SEARCH · Search NASA

Results for “tracking errors”

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 235 records · Page 13

All sources NASA NTRS DOE OSTI

NASA NTRS1987

Summary of paper: Area navigation implementation for a microcomputer-based Loran-C receiver

The development of an area navigation program and the implementation of this software on a microcomputer-based Loran-C receiver to provide high-quality, practical area navigation information for general aviation are described. This software provides range and bearing angle to a selected waypoint, cross-track error, course deviation indication (CDI), ground speed, and estimated time of arrival at the waypoint. The range/bearing calculation, using an elliptical Earth model, provides very good accuracy; the error does not exceed more than -.012 nm (range) or 0.09 degree (bearing) for a maximum range to 530 nm. The alpha-beta filtering is applied in order to reduce the random noise on Loran-C raw data and in the ground speed calculation. Due to alpha-beta filtering, the ground speed calculation has good stability for constant or low-accelerative flight. The execution time of this software is approximately 0.2 second. Flight testing was done with a prototype Loran-C front-end receiver, with the Loran-C area navigation software demonstrating the ability to provide navigation for the pilot to any point in the Loran-C coverage area in true area navigation fashion without line-of-sight and range restriction typical of VOR area navigation.

Oguri, Fujiko↗

NASA NTRS1987

Development of a Fresnel lens concentrator for space application

The selected conceptual design of the dome lens photovoltaic concentrator for space applications uses a 3.7 cm square aperture dome lens to focus onto a 0.4 cm active diameter gallium arsenide cell. The selected configuration will provide 91.5 percent lens optical efficiency and 21.4 percent cell efficiency at 100 suns irradiance and 100 C cell temperature, for an overall cell efficiency of 19.6 percent. The selected configuration will tolerate 1 degree tracking errors with negligible loss of performance. The selected panel weight is 2.5 kg/sq.m.

Oneill, Mark J.↗

NASA NTRS1986

Linear multivariable control of robot manipulators

The paper presents a simple scheme for the linear multivariable control of multi-link robot manipulators. The control scheme consists of multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative terms. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional-derivative type and achieves stability and pole placement. This controller reduces any initial tracking error to zero as desired. The two controllers are independent of each other and are designed separately based on the linearized robot model and then integrated in an overall control scheme.

Seraji, H.↗

NASA NTRS1986

Multibeam Antenna Design and Development for NASA Advanced Communications Technology Satellite (ACTS)

The design of the ACTS multibeam antenna is described, and its performance is evaluated. The multibeam antenna is designed to cover the continential U.S. and provides three fixed spot beams for high burst rate operations and two scanning beams for low burst rate operations. The antenna has one main reflector, a dual polarized subreflector, and two orthogonal feed assemblies. The feed system is to receive a linearly polarized communication signal from 28.9-30.0 GHz and to provide the elevation and azimuth error tracking signals at 29.975 GHz with a 0.01 deg tracking accuracy. The feed system uses a single multiflare conical horn and a multimode coupler to provide a symmetric primary pattern for the communication signal. The sidelobe characteristics of the reflector, and the relation between the sidelobe level and surface distortion are studied. It is noted that the performance measurements for the multibeam antenna correlate well with predictions for secondary patterns and scan characteristics.

Choung, Youn H.↗

NASA NTRS1987

A simulation study of the flight dynamics of elastic aircraft. Volume 1: Experiment, results and analysis

The simulation experiment described addresses the effects of structural flexibility on the dynamic characteristics of a generic family of aircraft. The simulation was performed using the NASA Langley VMS simulation facility. The vehicle models were obtained as part of this research. The simulation results include complete response data and subjective pilot ratings and comments and so allow a variety of analyses. The subjective ratings and analysis of the time histories indicate that increased flexibility can lead to increased tracking errors, degraded handling qualities, and changes in the frequency content of the pilot inputs. These results, furthermore, are significantly affected by the visual cues available to the pilot.

Waszak, Martin R.↗

NASA NTRS1987

A simulation study of the flight dynamics of elastic aircraft. Volume 2: Data

The simulation experiment described addresses the effects of structural flexibility on the dynamic characteristics of a generic family of aircraft. The simulation was performed using the NASA Langley VMS simulation facility. The vehicle models were obtained as part of this research project. The simulation results include complete response data and subjective pilot ratings and comments and so allow a variety of analyses. The subjective ratings and analysis of the time histories indicate that increased flexibility can lead to increased tracking errors, degraded handling qualities, and changes in the frequency content of the pilot inputs. These results, furthermore, are significantly affected by the visual cues available to the pilot.

Waszak, Martin R.↗

NASA NTRS1987

The visual control of simulated altitude

The ability of a subject flying an experimental flight to use the different sources of visual information by looking at the vertical tracking error was investigated using a 3 (altitude) x 3 (texture) x 2 (replication) factorial design. Each subject flew these 18 flights in the same partially counterbalanced order, constructed such that there was one flight at each of the three altitudes, and over each of the three surface textures within each successive set of three flights. The three ground-surface textures used consisted of meridian, latitudinal, and square textures described by Wolpert et al. (1983). The results showed that, in displays where only splay information was available, the subjects tended to confuse lateral motion with vertical.

Johnson, Walter W.↗

NASA NTRS1989

Simplified Linear Multivariable Control Of Robots

Simplified method developed to design control system that makes joints of robot follow reference trajectories. Generic design includes independent multivariable feedforward and feedback controllers. Feedforward controller based on inverse of linearized model of dynamics of robot and implements control law that contains only proportional and first and second derivatives of reference trajectories with respect to time. Feedback controller, which implements control law of proportional, first-derivative, and integral terms, makes tracking errors converge toward zero as time passes.

Seraji, Homayoun↗

NASA NTRS1988

Simulated final approach path captures using the microwave landing system

Computer simulation results are presented for intercepting final approach paths using various Microwave Landing System (MLS) path capture concepts. This study, conducted under the Advanced Transport Operating System (ATOPS) program, simulated these captures using the MD-80 aircraft as the study model. Several different capture concepts were investigated. Systems that could be retrofitted into existing aircraft with minimum hardware and software changes were considered. An enhanced ILS look-alike capture provided improved tracking performance over conventional ILS without using a full-up path computer. The other concepts used waypoint databases and path computers to provide smart captures. These captures included lateral path intercepts as well as vertical path control. Winds, turbulence, and MLS noise were included in the simulation. In all cases, acceptable tracking errors were obtained during transition to the final approach path.

Feather, J. B.↗

NASA NTRS1989

Image quality on the Kuiper Airborne Observatory. I - Results of the first flight series

The NASA Kuiper Airborne Observatory (KAO) was flown three times during June and July, 1984 in order to study the causes of the poor seeing obtained with the 0.9-m telescope. High-speed pressure and temperature sensors were placed in the telescope cavity. Several thousand stellar images were recorded under various flight and optical configurations. It is found that the long-exposure image size is affected by telescope tracking errors, imperfect optics, poor optical alignment, telescope and instrument vibration, thermal fluctuations in the telescope cavity, and density fluctuations in the shear layer that forms the boundary between the cavity air and outside air. Possible ways to improve the quality of the images are discussed.

Elliot, J. L.↗

NASA NTRS1989

On the design of nonlinear controllers for flight control systems

A method of approximate input-output linearization by dynamic state feedback is presented, with the flight control of VTOL aircraft used as an example. It is shown that the closed loop system has a graceful degradation of performance as the moment-to-force coupling is increased. It is also demonstrated that the approach proposed here leads to an asymptotically stable closed loop system with guaranteed bounds on the tracking error caused by the nonminumum phase character of the system.

Hauser, John↗

NASA NTRS1989

Bandwidth-limited robust nonlinear sliding control of pointing and tracking maneuvers

It is shown how multiaxial spacecraft tracking and pointing maneuvers with known control bandwidth and given tracking error bounds can be implemented by variable-structure control in the presence of uncertain vehicle and target dynamics. It is shown how to select a nonlinear sliding surface relating attitude and rate variables, as well as a Lyapunov function in the surface variables that absorbs multiplicative model undertainties, thereby simplifying the computation of control corrections. It is then shown how a boundary layer envelope can be designed, within which the components of the surface error dynamics can be modeled as the outputs of designer-selected decoupled low-pass filters. Closed-loop stability conditions accounting for the coupling between the attitude error dynamics and the surface error dynamics are then obtained.

Dwyer, Thomas A. W., III↗

NASA NTRS1990

Frequency Synthesizer For Tracking Filter

Digital frequency-synthesizing subsystem generates trains of pulses, free of jitter, for use as frequency-control signals in tracking filters. Part of assembly of electronic equipment used to measure vibrations in bearings in rotating machinery. Designed to meet requirements for tracking narrow-band cage-rotation and ball-pass components of vibrations, as discussed in "Frequency-Tracking Error Detector" (MFS-29538) and "Ball-Pass Cage-Modulation Detector" (MFS-29539). Synthesizer includes preset counter, output of which controls signal for ball-pass filter. Input to this preset counter updated every 2 microseconds: responds almost immediately, effectively eliminating relatively long response time (lock-in time) and phase jitter.

Randall, Richard L.↗

NASA NTRS1989

Dynamic response for thermal control and measurement and fast radiation thermometry

A preliminary evaluation was made by ORNL of a two-color ratio pyrometer (TCRP) for temperature control in the Modular Electromagnetic Levitation (MEL) experiment. A discussion was presented by Eric Spjut at the 1987 NASA Non-Contact Temperature Measurement Workshop (NASA Conf. Publ. 2503, pp. 182-213) in which he described the non-linear characteristics of the time response of TCPs. Researchers replicated his model and results and note that the non-linear response behavior is minimized for small temperature steps at high temperatures. They then used the predicted response in a model for a proportional or integral feedback controller and predicted the control characteristics for heating and cooling a 5-mm diameter sphere of niobium at high (1500 to 2750 K) temperatures. The analysis shows that for a slow (25-ms) time response for a commercial RCRP, overshoots of several hundred kelvins will result from a 100-K decrease in the setpoint, and temperature tracking errors of 14 to 45 K will occur for control temperature ramps of 1000K/s. For a fast (greater than 0.1 ms) time response, the overshoot and ramp response errors are largely eliminated.

Shepard, R. L.↗

NASA NTRS1990

Learning-based position control of a closed-kinematic chain robot end-effector

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Nguyen, Charles C.↗

NASA NTRS1990

Small gain robustness issues in the p-integrator repetitive controller

The basic theory of the digital p-integrator controller is utilized to modify the command to a stable analog feedback control system in order to produce zero tracking error of a repetitive command. Mapping of continuous time poles and zeros to the images in the discrete time domain is performed. It is shown that for a pole excess of one, with p odd, the p-integrator learning controller will often produce a stable learning process, even for relatively large sample times. For a pole excess of two, a stable learning process can often be achieved for any p as long as the sample time is kept sufficiently short. Therefore, when the pole excess is zero and one utilizes the proper p-integrator controller with p odd, stable performance is often produced, even for relatively large sample times.

Longman, Richard W.↗

NASA NTRS1991

Suppression of biodynamic interference in head-tracked teleoperation

The utility of helmet-tracked sights to provide pointing commands for teleoperation of cameras, lasers, or antennas in aircraft is degraded by the presence of uncommanded, involuntary heat motion, referred to as biodynamic interference. This interference limits the achievable precision required in pointing tasks. The noise contributions due to biodynamic interference consists of an additive component which is correlated with aircraft vibration and an uncorrelated, nonadditive component, referred to as remnant. An experimental simulation study is described which investigated the improvements achievable in pointing and tracking precision using dynamic display shifting in the helmet-mounted display. The experiment was conducted in a six degree of freedom motion base simulator with an emulated helmet-mounted display. Highly experienced pilot subjects performed precision head-pointing tasks while manually flying a visual flight-path tracking task. Four schemes using adaptive and low-pass filtering of the head motion were evaluated to determine their effects on task performance and pilot workload in the presence of whole-body vibration characteristic of helicopter flight. The results indicate that, for tracking tasks involving continuously moving targets, improvements of up to 70 percent can be achieved in percent on-target dwelling time and of up to 35 percent in rms tracking error, with the adaptive plus low-pass filter configuration. The results with the same filter configuration for the task of capturing randomly-positioned, stationary targets show an increase of up to 340 percent in the number of targets captured and an improvement of up to 24 percent in the average capture time. The adaptive plus low-pass filter combination was considered to exhibit the best overall display dynamics by each of the subjects.

Lifshitz, S.↗

NASA NTRS1991

Neural network application to aircraft control system design

The feasibility of using artificial neural networks as control systems for modern, complex aerospace vehicles is investigated via an example aircraft control design study. The problem considered is that of designing a controller for an integrated airframe/propulsion longitudinal dynamics model of a modern fighter aircraft to provide independent control of pitch rate and airspeed responses to pilot command inputs. An explicit model following controller using H infinity control design techniques is first designed to gain insight into the control problem as well as to provide a baseline for evaluation of the neurocontroller. Using the model of the desired dynamics as a command generator, a multilayer feedforward neural network is trained to control the vehicle model within the physical limitations of the actuator dynamics. This is achieved by minimizing an objective function which is a weighted sum of tracking errors and control input commands and rates. To gain insight in the neurocontrol, linearized representations of the nonlinear neurocontroller are analyzed along a commanded trajectory. Linear robustness analysis tools are then applied to the linearized neurocontroller models and to the baseline H infinity based controller. Future areas of research are identified to enhance the practical applicability of neural networks to flight control design.

Troudet, Terry↗