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Tests showed the effect of the ailerons and the tip shapes on the general performance of the wing, as well as on the lateral control and stability characteristics. The hinge moments were not measured but the approximate values are given in the first report of the series.
This paper presents a possible implementation of a control model developed to phase a system of segmented mirrors, with a PAMELA configuration, using analog fuzzy hardware. Presently, the model is designed for piston control only, but with the foresight that the parameters of tip and tilt will be integrated eventually. The proposed controller uses analog circuits to exhibit a voltage-mode singleton fuzzifier, a mixed-mode inference engine, and a current-mode defuzzifier. The inference engine exhibits multiplication circuits that perform the algebraic product composition through the use of operational transconductance amplifiers rather than the typical min-max circuits. Additionally, the knowledge base, containing exemplar data gained a priori through simulation, interacts via a digital interface.
The investigation described in this report was made to determine the effectiveness of floating wing-tip ailerons as an airplane control in the spin. In these tests the ailerons, not being balanced, were set parallel to the axis of rotation, which is probably very nearly the attitude that balanced floating ailerons would assume in a spin. The tests were made with the spinning balance in the N.A.C.A. 5-foot vertical tunnel. The model was tested with and without the ailerons in 12 spinning attitudes chosen to cover the probable spinning range. Rolling- and yawing-moment coefficients are given as measured for the model with and without the ailerons, and computed values are given for the ailerons alone. The addition of floating wing-tip ailerons to the model doubled the rolling-moment coefficient and increased the yawing-moment coefficient by 0.05 and more. Both moments were in a sense to oppose the spin.
Tests were conducted on a high tip speed, highly loaded front compressor stage having low aspect ratio rotor and stator airfoils. The stator airfoils were designed by the controlled diffusion procedure recently developed by P&WA for designing transonic cascade airfoils. The rotor blades consisted of multiple-circular-arc airfoil sections. The stage had a tip speed of 442 m/sec (1450 ft/sec), a hub/tip ratio of 0.597, a rotor aspect ratio of 1.3, and a stator aspect ratio of 1.45. At design speed the rotor-stator stage achieved an adiabatic efficiency of 89.1% at design flow and pressure ratio. Surge margin was 14%. The stage efficiency exceeded the design goal by 0.6 percentage points. The rotor efficiency was 92.4%, exceeding design by 0.3 percentage points. The controlled diffusion stator demonstrated a lower minimum loss over the multiple-circular-arc stator from the root to 70 percent span. A surge diffusion factor of 0.72 was reached at both the rotor tip and the stator root. The NAS3-22008 program demonstrated its intent: high efficiency and loading levels with low aspect ratio blades and the controlled diffusion stator in the unfavorable front stage environment.
Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.
The authors consider several possible control structures for multiple-arm systems by regarding either joint torques, tip force, or a generalized acceleration of the control input. They emphasize the first case, since a class of relatively model-independent control laws can be generated for both motion and internal force control. The recently developed move/squeeze orthogonal subspace decomposition coupled with the energy Lyapunov function formulation provides a basic analytical framework within which motion and force control are considered as independent problems. Simulation results of two three-link planar arms are included to demonstrate good transient performance for both motion and force that can be attained with the full dynamics control paradigm.
The design, development, fabrication and test evaluation of two prototype fluidic emergency thrusters (FET) for aircraft stabilization are discussed. The fluidic control units were designed to provide, between two diametrically opposed nozzles, a thrust differential proportional to an input voltage signal. The emergency roll control requirements of the X-14 VTOL research aircraft were defined as typical design goals. Two control units, one on each wing tip, are intended to provide a maximum thrust of 224 pounds per unit. The units are designed to operate with 2500 psig, 2000 F gas from a solid propellant gas generator. The emergency system including the gas generator was designed to add less than 11 pounds per wing tip. The operating time under emergency conditions was specified as five seconds. The fluidic emergency thruster is similar in concept to a JATO system but has the added feature of controllable thrust.
The feasibility of using control feedback or rotor tip-path-plane motion or body state as a means of altering rotor and fuselage response in a prescribed manner was investigated to determine the practical limitations of in-flight utilization of a digital computer which conditions and shapes rotor flapping and fuselage state information as feedback signals, before routing these signals to the differential servo actuators. The analysis and test of various feedback schemes are discussed. Test results show that a Kalman estimator routine which is based on only the first harmonic contributions of blade flapping yields tip-path-plane coefficients which are adequate for use in feedback systems, at speeds up to 150 kts.
The leading-edge-suction analogy of Polhamus, which has been successful in the prediction of vortex lift characteristics on wings with pointed tips at subsonic and supersonic speeds, has recently been extended to account for the vortex flow characteristics for wings with side edges. Comparisons of experimental data and other currently used methods with the extended method are made for wings having side edges at subsonic and supersonic speeds. Recent data obtained for a low-aspect-ratio cropped-delta wing with various amounts of asymmetrical tip rake, simulating a roll control device, are also presented.
The equivalence between continuous dislocation pileups and cracks is reviewed. The force on the leading dislocation is defined and a general method of calculation of the force is proposed. The equivalence relations are given. Based on the analysis by Eshelby, Frank, and Nabarro and the numerical calculations by Chou and Li and Armstrong et al, it will be shown that the force, F, on the locked leading dislocation of a discrete pileup is capable of characterizing uniquely the stress, strain, and displacement fields at the tip of the pileup, including the positions of the discrete mobile dislocations behind the leading dislocation. Conversely, the positions of the mobile dislocations can be used to measure F. If the propagation of micro-slips and the initiation of micro-fractures at the tip of a pileup are controlled by resolved shear stress and normal cleavage stress respectively, the resolved shear stress intensity coefficient, ReSIC, and the resolved cleavage stress intensity coefficient, ReCIC, must be constant.
The primary mirror of very large submillimeter-wave telescopes will necessarily be segmented into many separate mirror panels. These panels must be continuously co-phased to keep the telescope wavefront error less than a small fraction of a wavelength, to ten microns RMS (root mean square) or less. This performance must be maintained continuously across the full aperture of the telescope, in all pointing conditions, and in a variable thermal environment. A wavefront compensation segmented mirror sensing and control system, consisting of optical edge sensors, Wavefront Compensation Estimator/Controller Soft ware, and segment position actuators is proposed. Optical edge sensors are placed two per each segment-to-segment edge to continuously measure changes in segment state. Segment position actuators (three per segment) are used to move the panels. A computer control system uses the edge sensor measurements to estimate the state of all of the segments and to predict the wavefront error; segment actuator commands are computed that minimize the wavefront error. Translational or rotational motions of one segment relative to the other cause lateral displacement of the light beam, which is measured by the imaging sensor. For high accuracy, the collimator uses a shaped mask, such as one or more slits, so that the light beam forms a pattern on the sensor that permits sensing accuracy of better than 0.1 micron in two axes: in the z or local surface normal direction, and in the y direction parallel to the mirror surface and perpendicular to the beam direction. Using a co-aligned pair of sensors, with the location of the detector and collimated light source interchanged, four degrees of freedom can be sensed: transverse x and y displacements, as well as two bending angles (pitch and yaw). In this approach, each optical edge sensor head has a collimator and an imager, placing one sensor head on each side of a segment gap, with two parallel light beams crossing the gap. Two sets of optical edge sensors are used per segment-to-segment edge, separated by a finite distance along the segment edge, for four optical heads, each with an imager and a collimator. By orienting the beam direction of one edge sensor pair to be +45 away from the segment edge direction, and the other sensor pair to be oriented -45 away from the segment edge direction, all six degrees of freedom of relative motion between the segments can be measured with some redundancy. The software resides in a computer that receives each of the optical edge sensor signals, as well as telescope pointing commands. It feeds back the edge sensor signals to keep the primary mirror figure within specification. It uses a feed-forward control to compensate for global effects such as decollimation of the primary and secondary mirrors due to gravity sag as the telescope pointing changes to track science objects. Three segment position actuators will be provided per segment to enable controlled motions in the piston, tip, and tilt degrees of freedom. These actuators are driven by the software, providing the optical changes needed to keep the telescope phased.
The asymmetric tip morphology of a creep microcrack propagating along a bimaterial interface is presented based on the assumptions that the near-tip shapes are developed from surface diffusion controlled crack growth and that a steady state prevails. A single master curve still can adequately describe the near-tip shapes to within 6 percent accuracy, but four cases of crack-tip morphology emerge depending on the ratios of surface to interfacial free energy and diffusivity of the adjoining phases. For fixed ratios of the two surface diffusivities, crack tip morphology maps in the space of specific surface energies are constructed with which areas associated with each individual case are indicated. Predicted cases on a set of bimaterial systems are tabulated and discussed.
The goal of this research is to develop and demonstrate innovative adaptive seal technologies that can lead to dramatic improvements in engine performance, life, range, and emissions, and enhance operability for next generation gas turbine engines. This work is concentrated on the development of self-adaptive clearance control systems for gas turbine engines. Researchers have targeted the high-pressure turbine (HPT) blade tip seal location for following reasons: Current active clearance control (ACC) systems (e.g., thermal case-cooling schemes) cannot respond to blade tip clearance changes due to mechanical, thermal, and aerodynamic loads. As such they are prone to wear due to the required tight running clearances during operation. Blade tip seal wear (increased clearances) reduces engine efficiency, performance, and service life. Adaptive sealing technology research has inherent impact on all envisioned 21st century propulsion systems (e.g. distributed vectored, hybrid and electric drive propulsion concepts).
The NASA Glenn Research Center (GRC) is developing an active damping at blade resonances using piezoelectric structure to reduce excessive vibratory stresses that lead to high cycle fatigue (HCF) failures in aircraft engine turbomachinery. Conventional passive damping work was shown first on a nonrotating beam made by Ti-6A1-4V with a pair of identical piezoelectric patches, and then active feedback control law was derived in terms of inductor, resister, and capacitor to control resonant frequency only. Passive electronic circuit components and adaptive feature could be easily programmable into control algorithm. Experimental active damping was demonstrated on two test specimens achieving significant damping on tip displacement and patch location. Also a multimode control technique was shown to control several modes.
Flow-visualization studies, using smoke, were made of the secondary flows in rectangular bends, tandem cascades, and high-turning configurations. The roll-up of the wall boundary layer of a rectangular bend forms a passage vortex near the suction surface similar to that previously observed for cascades. The vortex so formed then shifts out into the main stream. Because of leading-edge effects, the boundary-layer flows in bends were found to be sufficiently different from the flows in blade rows to make direct application of bend results to blade rows inadvisable. Passage vortices are shown, in the tandem-cascade study, to resist turning with the main stream through which they pass and to disturb the flow in subsequent blade rows. This disturbance may explain in part the appreciable size of the losses sometimes attributed to secondary flows in turbomachines despite the fact that the energy involvement in vortex formation is slight. Tip-flow studies of high-turning blades with relative motion between blades and end wall indicated that if the relative sizes of the passage vortex forces, the tip clearance forces, and the blade-scraping effects are properly controlled, it may be possible to improve the blade-tip loading characteristics in turbomachine.
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.
The control law for The Propulsive Small Expendable Deployment System (ProSEDS) deployment is a modification of the control routine that was successfully used in the flight of SEDS-II. Unlike SEDS, the tether of ProSEDS consists of different sections with different mechanical characteristics. A non-linear control trajectory in phase-space (i.e., the reference profile) is fed forward to the controller to guide the satellite, at the tether tip, to the desired final state under nominal conditions and no external perturbations. A linear feedback control is applied by the brake to keep the actual trajectory as close as possible to the reference. The paper also shows the results of simulations of deployment dynamics with and without noise. The control law has thus far been developed and tested on the ground for the original ProSEDS tether configuration of 15 km. A new reference will have to be designed and tested for other tether configurations.
This paper presents an aeroelastic modeling study of an aspect ratio 13.5 wind tunnel scale Common Research Model (CRM) with trailing edge mini-flaps. FUN3D is used for the aeroelastic steady and unsteady simulations at Mach 0.85 and dynamic pressure 230 psf. The aeroelastic simulation results are compared with the in-house developed VSPAERO aeroelastic model results. The incremental aerodynamic coefficients predicted by FUN3D and VSPAERO are close except when the mini-flap deflection angle is 10˚. The control reversal behavior is observed for the wing tip mini-flap. A series of dynamic pressure sweep simulations are performed to determine the control reversal onset point. Unsteady simulation results show that there is no buffet phenomenon observed at angle of attacks 0˚ and 2˚ when the mini-flap is deflected 10˚. The mini-flap oscillation simulations show the nonlinear behavior appears when the deflection angle is about 4˚.