis was performed to establish the vehicle tractive effort-speed requirements. These requirements were then converted into a set of inverter and motor specifications. The inverter was a transistorized three-phase bridge using General Electric power Darlington transistors. The description of the design and development of this inverter is the principal object of this paper. The high-speed induction motor is a design which is optimized for use with an inverter power source. The primary feedback control is a torque angle control with voltage and torque outer loop controls. A current-controlled PWM technique is used to control the motor voltage. The drive has a constant torque output with PWM operation to base motor speed and a constant horsepower output with square wave operation to maximum speed. The drive system was dynamometer tested and the results are presented.

Peak, S. C.↗
NASA NTRS1982

Residential photovoltaic power conditioning technology for grid connected applications

Major advances in photovoltaic (PV) Power Conditioning (PC) with respect to performance and low-cost potential have been made. Solutions have been obtained to interface and control problems related to adapting available inverter designs to the grid-connected, residential photovoltaic experiments. A description is presented to contributing research and development activities. Attention is given to aspects of residential systems experience, conceptual design studies, questions of optimum topology development, and promising advanced designs for residential PV provided by development efforts of the private sector.

Key, T. S.↗
NASA NTRS1986

Flight effects on noise from coaxial dual flow. II - Heated jets

This paper is a continuation of the study described in Part I and deals with the flight effects on noise from heated jets. The present work shows that coaxial exhaust flows with inverted profiles are much quieter than flows with conventional profiles. Among all possible coaxial configurations with only one of the streams heated conventional profile, inverted profile, and the variable stream control engine (VSCE) cycle - and holding constant mass flow and thrust, a VSCE cycle is the best possible engine cycle as it provides over 18-dB reduction in sound pressure level (as compared to noise from a conventional profile cycle) at all angles, both statically and in flight. The study also indicates that, if both the coaxial streams are heated unequally, a duct-burning profile, combined with the variable stream control engine (DB-VSCE) concept, gives rise to a powerful coaxial device which generates the least noise, both statically and in flight. This concept will be of paramount importance as one of the most variable nozzle designs of the future.

Dash, R.↗
NASA NTRS1993

Construction and parameterization of all static and dynamic H2-optimal state feedback solutions, optimal fixed modes, and fixed decoupling zeros

This paper considers an H2 optimization problem via state feedback. The class of problems dealt with here are general singular type which have a left invertible transfer matrix function from the control input to the controlled output. This class subsumes the regular H2 optimization problems. The paper constructs and parameterizes all the static and dynamic H2 optimal state feedback solutions. Moreover, all the eigenvalues of an optimal closed-loop system are characterized. All optimal closed-loop systems share a set of eigenvalues which are termed here as the optimal fixed modes. Every H2 optimal controller must assign among the closed-loop eigenvalues the set of optimal fixed modes. This set of optimal fixed modes includes a set of optimal fixed decoupling zeros which shows the minimum absolutely necessary number and locations of pole-zero cancellations present in any H2 optimal design. It is shown that both the sets of optimal fixed modes and optimal fixed decoupling zeros do not vary depending upon whether the static or the dynamic controllers are used.

Chen, Ben M.↗