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At least 235 records · Page 13

Control theory for random systems

A survey is presented of the current knowledge available for designing and predicting the effectiveness of controllers for dynamic systems which can be modeled by ordinary differential equations. A short discussion of feedback control is followed by a description of deterministic controller design and the concept of system state. The need for more realistic disturbance models led to the use of stochastic process concepts, in particular the Gauss-Markov process. A compensator controlled system, with random forcing functions, random errors in the measurements, and random initial conditions, is treated as constituting a Gauss-Markov random process; hence the mean-square behavior of the controlled system is readily predicted. As an example, a compensator is designed for a helicopter to maintain it in hover in a gusty wind over a point on the ground.

Bryson, A. E., Jr.↗

Inspection error and its adverse effects - A model with implications for practitioners

Inspection error has clearly been shown to have adverse effects upon the results desired from a quality assurance sampling plan. These effects upon performance measures have been well documented from a statistical point of view. However, little work has been presented to convince the QC manager of the unfavorable cost consequences resulting from inspection error. This paper develops a very general, yet easily used, mathematical cost model. The basic format of the well-known Guthrie-Johns model is used. However, it is modified as required to assess the effects of attributes sampling errors of the first and second kind. The economic results, under different yet realistic conditions, will no doubt be of interest to QC practitioners who face similar problems daily. Sampling inspection plans are optimized to minimize economic losses due to inspection error. Unfortunately, any error at all results in some economic loss which cannot be compensated for by sampling plan design; however, improvements over plans which neglect the presence of inspection error are possible. Implications for human performance betterment programs are apparent, as are trade-offs between sampling plan modification and inspection and training improvements economics.

Collins, R. D., Jr.↗

Classification of journal surfaces using surface topography parameters and software methods to compensate for stylus geometry

Measurements made with a stylus surface tracer which provides a digitized representation of a surface profile are discussed. Parameters are defined to characterize the height (e.g., RMS roughness, skewness, and kurtosis) and length (e.g., autocorrelation) of the surface topography. These are applied to the characterization of crank shaft journals which were manufactured by different grinding and lopping procedures known to give significant differences in crank shaft bearing life. It was found that three parameters (RMS roughness, skewness, and kurtosis) are necessary to adequately distinguish the character of these surfaces. Every surface specimen has a set of values for these three parameters. They can be regarded as a set coordinate in a space constituted by three characteristics axes. The various journal surfaces can be classified along with the determination of a proper wavelength cutoff (0.25 mm) by using a method of separated subspace. The finite radius of the stylus used for profile tracing gives an inherent measurement error as it passes over the fine structure of the surface. A mathematical model is derived to compensate for this error.

Li, C. J.↗

Advanced Transport Delay Compensation Algorithms: Results of Delay Measurement and Piloted Performance Tests

This report summarizes the results of delay measurement and piloted performance tests that were conducted to assess the effectiveness of the adaptive compensator and the state space compensator for alleviating the phase distortion of transport delay in the visual system in the VMS at the NASA Langley Research Center. Piloted simulation tests were conducted to assess the effectiveness of two novel compensators in comparison to the McFarland predictor and the baseline system with no compensation. Thirteen pilots with heterogeneous flight experience executed straight-in and offset approaches, at various delay configurations, on a flight simulator where different predictors were applied to compensate for transport delay. The glideslope and touchdown errors, power spectral density of the pilot control inputs, NASA Task Load Index, and Cooper-Harper rating of the handling qualities were employed for the analyses. The overall analyses show that the adaptive predictor results in slightly poorer compensation for short added delay (up to 48 ms) and better compensation for long added delay (up to 192 ms) than the McFarland compensator. The analyses also show that the state space predictor is fairly superior for short delay and significantly superior for long delay than the McFarland compensator.

Guo, Liwen↗

Software compensated multichannel pressure sensing system

A PC-based software system is described which can be used for data acquisition and thermal-error correction of a multichannel pressure-sensor system developed for use in a cryogenic environment. The software incorporates pressure-sensitivity and sensor-offset compensation files into thermal error-correction algorithms, and the sensors are calibrated by simulating the operating conditions. The system is found to be effective in the collecting, storing, and processing of multichannel pressure-sensor data to correct thermally induced offset and sensitivity errors.

Chapman, John J.↗

Non-linear dynamic compensation system

A non-linear dynamic compensation subsystem is added in the feedback loop of a high precision optical mirror positioning control system to smoothly alter the control system response bandwidth from a relatively wide response bandwidth optimized for speed of control system response to a bandwidth sufficiently narrow to reduce position errors resulting from the quantization noise inherent in the inductosyn used to measure mirror position. The non-linear dynamic compensation system includes a limiter for limiting the error signal within preselected limits, a compensator for modifying the limiter output to achieve the reduced bandwidth response, and an adder for combining the modified error signal with the difference between the limited and unlimited error signals. The adder output is applied to control system motor so that the system response is optimized for accuracy when the error signal is within the preselected limits, optimized for speed of response when the error signal is substantially beyond the preselected limits and smoothly varied therebetween as the error signal approaches the preselected limits.

Lin, Yu-Hwan↗

Discriminability of Prediction Artifacts in a Time Delayed Virtual Environment

Overall latency remains an impediment to perceived image stability and consequently to human performance in virtual environment (VE) systems. Predictive compensators have been proposed as a means to mitigate these shortcomings, but they introduce rendering errors because of induced motion overshoot and heightened noise. Discriminability of these compensator artifacts was investigated by a protocol in which head tracked image stability for 35 ms baseline VE system latency was compared against artificially added (16.7 to 100 ms) latency compensated by a previously studied Kalman Filter (K-F) predictor. A control study in which uncompensated 16.7 to 100 ms latencies were compared against the baseline was also performed. Results from 10 subjects in the main study and 8 in the control group indicate that predictive compensation artifacts are less discernible than the disruptions of uncompensated time delay for the shorter but not the longer added latencies. We propose that noise magnification and overshoot are contributory cues to the presence of predictive compensation.

Adelstein, Bernard D.↗

Topography-Dependent Motion Compensation: Application to UAVSAR Data

The UAVSAR L-band synthetic aperture radar system has been designed for repeat track interferometry in support of Earth science applications that require high-precision measurements of small surface deformations over timescales from hours to years. Conventional motion compensation algorithms, which are based upon assumptions of a narrow beam and flat terrain, yield unacceptably large errors in areas with even moderate topographic relief, i.e., in most areas of interest. This often limits the ability to achieve sub-centimeter surface change detection over significant portions of an acquired scene. To reduce this source of error in the interferometric phase, we have implemented an advanced motion compensation algorithm that corrects for the scene topography and radar beam width. Here we discuss the algorithm used, its implementation in the UAVSAR data processor, and the improvement in interferometric phase and correlation achieved in areas with significant topographic relief.

surface deformation↗

The Precise Orbit and the Challenge of Long Term Stability

The computation of a precise orbit reference is a fundamental component of the altimetric measurement. Since the dawn of the modern altimeter age, orbit accuracy has been determined by the quality of the GPS, SLR, and DORIS tracking systems, the fidelity of the measurement and force models, and the choice of parameterization for the orbit solutions, and whether a dynamic or a reduced-dynamic strategy is used to calculate the orbits. At the start of the TOPEX mission, the inaccuracies in the modeling of static gravity, dynamic ocean tides, and the nonconservative forces dominated the orbit error budget. Much of the error due to dynamic mismodeling can be compensated by reduced-dynamic tracking techniques depending on the measurement system strength. In the last decade, the launch of the GRACE mission has eliminated the static gravity field as a concern, and the background force models and the terrestrial reference frame have been systematically refined. GPS systems have realized many improvements, including better modeling of the forces on the GPS spacecraft, large increases in the ground tracking network, and improved modeling of the GPS measurements. DORIS systems have achieved improvements through the use of new antennae, more stable monumentation, and of satellite receivers that can track multiple beacons, and as well as through improved modeling of the nonconservative forces. Many of these improvements have been applied in the new reprocessed time series of orbits produced for the ERS satellites, Envisat, TOPEX/Poseidon and the Jason satellites, and as well as for the most recent Cryosat-2 and HY2A. We now face the challenge of maintaining a stable orbit reference for these altimetric satellites. Changes in the time-variable gravity field of the Earth and how these are modelled have been shown to affect the orbit evolution, and the calibration of the altimetric data with tide gauges. The accuracy of the reference frame realizations, and their projection into the future remains a source of error. Other sources of omission error include the geocenter for which no consensus model is as of yet applied. Although progress has been made in nonconservative force modeling through the use of detailed satellite-specific models, radiation pressure modeling, and atmospheric density modeling remain a potential source of orbit error. The longer term influence of variations in the solar and terrestrial radiation fields over annual and solar cycles remains principally untested. Also the long term variation in optical and thermal properties of the space vehicle surfaces would contribute to biases in the orbital frame if ignored. We review the status of altimetric precision orbit determination as exemplified by the recent computations undertaken by the different analysis centers for ERS, Envisat, TOPEX/Poseidon, Jason, Cryosat2 and HY2A, and we provide a perspective on the challenges for future missions such as the Jason-3, SENTINEL-3 and SWOT.

Lemoine, Frank G.↗

Optical automatic gain channel

Automatic Gain Control /AGC/ channel automatically compensates for gain changes in the azimuth error channel due to time varying optical sight degrading effects. This system is useful in remote television monitors, automatic navigation systems, and surveying and mapping instrumentation.

Mrus, G.↗

Development of a rotating gravity gradiometer for earth orbit applications (AAFE)

Some preliminary mission studies are described along with the design, fabrication, and test of a breadboard model of an earth orbital, rotating gravity gradiometer with a design goal of 10 to the minus 11th power/sec sq (0.01 EU) in a 35-sec integration time. The proposed mission uses a Scout vehicle to launch one (or two orthogonally oriented) spin-stabilized satellites into a 330-km circular polar orbit some 20 days before an equinox. During the short orbital lifetime, the experiment would obtain two complete maps of the gravity gradient field with a resolution approaching 270 km (degree 75). The breadboard model of the gradiometer demonstrated a combined thermal and electronic noise threshold of 0.015 EU per data channel. The design changes needed to reduce the noise to less than 0.01 EU were identified. Variations of the sensor output signal with temperature were experimentally determined and a suitable method of temperature compensation was developed and tested. Other possible error sources, such as sensor interaction with satellite dynamics and magnetic fields, were studied analytically and shown to be small.

Forward, R. L.↗

An on-line equivalent system identification scheme for adaptive control

A prime obstacle to the widespread use of adaptive control is the degradation of performance and possible instability resulting from the presence of unmodeled dynamics. The approach taken is to explicitly include the unstructured model uncertainty in the output error identification algorithm. The order of the compensator is successively increased by including identified modes. During this model building stage, heuristic rules are used to test for convergence prior to designing compensators. Additionally, the recursive identification algorithm as extended to multi-input, multi-output systems. Enhancements were also made to reduce the computational burden of an algorithm for obtaining minimal state space realizations from the inexact, multivariate transfer functions which result from the identification process. A number of potential adaptive control applications for this approach are illustrated using computer simulations. Results indicated that when speed of adaptation and plant stability are not critical, the proposed schemes converge to enhance system performance.

Sliwa, S. M.↗

Quaternions for Galileo scan platform control

The application of quaternions for the articulation control of the Galileo scan platform is presented in this paper. The purpose of selecting quaternions is to minimize onboard computation time and program size. Attention has been focused on performing inertial pointing while the spacecraft is in a dual spin configuration. Target quaternion and relative target quaternion are introduced and used to specify the target position of the scan platform for point-to-point absolute slews and mosaic relative slews, respectively. The pointing error of the platform is represented by an error quaternion which is converted into gimbal angular errors defining the attitude change. For path control, a moving target quaternion is generated; the corresponding tracking error quaternion and the related spacecraft motion compensation capability are also addressed. A sample slew case is used to demonstrate the implementation of these concepts.

Breckenridge, W. G.↗

A real-time recursive filter for the attitude determination of the Spacelab instrument pointing subsystem

A real-time estimation filter which reduces sensitivity to system variations and reduces the amount of preflight computation is developed for the instrument pointing subsystem (IPS). The IPS is a three-axis stabilized platform developed to point various astronomical observation instruments aboard the shuttle. Currently, the IPS utilizes a linearized Kalman filter (LKF), with premission defined gains, to compensate for system drifts and accumulated attitude errors. Since the a priori gains are generated for an expected system, variations result in a suboptimal estimation process. This report compares the performance of three real-time estimation filters with the current LKF implementation. An extended Kalman filter and a second-order Kalman filter are developed to account for the system nonlinearities, while a linear Kalman filter implementation assumes that the nonlinearities are negligible. The performance of each of the four estimation filters are compared with respect to accuracy, stability, settling time, robustness, and computational requirements. It is shown, that for the current IPS pointing requirements, the linear Kalman filter provides improved robustness over the LKF with less computational requirements than the two real-time nonlinear estimation filters.

West, M. E.↗

A simplified Integer Cosine Transform and its application in image compression

A simplified version of the integer cosine transform (ICT) is described. For practical reasons, the transform is considered jointly with the quantization of its coefficients. It differs from conventional ICT algorithms in that the combined factors for normalization and quantization are approximated by powers of two. In conventional algorithms, the normalization/quantization stage typically requires as many integer divisions as the number of transform coefficients. By restricting the factors to powers of two, these divisions can be performed by variable shifts in the binary representation of the coefficients, with speed and cost advantages to the hardware implementation of the algorithm. The error introduced by the factor approximations is compensated for in the inverse ICT operation, executed with floating point precision. The simplified ICT algorithm has potential applications in image-compression systems with disparate cost and speed requirements in the encoder and decoder ends. For example, in deep space image telemetry, the image processors on board the spacecraft could take advantage of the simplified, faster encoding operation, which would be adjusted on the ground, with high-precision arithmetic. A dual application is found in compressed video broadcasting. Here, a fast, high-performance processor at the transmitter would precompensate for the factor approximations in the inverse ICT operation, to be performed in real time, at a large number of low-cost receivers.

Costa, M.↗

Using Fast-Steering Mirror Control to Reduce Instrument Pointing Errors Caused by Spacecraft Jitter

The scope of this study was to investigate the benefit of using feedback control of a Fast Steering Mirror (FSM) to reduce instrument pointing errors. Initially, the study identified FSM control technologies and categorized them according to their use, range of applicability, and physical requirements. Candidate payloads were then evaluated according to their relevance in use of fast steering minor control technologies. This leads to the mission and instrument selection which served as the candidate mission for numerical modeling. A standard SmallSat was designed in order to accommodate the payload requirements (weight, size, power, etc.). This included sizing the SmallSat bus, sizing the solar array, choosing appropriate antennas, and identifying an attitude control system (ACS). A feedback control system for the FSM compensation was then designed, and the instrument pointing error and SmallSat jitter environment for open-loop and closed-loop FSM control were evaluated for typical SmallSat disturbances. The results were then compared to determine the effectiveness of the FSM feedback control system.

Antol, Jeffery↗

Control Force Compensation in Ground-Based Flight Simulators

This paper presents the results of a study that investigated if controller force compensations accounting for the inertial force and moment due to the aircraft motion during flight have a significant effect on pilot control behavior and performance. Seven rotorcraft pilots performed a side-step and precision hovering task in light turbulence in the Vertical Motion Simulator. The effects of force compensation were examined for two different simulated rotorcraft: linear and UH-60 dynamics with two different force gradient of the lateral stick control. Four motion configurations were used: large motion, hexapod motion, fixed-base motion, and fixed-base motion with compensation. Control-input variables and task performance such as the time to translate to the designated hover position, station-keeping position errors, and handling qualities ratings were used as measures. Control force compensation enabled pilot control behavior and performance more similar to that under high- or medium-fidelity motion to some extent only. Control force compensation did not improve overall task performance considering both rotorcraft models at the same time. The control force compensation had effects on the linear model with lighter force gradient, but only a minimal effect on pilots? control behavior and task performance for the UH-60 model, which had a higher force gradient. This suggests that the control force compensation has limited benefits for controllers that have higher stiffness.

Chung, William W.↗