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A power control circuit for an induction motor is disclosed in which a servo loop is used to control power input by controlling the power factor of motor operation. The power factor is measured by summing the voltage and current derived square wave signals.
Servo amplifier feedback system, in which the phase sensitive detection, low pass filtering, and multiplication functions required for quadrature rejection, are preformed by light-controlled photoresistors, eliminates complex circuitry. System increases gain, improves signal-to-noise ratio, and eliminates the necessity for compensation.
A rotor employing a servo-flap to effect blade torsional deflections (the Kaman Controllable Twist Rotor) has been used in a theoretical study to assess the potential of multicyclic flap control, (i.e., 1P, 2P, 3P, and 4P flap deflections). The results show that virtual elimination of pylon vibratory loads may be achieved with concurrent blade bending moments reduced by 50%. The amplitude requirements of the higher harmonic deflections are of the order of 3 or 4 deg. The study is in two parts; the calculation of rotor loads for specific combinations of multicyclic flap deflections by a typical rotor computer analysis, and an analysis of those results to determine optimum combinations of the multicyclic flap control. The paper discusses the analysis and indicates the potentials of a multicyclic controllable twist rotor.
New Hybrid Permanent Magnet Undulators (HPMUs) have been designed and manufactured using servo motors for precise and reliable gap motion control for the Advanced Photon Source Upgrade (APS-U) project. Meanwhile, existing HPMUs equipped with legacy stepper motors are systematically replaced with servo motors. In parallel with mechanical modifications of the undulators, a comprehensive upgrade has been implemented for the control of the devices. This upgrade includes integration of standardized industrial components for replacement of motor controllers and motor drives using the Kollmorgen Programmable Controller Multi-axis Master (PCMM) controllers and the AKD2G series servo drives. Soft Input Output Controllers (IOCs) are developed and deployed to replace the legacy VME-based IOCs for both single-period undulators and Revolver undulators. In this paper, we will present the architecture of the new insertion device control system, including control mechanisms, interlock protocols, and tools for diagnostics and troubleshooting.
Handling qualities analysis and control law design would seem to be naturally complimenting components of aircraft flight control system design, however these two closely coupled disciplines are often not well integrated in practice. Handling qualities engineers and control system engineers may work in separate groups within an aircraft company. Flight control system engineers and handling quality specialists may come from different backgrounds and schooling and are often not aware of the other group's research. Thus while the handling qualities specifications represent desired aircraft response characteristics, these are rarely incorporated directly in the control system design process. Instead modem control system design techniques are based on servo-loop robustness specifications, and simple representations of the desired control response. Comprehensive handling qualities analysis is often left until the end of the design cycle and performed as a check of the completed design for satisfactory performance. This can lead to costly redesign or less than satisfactory aircraft handling qualities when the flight testing phase is reached. The desire to integrate the fields of handling qualities and flight,control systems led to the development of the CONDUIT system. This tool facilitates control system designs that achieve desired handling quality requirements and servo-loop specifications in a single design process. With CONDUIT, the control system engineer is now able to directly design and control systems to meet the complete handling specifications. CONDUIT allows the designer to retain a preferred control law structure, but then tunes the system parameters to meet the handling quality requirements.
An approach for augmenting vibration damping characteristics in space structures with large panels is presented. It is based on generation of bending moments rather than forces. The moments are generated using bimetallic strips, suitably mounted at selected stations on both sides of the large panels, under the influence of differential solar heating, giving rise to thermal gradients and stresses. The collocated angular velocity sensors are utilized in conjunction with mini-servos to regulate the control moments by flipping the bimetallic strips. A simple computation of the rate of dissipation of vibrational energy is undertaken to assess the effectiveness of the proposed approach.
Systems to provide improved tactile feedback to aircraft pilots are being developed to help the pilots maintain harmony between their control actions and the positions of aircraft control surfaces, thereby helping to prevent loss of control. A system of this type, denoted a loss-of-control-inhibitor system (LOCIS) can be implemented as a relatively simple addition to almost any pre-existing flight-control system. The LOCIS concept offers at least a partial solution to the problem of (1) keeping a pilot aware of the state of the control system and the aircraft and (2) maintaining sufficient control under conditions that, as described below, have been known to lead to loss of control. Current commercial aircraft exhibit uneven responses of primary flight-control surfaces to aggressive pilot control commands, leading to deterioration of pilots ability to control their aircraft. In severe cases, this phenomenon can result in loss of control and consequent loss of aircraft. For an older aircraft equipped with a purely mechanical control system, the loss of harmony between a pilot s command action and the control- surface response can be attributed to compliance in the control system (caused, for example, by stretching of control cables, flexing of push rods, or servo-valve distortion). In a newer aircraft equipped with a fly-by-wire control system, the major contributions to loss of harmony between the pilot and the control surfaces are delays attributable to computer cycle time, control shaping, filtering, aliasing, servo-valve distortion, and actuator rate limiting. In addition, a fly-by-wire control system provides no tactile feedback that would enable the pilot to sense such features of the control state as surface flutter, surface jam, position limiting, actuator rate limiting, and control limiting imposed by the aircraft operational envelope. Hence, for example, when a pilot is involved in aggressive closed-loop maneuvering, as when encountering a wake-vortex upset on final landing approach, the control-surface delay can lead to loss of control. Aggressive piloting can be triggered and exacerbated by control-system anomalies, which the pilot cannot diagnose because of the lack of symptoms caused by the absence of feedback through the controls. The purpose served by a LOCIS is to counteract these adverse effects by providing real-time feedback that notifies the pilot that the aircraft is tending to lag the pilot s commands. A LOCIS (see figure) includes cockpit control input-position sensors, control-surface output-position sensors, variable dampers (for example, shock absorbers containing magneto-rheological fluids such that the damping forces can be varied within times of the order of milliseconds by varying applied magnetic fields) attached to the cockpit control levers, electromagnet coils to apply the magnetic fields, and feedback control circuits to drive the electromagnet coils. The feedback control gains are chosen so that the current applied to each electromagnet coil results in a damping force that increases in a suitable nonlinear manner (e.g., exponentially) with the difference between the actual and commanded positions of the affected control surface. The increasing damping force both alerts the pilot to the onset of a potentially dangerous situation and resists the pilot s effort to command a control surface to change position at an excessive rate
Nuclear thermal rockets are currently NASA’s preferred option for use in a manned mission to Mars in the 2040s. The communication delay between an Earth ground station and a spacecraft heading toward Mars can be up to 20 min. Therefore, controlling the nuclear rocket engine would require either a full-time reactor operator on the mission or an autonomous control system for the reactor. The latter idea of making space nuclear reactors fully autonomous has drawn more interest from stakeholders, but such an autonomous control system must be rigorously tested and validated before it is certified for human use. The cost of a full ground test for a space nuclear reactor is tremendous, so a nonnuclear mock reactor test bed was created to test and validate control elements and control algorithms for space nuclear reactors. The test bed consists of control element hardware that inputs physical measurement data into a reactor emulator to produce the reactor’s performance under steady-state, transient, and fault conditions. The control element hardware consists of six full-sized control drums equipped with servo drives and motors and is instrumented with optical encoders, resolvers, and torque sensors for drum movement characterization. In addition to the drums, a two-phase flow loop was designed and built to mimic the valves and turbomachinery associated with the propellant flow through a nuclear thermal rocket engine; components such as pressure sensors, flow meters, thermocouples, and tachometers are instrumented throughout the loop to characterize the fluid flow, valve, and turbomachinery behavior of the system. The data from the physical hardware (e.g., drum position, propellant flow rates) are input to a nuclear reactor simulator to determine the actual nuclear reactor parameters, and the data are sent back to a control algorithm to complete the control loop. The ability to conduct numerous tests of the control systems and autonomous algorithms can help validate the instrumentation and control aspects for a space nuclear reactor for every possible fault situation.
Decommissioning and dismantling of nuclear facilities are major challenges facing the nuclear industry. Robot manipulators with capabilities of restoring nuclear structures and significantly prolonging nuclear power generation in addition to their applications in decommissioning and dismantling (D and D) would immensely ease the above-mentioned challenge. Ability to remotely sense/monitor and analyze dangerous and hazardous environments such as nuclear reactors as well as performing reparatory tasks in such environments using robot manipulators require additional information from vision sensors. Structural sample collection and inspection as well as restoration require object and position information. Computer vision is used to obtain precise 3D position information. The current work uses the Sawyer robot with the integrated Cognex camera. The research presents an approach to facilitate and improve operations in a nuclear reactor using robotic vision control. The vision control system is modeled with Augmented Image Space-based visual servoing approach. Results showing accurate robot control. Object recognition is used to recognize the image and calculate it poses. To transform coordinates of the object's pose from the camera frame to the robotic frame transformation matrices are employed. Future work will employ a 3D camera (with depth information) using Denso robot. (authors)
This report presents the data acquired during the testing of an individual blade control (IBC) system on a full-scale helicopter rotor in two test entries in the NASA Ames 40- by 80-Foot Wind Tunnel. The objective of these investigations was to evaluate the potential benefits of using IBC to improve rotor performance, reduce blade vortex interaction (BVI) noise, and alleviate helicopter vibrations. The wind tunnel tests were an international, collaborative effort between NASA, the U.S. Army Aeroflightdynamics Directorate, ZF Luftfahrttechnik GmbH, Eurocopter Deutschland GmbH, and the German Aerospace Laboratory (DLR). They were conducted as a task of the U.S./German Memorandum of Understanding (MOU) on Helicopter Aeromechanics. The IBC tests were performed using a full-scale BO-105 helicopter rotor mounted to the NASA/U.S. Army Rotor Test Apparatus (RTA). The first test, performed in 1993, was the first full-scale wind tunnel test to explore the effects of an IBC system on rotor vibration, noise, and performance. In this test, the pitch links of the rotor were replaced by servo-actuators. The servo-actuators and IBC control system were designed and manufactured by ZF Luftfahrttechnik GmbH. This control system allowed the pitch of each rotor blade to be changed independently of the other blades. The IBC inputs had large effects on the hub vibrations and BVI noise. However, the rotor hub moments were not retrimmed with each new IBC input. This resulted in an out-of-trim rotor configuration. The same IBC system was used in the second IBC test performed in 1994. This test more carefully investigated the potential of IBC to simultaneously reduce noise and vibration and also investigated the effect of IBC on rotor performance in high-speed-cruise flight. In the 1994 test, the hub moment and rotor thrust were readjusted to maintain rotor trim as the IBC inputs were applied. For this reason, the data taken from the second test are considered to be more accurate, except for some unique IBC input combinations not repeated in the second test. IBC controls that were evaluated were single-frequency inputs from 2/rev to 6/rev and multi-harmonic combinations of these frequencies to form pulses, wavelets, and doublets. Extensive data were acquired for each IBC data point. These data included rotor performance, average and time-varying hub loads, rotor blade bending loads, control system loads, inboard and outboard blade pitch motions, and BVI noise data. The rotor balance hub force and moment data included the mean values, half-peak-to-peak values, and sine/cosine harmonics up to the 20th rotor harmonic. The time history and averaged Fourier spectrum for each measurement are available electronically from NASA Ames Research Center. The data indicate that significant reduction in both BVI noise and hub vibration can be obtained using IBC. The 2/rev input produced the best single-frequency results. At a typical descent flight condition, 2/rev IBC combined with other IBC harmonics reduced the BVI noise up to 12 dB (85 percent) at some microphone locations. At the same time, this input could also reduce the dominant 4/rev vibratory hub loads by up to 75 percent. The data also show that performance improvements of up to 7 percent were obtained using 2/rev IBC at high-speed forward flight conditions. An analysis of the hydraulic power requirements for BVI noise suppression, vibration reduction, and rotor performance improvement is included in this report. This analysis shows that the power required by the IBC system is negligible at low-speed flight conditions, and that a net gain of 3 percent of rotor horsepower can be achieved at high-speed flight conditions.
Computer program to simulate second order servo system dynamics under automatic and manual control
The magnetic suspension and balance system for an airplane model in a large wind tunnel is considered. In this system, superconducting coils generate magnetic forces and torques on the magnetized soft iron core of the airplane model. The control system is a position servo where the airplane model, with six degrees of feedom, follows the reference static or dynamic input commands. The controller design, based on the characteristic loci method, minimizes the effects of aerodynamic and inertial cross-couplings, and provides the specified dynamic response.
Conductive sleeve induction motor having a 1-msec mechanical time constant is used with solid-state devices to control all-electric servo power systems. The servomotor rotor inertia is small compared to the maximum force rating of the servo motion, permitting high no-load acceleration.
A balloon-borne telescope system designed for astronomical observations at infrared wavelengths is discussed. The telescope is gyro-stabilized with updated pointing information derived from television, star tracker, or ground commands. The television system furnishes both course and fine acquisition after initial orientation using a pair of fluxgate servo compasses. Command and control is by a UHF link with 256 commands available. Scientific and engineering data are telemetered to the ground station via narrow band F.M. in the L band. The ground station displays all scientific, engineering and status information during the flights and records the command and telemetry digital bit stream for detailed analysis. The AIROscope telescope has a 28-inch diameter primary mirror and Dall-Kirkham optics. The beam is modulated by oscillating a secondary mirror at 11 or 25 Hz with provision for left or right beam fixed positions by command.
A Shuttle-borne tether system capable of deploying a tether to radial distances as great as 100 km was described by Rupp and Laue (1978). The system as discussed by Rupp and Laue would have a total mass of 700 kg and would be mounted on one Shuttle pallet. It would consist of a tether reel mechanism complete with a servo drive motor and control sensors, a boom with docking probe used for initial deployment and subsequent retrieval, some type of satellite weighing 175 kg, up to 100 km of synthetic or metallic tether approximately 1 mm in diameter, a digital control computer, and a control and display panel on the Orbiter aft flight deck for crew operation. The primary use of a tether system for geological applications would be in the measurement of those magnetic and gravitational fields associated with geological structures. The major appeal in connection with atmospheric applications is the system's ability to extend instrumentation down into the lower thermosphere and possibly the mesosphere.
Probes track vessel expansion and contraction with minimal perturbation. Nozzle back-pressure changes at cuff on blood vessel basis for monitoring position of probe in blood vessel. Fluidic amplifiers use signals to control three-axis servo that centers measuring probe between sensing-nozzle pairs at cuff.
It is shown in the design of aeronautical control systems that sampling rate variations give rise to migrations of the discrete eigenvalues for both the plant and the controllers. In general, these migrations tend to degrade simulation fidelity and the overall performance of Ultrareliable Fault Tolerant Control Systems (UFTCS). These systems consist of a redundant asynchronous network of microprocessors which use sensor information to generate the servo commands that drive actuators, thrust linkages, etc. A change in the sampling period of a single microprocessor will, in addition to causing an eigenvalue shift, alter the magnitude of the servo command issued by the controller. The influence of these changes and the effect of initial conditions and skew are considered.
Accurate spacecraft tracking by the NASA Deep Space Network (DSN) antennas must be assured during changing weather conditions. Wind disturbances are the main source of tracking errors. The development of a wind-force model and simulations of wind-induced pointing errors of DSN antennas are presented. The antenna model includes the antenna structure, the elevation and azimuth servos, and the tracking controller. Simulation results show that pointing errors due to wind gusts are of the same order as errors due to static wind pressure and that these errors (similar to those of static wind pressure) satisfy the velocity quadratic law. The presented methodology is used for wind-disturbance estimation and for the design of an antenna controller with wind-disturbance rejection properties.