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At least 235 records · Page 13

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NASA NTRS1989

Pressure gradient torque in highly supersonic nonaxisymmetric accretion

The contribution of a pressure gradient torque to the angular momentum transfer rate in highly supersonic nonaxisymmetric accretion flows is considered. This study takes into account the contribution due to the pressure variation in the postaccretion-shock region which is significant for high Mach number accretion. For the case of accretion flow with Mach (infinity) of not less than 5, the overall accretion torque is shown to approach a constant value.

Ho, Cheng↗

NASA NTRS1989

Alterations of the in vivo torque-velocity relationship of human skeletal muscle following 30 days exposure to simulated microgravity

The effect of a continuous 30-d-long 6-deg headdown bedrest (BR) on the force output ability of skeletal muscles was investigated in human subjects by measuring peak angle specific torque of the knee extensor (KE) and knee flexor (KF) muscle groups of both limbs during unilateral efforts at four speeds (0.52. 1.74, 2.97, and 4.19 rad/sec) during eccentric action. It was found that, for the KE muscle group, the headdown BR resulted in decreases, by 19 percent on the average, of peak angle specific torque; on the other hand, the strength of the KF muscles was not altered significantly. A post-BR recovery for 30 days was found to restore muscle strength of the KE muscle group to about 92 percent of the pre-BR values. Changes of strength were not affected by the type of speed of muscle action.

Dudley, Gary A.↗

NASA NTRS1989

Autonomous spacecraft attitude control using magnetic torquing only

Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.

Musser, Keith L.↗

NASA NTRS1990

A fiber optic sensor for noncontact measurement of shaft speed, torque, and power

A fiber optic sensor which enables noncontact measurement of the speed, torque and power of a rotating shaft was fabricated and tested. The sensor provides a direct measurement of shaft rotational speed and shaft angular twist, from which torque and power can be determined. Angles of twist between 0.005 and 10 degrees were measured. Sensor resolution is limited by the sampling rate of the analog to digital converter, while accuracy is dependent on the spot size of the focused beam on the shaft. Increasing the sampling rate improves measurement resolution, and decreasing the focused spot size increases accuracy. Digital processing allows for enhancement of an electronically or optically degraded signal.

Madzsar, George C.↗

NASA NTRS1989

Computed torque control of a free-flying cooperat ing-arm robot

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Koningstein, Ross↗

NASA NTRS1990

A fiber optic sensor for noncontact measurement of shaft speed, torque and power

Madzsar, George C.↗

NASA NTRS1990

Effects of structural offset, axial shortening, and gravitational torque on the slewing of a flexible spacecraft

The large-angle maneuvering of a Shuttle-beam-reflector spacecraft in the plane of a circular earth orbit is examined by considering the effects of the structural offset connection, the axial shortening, and the gravitational torque on the slewing motion. The offset effect is analyzed by changing the attachment point of the reflector to the beam. As the attachment point is moved away from the mass center of the reflector, the responses of the nonlinear system deviate from those of the linearized system. The axial geometric shortening effect induced by the deformation of the beam contributes to the system equations through second order terms in the modal amplitudes and rates. The gravitational torque effect is relatively small.

Li, Feiyue↗

NASA NTRS1992

Reducing the net torque and flow ripple effects of multiple hydraulic piston motor drives

The torque and flow ripple effects which result when multiple hydraulic motors are used to drive a single motion of a mechanical device can significantly affect the way in which the device performs. This article presents a mathematical model describing the torque and flow ripple effects of a bent-axis hydraulic piston motor. The model is used to show how the ripple magnitude can be reduced when multiple motors are used to drive a motion. A discussion of the hydraulic servo system of the 70-m antennas located with the Deep Space Network is included to demonstrate the application of the concepts presented.

Bartos, R. D.↗

NASA NTRS1937

An analytical and experimental study of the effect of periodic blade twist on the thrust, torque, and flapping motion of an autogiro rotor

An analysis is made of the influence on autogiro rotor characteristics of a periodic blade twist that varies with the azimuth position of the rotor blade and the results are compared with experimental data. The analysis expresses the influence of this type of twist upon the thrust, torque, and flapping motion of the rotor. The check against experimental data shows that the periodic twist has a pronounced influence on the flapping motion and that this influence is accurately predicted by the analysis. The influence of the twist upon the thrust and torque could be demonstrated only indirectly, but its importance is indicated.

Wheatley, John B↗

NASA NTRS1938

A study of the torque equilibrium of an autogiro rotor

Two improvements have been made in the method developed in NACA Reports nos. 487 and 591 for the estimation of the inflow velocity required to overcome a given decelerating torque in an autogiro rotor. At low tip-speed ratios, where the assumptions necessary for the analytical integrations of the earlier papers are valid, the expressions therein derived are greatly simplified by combining and eliminating terms with a view of minimizing the numerical computations required. At high tip-speed ratios, by means of charts based on graphical integrations, errors inherent in the assumptions associated with the analytical method are largely eliminated. The suggested method of estimating the inflow velocity presupposes a knowledge of the decelerating torque acting on the rotor; all available full-scale experimental information on this subject is included.

Bailey, F J , Jr↗

NASA NTRS1993

Establishing a relationship between maximum torque production of isolated joints to simulate EVA ratchet push-pull maneuver: A case study

As manned exploration of space continues, analytical evaluation of human strength characteristics is critical. These extraterrestrial environments will spawn issues of human performance which will impact the designs of tools, work spaces, and space vehicles. Computer modeling is an effective method of correlating human biomechanical and anthropometric data with models of space structures and human work spaces. The aim of this study is to provide biomechanical data from isolated joints to be utilized in a computer modeling system for calculating torque resulting from any upper extremity motions: in this study, the ratchet wrench push-pull operation (a typical extravehicular activity task). Established here are mathematical relationships used to calculate maximum torque production of isolated upper extremity joints. These relationships are a function of joint angle and joint velocity.

Pandya, Abhilash↗

NASA NTRS1994

A dynamic method for magnetic torque measurement

In a magnetic suspension system, accurate force measurement will result in better control performance in the test section, especially when a wider range of operation is required. Although many useful methods were developed to obtain the desired model, however, significant error is inevitable since the magnetic field distribution of the large-gap magnetic suspension system is extremely nonlinear. This paper proposed an easy approach to measure the magnetic torque of a magnetic suspension system using an angular photo encoder. Through the measurement of the velocity change data, the magnetic torque is converted. The proposed idea is described and implemented to obtain the desired data. It is useful to the calculation of a magnetic force in the magnetic suspension system.

Lin, C. E.↗

NASA NTRS1994

Dynamics of a split torque helicopter transmission

Split torque designs, proposed as alternatives to traditional planetary designs for helicopter main rotor transmissions, can save weight and be more reliable than traditional designs. This report presents the results of an analytical study of the system dynamics and performance of a split torque gearbox that uses a balance beam mechanism for load sharing. The Lagrange method was applied to develop a system of equations of motion. The mathematical model includes time-varying gear mesh stiffness, friction, and manufacturing errors. Cornell's method for calculating the stiffness of spur gear teeth was extended and applied to helical gears. The phenomenon of sidebands spaced at shaft frequencies about gear mesh fundamental frequencies was simulated by modeling total composite gear errors as sinusoid functions. Although the gearbox has symmetric geometry, the loads and motions of the two power paths differ. Friction must be considered to properly evaluate the balance beam mechanism. For the design studied, the balance beam is not an effective device for load sharing unless the coefficient of friction is less than 0.003. The complete system stiffness as represented by the stiffness matrix used in this analysis must be considered to precisely determine the optimal tooth indexing position.

Krantz, Timothy L.↗

NASA NTRS1992

Effects of solar radiation pressure torque on the rotational motion of an artificial satellite

The motion of an artificial satellite about its center of mass is studied considering torques due to the gravity gradient and direct solar radiation pressure. A model for direct solar radiation torque is derived for a circular cylindrical satellite. An analytical solution is obtained by the method of variation of the parameters. This solution shows that the angular variables have secular variation but that the modulus of the rotational angular momentum, the projection of rotational angular momentum on the z axis of the moment of inertia and inertial axis z, suffer only periodic variations. Considering a hypothetical artificial satellite, a numerical application is demonstrated.

Zanardi, Maria Cecilia F. P. S.↗

NASA NTRS1997

Expanded Equations for Torque and Force on a Cylindrical Permanent Magnet Core in a Large-Gap Magnetic Suspension System

The expanded equations for torque and force on a cylindrical permanent magnet core in a large-gap magnetic suspension system are presented. The core is assumed to be uniformly magnetized, and equations are developed for two orientations of the magnetization vector. One orientation is parallel to the axis of symmetry, and the other is perpendicular to this axis. Fields and gradients produced by suspension system electromagnets are assumed to be calculated at a point in inertial space which coincides with the origin of the core axis system in its initial alignment. Fields at a given point in the core are defined by expanding the fields produced at the origin as a Taylor series. The assumption is made that the fields can be adequately defined by expansion up to second-order terms. Examination of the expanded equations for the case where the magnetization vector is perpendicular to the axis of symmetry reveals that some of the second-order gradient terms provide a method of generating torque about the axis of magnetization and therefore provide the ability to produce six-degree-of-freedom control.

Groom, Nelson J.↗

NASA NTRS1997

Experimental Robot Position Sensor Fault Tolerance Using Accelerometers and Joint Torque Sensors

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. The proposed method uses joint torque sensors found in most existing advanced robot designs along with easily locatable, lightweight accelerometers to provide a joint position sensor fault recovery mode. This mode uses the torque sensors along with a virtual passive control law for stability and accelerometers for joint position information. Two methods for conversion from Cartesian acceleration to joint position based on robot kinematics, not integration, are presented. The fault tolerant control method was tested on several joints of a laboratory robot. The controllers performed well with noisy, biased data and a model with uncertain parameters.

Aldridge, Hal A.↗

NASA NTRS1961

Study of a Satellite Attitude Control System Using Integrating Gyros as Torque Sources

This report considers the use of single-degree-of-freedom integrating gyros as torque sources for precise control of satellite attitude. Some general design criteria are derived and applied to the specific example of the Orbiting Astronomical Observatory. The results of the analytical design are compared with the results of an analog computer study and also with experimental results from a low-friction platform. The steady-state and transient behavior of the system, as determined by the analysis, by the analog study, and by the experimental platform agreed quite well. The results of this study show that systems using integrating gyros for precise satellite attitude control can be designed to have a reasonably rapid and well-damped transient response, as well as very small steady-state errors. Furthermore, it is shown that the gyros act as rate sensors, as well as torque sources, so that no rate stabilization networks are required, and when no error sensor is available, the vehicle is still rate stabilized. Hence, it is shown that a major advantage of a gyro control system is that when the target is occulted, an alternate reference is not required.

White, John S.↗

NASA NTRS1997

On the Correlation of Torque and Luminosity in GX 1+4

Over 5 years of daily hard X-ray (>20 keV) monitoring of the 2 minute accretion-powered pulsar GX 1+4 with the Compton Gamma Ray Observatory/BATSE large-area detectors has found nearly continuous rapid spin-down, interrupted by a bright 200 day spin-up episode. During spin-down, the torque becomes more negative as the luminosity increases (assuming that the 20-60 keV pulsed flux traces bolometric luminosity), the opposite of what is predicted by standard accretion torque theory. No changes in the shape of the 20-100 keV pulsed energy spectrum were detected, so that a very drastic change in the spectrum below 20 keV or the pulsed fraction would be required to make the 20-60 keV pulsed flux a poor luminosity tracer. These are the first observations that flatly contradict standard magnetic disk accretion theory, and they may have important implications for understanding the spin evolution of X-ray binaries, cataclysmic variables, and protostars. We briefly discuss the possibility that GX 1+4 may be accreting from a retrograde disk during spin-down, as previously suggested.

Chakrabarty, D.↗