SEARCH · Search NASA

Results for “gimbals”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 217 records · Page 12

All sources NASA NTRS DOE OSTI

NASA NTRS1972

Candidate configuration trade study, Stellar-inertial Measurement Systems (SIMS) for an Earth Observation Satellite (EOS)

The results of analytical and simulation studies of the stellar-inertial measurement system (SIMS) for an earth observation satellite are presented. Subsystem design analyses and sensor design trades are reported. Three candidate systems are considered: (1) structure-mounted gyros with structure-mounted star mapper, (2) structure-mounted gyros with gimbaled star tracker, and (3) gimbaled gyros with structure-mounted star mapper. The purpose of the study is to facilitate the decisions pertaining to gimbaled versus structure-mounted gyros and star sensors, and combinations of systems suitable for the EOS satellite.

Ogletree, G.↗

NASA NTRS1972

A comparison of CMG steering laws for High Energy Astronomy Observatories (HEAOs)

A comparison of six selected control moment gyro steering laws for use on the HEAO spacecraft is reported. Basic equations are developed to project the momentum and torque of four skewed, single gimbal CMGs into vehicle coordinates. In response to the spacecraft attitude error signal, six algorithms are derived for controlling the CMG gimbal movements. HEAO performance data are obtained using each steering law and compared on the basis of such factors as accuracy, complexity, singularities, gyro hang-up and failure adaption. Moreover, each law is simulated with and without a magnetic momentum management system. The performance of any steering law is enhanced by the magnetic system. Without magnetics, the gimbal angles get large and there are significant differences in steering law performances due to cross coupling and nonlinearities. The performance of the pseudo inverse law is recommended for HEAO.

Davis, B. G.↗

NASA NTRS1973

Simulation of an experiment pointing system for the space shuttle

The pointing and control of experiments during sortie missions are examined from the standpoint of accuracy and performance. The effect of gimbal characteristics, pallet stiffness, and variation in the servo control loop are described. Simulation results are shown for a number of pointing options under the disturbing influences of man motion, thruster firings, and experiment operations. One option of particular interest is the suspended pallet which offers the possibility of high accuracy pointing of very large payloads without using conventional gimbals. The pallet is suspended within the payload bay by nonrigid attachments such as springs, thereby isolating experiments from most shuttle disturbances. Control moment gyros apply torques directly to the pallet to maintain pointing accuracy within the arc second range. Spring torques constrain shuttle attitude so thruster operation is not required. The suspended pallet approach will meet the base stability requirements of any sortie experiment and offers the possibility of a standardized low weight, low cost alternative to gimbaled mounts.

Nicaise, P. D.↗

NASA NTRS1973

A reactive torque control law for gyroscopically controlled space vehicles

A method of control is developed based on the reactive torques as seen by the individual CMG gimbals. The application of a torque to the gimbal of a CMG rotates the momentum vector and applies a torque to the spacecraft according to well-known laws. The response (rotation) of the vehicle produces a reverse or reaction torque opposing the torque producing the gimbal movement. The reactive torque and the pseudoinverse control schemes are contrasted in order to point out the simplicity of the first method. Simulation was performed only to the extent necessary to prove that reactive torque stabilization and control is feasible.

Farmer, J. E.↗

NASA NTRS1974

A system for spacecraft attitude control and energy storage

A conceptual design for a double-gimbal reaction-wheel energy-wheel device which has three-axis attitude control and electrical energy storage capability is given. A mathematical model for the three-axis gyroscope (TAG) was developed, and a system of multiple units is proposed for attitude control and energy storage for a class of spacecraft. Control laws were derived to provide the required attitude-control torques and energy transfer while minimizing functions of TAG gimbal angles, gimbal rates, reaction-wheel speeds, and energy-wheel speed differences. A control law is also presented for a magnetic torquer desaturation system. A computer simulation of a three-TAG system for an orbiting telescope was used to evaluate the concept. The results of the study indicate that all control and power requirements can be satisfied by using the TAG concept.

Shaughnessy, J. D.↗

NASA NTRS1973

Failure detection and isolation of redundant inertial systems for Space Shuttle

A failure detection and isolation technique is presented for application to 'off-the-shelf' type four-gimbaled inertial measurement units (IMUs) such as the KT-70 or Carousel IV. This study concentrates initially upon actual four-gimbaled IMU performance requirements for current Space Shuttle booster and orbiter mission phases. When this information is obtained for a simplex system, the remaining area of study necessary to attain redundant IMU capabilities is the establishment of mission-dependent performance failure detection thresholds. These thresholds, then, permit a careful evaluation of the capabilities of various 'off-the-shelf' four gimbaled IMUs to satisfy the Shuttle mission performance requirements with various failure detection and isolation methods.

Brown, H. E.↗

NASA NTRS1972

Precision Pointing Control System (PPCS) system design and analysis

The precision pointing control system (PPCS) is an integrated system for precision attitude determination and orientation of gimbaled experiment platforms. The PPCS concept configures the system to perform orientation of up to six independent gimbaled experiment platforms to design goal accuracy of 0.001 degrees, and to operate in conjunction with a three-axis stabilized earth-oriented spacecraft in orbits ranging from low altitude (200-2500 n.m., sun synchronous) to 24 hour geosynchronous, with a design goal life of 3 to 5 years. The system comprises two complementary functions: (1) attitude determination where the attitude of a defined set of body-fixed reference axes is determined relative to a known set of reference axes fixed in inertial space; and (2) pointing control where gimbal orientation is controlled, open-loop (without use of payload error/feedback) with respect to a defined set of body-fixed reference axes to produce pointing to a desired target.

Frew, A. M.↗

NASA NTRS1975

Large Space Telescope oscillations induced by CMG friction

Conditions are predicted under which limit cycles may be caused by the friction torque of the control moment gyroscope (CMG) output gimbal used in the Large Space Telescope (LST). The parameter plane analysis technique is described, and three separate models of the CMG output friction nonlinearity are used in three separate analyses. The results suggest that the Dahl model (included in model 3) is the best available friction model for use in dynamic analysis. The analysis and analog simulation indicate the absence of limit cycle behavior due to the CMG output gimbal friction nonlinearity for presently estimated LST numerical parameters and the occurrence of one stable and one unstable limit cycle if substantially larger numerical values are allowed for the CMG gimbal pivot friction parameter and/or the running friction torque.

Seltzer, S. M.↗

NASA NTRS1975

Some unusual oscillating bearing applications in liquid propellant rocket engines

Liquid propellant rocket engines have some unique applications for highly loaded oscillating-motion bearings operating at cryogenic temperatures and vacuum environment conditions. Among these are (1) thrust attitude control gimbal bearings that permit pivoting of the entire rocket engine and (2) bearings in the linkages of ducting bellows joints that articulate when the engine gimbals. The main rocket engines for first, second, and third stages of the Saturn vehicle have thrust vector control gimbals which use PTFE liner bearing materials and ducting linkage bearings using solid film dry lubricants, both to reduce friction and provide required wear life. Data on the frictional and wear characteristics of these materials, while operating under varying temperature and atmospheric pressure conditions, are presented. A discussion of the bearing designs for flexible bellows joint linkages is also presented.

Daniels, C. M.↗

NASA NTRS1975

A Study of Gust and Control Response of Model Rotor-Propellers in a Wind Tunnel Airstream

One-ninth-scale model hingeless and gimballed rotor-propellers were tested at an advance ratio of 0.7 in the Wright Brothers Wind Tunnel at MIT, in the presence of sinusoidal longitudinal and vertical gusts produced by a gust generator of novel design. The gimballed rotor was also subjected to sinusoidal collective and cyclic control inputs. Model test data in terms of blade inplane and out-of-plane bending, longitudinal and lateral gimbal motion, wing vertical and chordwise bending, and blade and wing torsion are presented and compared with theory.

Ham, N. D.↗

NASA NTRS1976

The 2.5 kW advanced technology ion thruster

A representative thruster was extensively documented with respect to performance parameters and characteristics at selected ion beam currents in the 0.5 to 2.75 A range, including measurements of thrust losses resulting from doubly-charged ions and ion beam divergence. Corrected total efficiency was shown to be relatively insensitive to operating parameter selection at any given power level. Factors affecting doubly-charged ionization were studied and it was found that the fraction of doubly-charged ions is directly proportional to the discharge chamber propellant utilization. The parameter that most affects this proportionality is the accel aperture diameter (which controls neutral atom loss). Thruster-power conditioner interactions were studied with the result that previous power supply specifications remain satisfactory. Options for reducing the number of power supplies required were demonstrated to be feasible. Gimbal actuator designs were studied with the goal of selecting a particular approach for design and development. The conclusion drawn was that optimum gimbal actuator design depends heavily on the thruster application and consequently the effort was concluded by developing a computer program to aid in specifying the gimbal requirements for the thrust vectoring required in a specific application.

Poeschel, R. L.↗

NASA NTRS1977

The influence of pitch-lag coupling on the predicted aeroelastic stability of the XV-15 tilting proprotor aircraft

The predicted dynamic stability of the XV-15 tilting proprotor aircraft in cruise flight is updated, using a reduced increase in the pitch gimbal coupling with collective, and a higher nominal control system stiffness. The major influence of the pitch-lag coupling of the XV-15 gimballed, stiff-inplane rotor on the aircraft stability is shown. The influence of the blade pitch dynamics is found to be contained primarily in the quasistatic pitch-lag and pitch-gimbal coupling, although the complete dynamics is retained in the analysis for an accurate quantitative calculation of the stability boundary.

Johnson, W.↗

NASA NTRS1978

Orbiting Astronomical Observatory (OAO-A2) stabilization and control subsystem

The OAO was successfully operating for approximately 11 months and has made over 2500 stellar observations. The OAO control system was a complex system which takes the 4500-lb vehicle through initial stabilization to star tracker control where a pointing accuracy of less than 1 arc minute was achieved. To obtain this pointing accuracy, the system used six orthogonally mounted gimbaled star trackers. The trackers were two gimbaled devices, having a 1-deg field of view with a + or - 43 deg gimbal excursion. The tracker could recognize and track 2.0 magnitude stars or brighter. The flight results indicated spacecraft pointing accuracies of less than 1 arc minute after tracker calibration with spacecraft jitter less than 3 arc seconds.

Huber, T. E.↗

NASA NTRS1978

Analysis of a magnetically suspended, high-performance instrument pointing system

This paper describes a highly accurate auxiliary instrument pointing system which can provide fine pointing for a variety of solar-, stellar-, and Earth-viewing scientific instruments during extended space shuttle orbital missions. This system, called the Annular Suspension and Pointing System (ASPS), consists of pointing assemblies for coarse and vernier pointing. The 'coarse' assembly is attached to the spacecraft (e.g., the space shuttle) and consists of an elevation gimbal and a lateral gimbal to provide coarse pointing. The vernier pointing assembly consists of the payload instrument mounted on a plate around which is attached a continuous annular rim. The vernier assembly is suspended in the lateral gimbal using magnetic actuators which provide rim suspension forces and fine pointing torques. A detailed linearized mathematical model is developed for the ASPS/space shuttle system, and control laws and payload attitude state estimators are designed. Statistical pointing performance is predicted in the presence of stochastic disturbances such as crew motion, sensor noise, and actuator noise.

Joshi, S. M.↗

NASA NTRS1982

Less-Costly Inertial Guidance

Two gyroscopes mounted in gimbals yield signals that allow calculation of velocity, position and altitude of an aircraft. The mass lowers center of gravity of gimbal-and-gyro assembly to below the intersection of their axes. Combination acts as a two-axis pendulum. Rate signals from the leveling gyroscope are integrated, amplified, and fed to gimbal torquers to restore pendulum to alinement with local vertical.

Merhav, S. J.↗

NASA NTRS1981

Preliminary design for a Zero Gravity Test Facility (ZGTF). Volume 1: Technical

The functional requirements and best conceptual design of a test facility that simulates weightless operating conditions for a high gain antenna systems (HGAS), that will broadcast to the Tracking Data Relay Satellites were defined. The typical HGAS defined is mounted on a low Earth orbiting satellite, and consists of an antenna with a double gimbal pointing system mounted on a 13 foot long mast. Typically, the gimbals are driven by pulse modulated dc motors or stepper motors. These drivers produce torques on the mast, with jitter that excites the satellite and may cause disturbances to sensitive experiments. The dynamic properties of the antenna support structure (mast), including flexible mode characteristics were defined. The torque profile induced on the spacecraft by motion of the high gain antenna was estimated. Gain and phase margins of the servo control loop of the gimbal drive electronics was also verified.

Germain, A.↗

NASA NTRS1984

Orbital transfer vehicle propulsion issues

The development of a reusable and space-based orbital transfer vehicle (OTV) necessitates an integral approach toward structural and propulsion subsystems design. A single engine installation necessitates moving the engine further aft and/or relocation of the engine gimbal point to accommodate vehicle control requirements. Penalties associated with gimbal point relocation without increasing stage length or modifying typical advanced engine concepts, as well as a method for minimizing such penalties, are presented for a single engine toroidal tank OTV configuration. Alternative integrated vehicle structure/engine concepts are also presented for multi-engine configurations. Features of these potential concepts are given which indicate the need for substantial additional study of feedline gimbal alternatives before firmly establishing advanced engine design. The issue of vehicle/engine integration is addressed in three areas: interfaces (physical and functional), installation requirements, and reliability apportionment (i.e., number of engines required to assure mission completion).

Bergeron, R. P.↗

NASA NTRS1988

Kinematics of Hooke universal joint robot wrists

The singularity problem associated with wrist mechanisms commonly found on industrial manipulators can be alleviated by redesigning the wrist so that it functions as a three-axis gimbal system. This paper discussess the kinematics of gimbal robot wrists made of one and two Hooke universal joints. Derivations of the resolved rate motion control equations for the single and double Hooke universal joint wrists are presented using the three-axis gimbal system as a theoretical wrist model.

Mckinney, William S., Jr.↗