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NASA NTRS1993

Controls-structures-interaction dynamics during RCS control of the Orbiter/SRMS/SSF configuration

During the assembly flights of the Space Station Freedom (SSF), the Orbiter will either dock with the SSF and retract to the final berthed position, or will grapple the SSF using the Shuttle Remote Manipulator System (SRMS) and maneuver the SRMS coupled vehicles to their final berthed position. The SRMS method is expected to take approximately one to one and a half hours to complete and require periodic attitude corrections by either the Orbiter or the SSF reaction control system (RCS) or continuous control by a control moment gyro (CMG) system with RCS desaturation as required. Free drift of the attached vehicles is not currently thought to be acceptable because the desired system attitude will quickly deteriorate due to unbalanced gravity gradient and aerodynamic torques resulting in power generation problems, thermodynamic control problems, and communications problems. This paper deals with the simulation and control of the SRMS during trunnion/latch interaction dynamics and during RCS maneuvers. The SRMS servo drive joints have highly non-linear elastic characteristics which tend to degrade sensitive control strategies. In addition the system natural frequencies are extremely low and depend on the drive joint deflections and SRMS geometric position. The lowest mean period of oscillation for the Orbiter/SRMS/SSF(MB6) system in brakes hold mode positioned near the final berthed position is approximately 120 seconds. A detailed finite element model of the SRMS has been developed and used in a newly developed SRMS systems dynamics simulation to investigate the non-linear transient response dynamics of the Orbiter/SRMS/SSF systems. The present SRMS control strategy of brakes only recommended by the Charles Draper Labs is contrasted with a robust controller developed by the authors. The robust controller uses an optimal inear quadratic regulator (LQR) to optimally place the closed-loop poles of a multivariable continuous-time system within the common region of an open sector with the sector angle plus or minus 45 degrees from the negative real axis, and the left-hand side of a parallel to the imaginary axis in the complex s-plane. This guarantees that the critical damping ratio for the desired control modes is equal to or in excess of 0.707. The matrix sign function is used for solving the Riccati equations which appear in the controller design procedure. Fast and stable algorithms have recently been developed for the computation of the matrix sign function. Simulation results are given which demonstrate the potential CSI involvement for the current SRMS control system and the proposed control system.

Schliesing, J. A.↗

NASA NTRS1993

The Middeck Active Control Experiment (MACE)

The Middeck Active Control Experiment (MACE) is a NASA In-Step and Control Structure Interaction (CSI) Office funded Shuttle middeck experiment. The objective is to investigate the extent to which closed-loop behavior of flexible spacecraft in zero-gravity (0-g) can be predicted. This prediction becomes particularly difficult when dynamic behavior during ground testing exhibits extensive suspension and direct gravity coupling. On-orbit system identification and control reconfiguration is investigated to improve performance which would otherwise be limited due to errors in prediction. The program is presently in its preliminary design phase with launch expected in the summer of 1994. The MACE test article consists of three attitude control torque wheels, a two axis gimballing payload, inertial sensors and a flexible support structure. With the acquisition of a second payload, this will represent a multiple payload platform with significant structural flexibility. This paper presents on-going work in the areas of modelling and control of the MACE test article in the zero and one-gravity environments. Finite element models, which include suspension and gravity effects, and measurement models, derived from experimental data, are used as the basis for Linear Quadratic Gaussian controller designs. Finite element based controllers are analytically used to study the differences in closed-loop performance as the test article transitions between the 0-g and 1-g environments. Measurement based controllers are experimentally applied to the MACE test article in the 1-g environment and achieve over an order of magnitude improvement in payload pointing accuracy when disturbed by a broadband torque disturbance. The various aspects of the flight portion of the experiment are also discussed.

Miller, David W.↗

NASA NTRS1990

MIT's interferometer CST testbed

The MIT Space Engineering Research Center (SERC) has developed a controlled structures technology (CST) testbed based on one design for a space-based optical interferometer. The role of the testbed is to provide a versatile platform for experimental investigation and discovery of CST approaches. In particular, it will serve as the focus for experimental verification of CSI methodologies and control strategies at SERC. The testbed program has an emphasis on experimental CST--incorporating a broad suite of actuators and sensors, active struts, system identification, passive damping, active mirror mounts, and precision component characterization. The SERC testbed represents a one-tenth scaled version of an optical interferometer concept based on an inherently rigid tetrahedral configuration with collecting apertures on one face. The testbed consists of six 3.5 meter long truss legs joined at four vertices and is suspended with attachment points at three vertices. Each aluminum leg has a 0.2 m by 0.2 m by 0.25 m triangular cross-section. The structure has a first flexible mode at 31 Hz and has over 50 global modes below 200 Hz. The stiff tetrahedral design differs from similar testbeds (such as the JPL Phase B) in that the structural topology is closed. The tetrahedral design minimizes structural deflections at the vertices (site of optical components for maximum baseline) resulting in reduced stroke requirements for isolation and pointing of optics. Typical total light path length stability goals are on the order of lambda/20, with a wavelength of light, lambda, of roughly 500 nanometers. It is expected that active structural control will be necessary to achieve this goal in the presence of disturbances.

Hyde, Tupper↗

NASA NTRS1993

Robust controller design for flexible structures using normalized coprime factor plant descriptions

Stabilization is a fundamental requirement in the design of feedback compensators for flexible structures. The search for the largest neighborhood around a given design plant for which a single controller produces closed-loop stability can be formulated as an H(sub infinity) control problem. The use of normalized coprime factor plant descriptions, in which the plant perturbations are defined as additive modifications to the coprime factors, leads to a closed-form expression for the maximum neighborhood boundary allowing optimal and suboptimal H(sub infinity) compensators to be computed directly without the usual gamma iteration. A summary of the theory on robust stabilization using normalized coprime factor plant descriptions is presented, and the application of the theory to the computation of robustly stable compensators for the phase version of the Control-Structures Interaction (CSI) Evolutionary Model is described. Results from the application indicate that the suboptimal version of the theory has the potential of providing the bases for the computation of low-authority compensators that are robustly stable to expected variations in design model parameters and additive unmodeled dynamics.

Armstrong, Ernest S.↗

NASA NTRS1991

The application of controlled structures technology to adaptive optics

Viewgraphs on the application of controlled structures technology (CST) to adaptive optics are presented. Topics covered include: a typical large optical system (LDR); overview of current optical programs; typical adaptive optics system; actuation approaches for deforming a mirror; control approach comparison; control structure interaction (CSI) control bandwidth limitations; applications of CST concepts to optics; distributed control approaches; quasistatic error correction; low authority control (LAC); and high authority control (HAC) design methodology.

Anderson, Eric H.↗

NASA NTRS1992

Performance of HEXTE engineering model phoswich detectors

The preliminary design for the 15-250 keV, 200/sq cm, phoswich detectors for the High Energy X-ray Timing Experiment for NASA's X-ray Timing Explorer mission has been completed, and the first engineering model has been fabricated. This unit has undergone extensive environmental and performance testing, including extended vibration, thermal range, resolution, uniformity, and pulse shape, and is within specifications for all tests. Broad beam energy resolution of better than 15 percent at 60 keV and clear separation of NaI and CsI pulse shape peaks are seen. The design and test results will be presented.

Hink, Paul↗

NASA NTRS1991

On the vectorial photoelectric effect at 2.69 keV

Recent experiments conducted to study the vectorial photoelectric effect with CsI, Al2O3 and Si photocathodes at 2.69 keV indicate null results. Detailed analysis shows that previously measured modulation can be well explained by geometrical misalignment and a combination of the asymmetric shape of the incident X-ray beam and a small detection area of the photoelectron detector. After the elimination of the sources of spurious modulation, we observed a modulation factor of less than 3 percent for a grazing incidence angle as small as 5 deg. There is no observable difference in the pulse height distribution between s and p states.

Shaw, P. S.↗

NASA NTRS1993

Controls-structures integrated design optimization with shape variations

The shape design variables have been introduced into the set of design variables of the Controls-Structure Integrated (CSI) Design of space-structures. The importance of the shape variations in improving the design (obtained with only control and sizing variables) has been aptly illustrated. Two different types of design variables that describe the shape variations of the structure have been introduced. In the first case, the nodal coordinates have been considered as design variables. This has the inherent difficulty of having too many design variables. This not only is time consuming but also memory intensive and may not yield a manufacturable shape to the structure. The second approach has been introduced to overcome this difficulty. The structure is allowed to vary in a particular pre defined pattern. The coefficients of these patterns are considered as the shape design variables. The eigenvalue and eigenvector sensitivity equations with respect to these coefficient design variables have been developed and are used to approximate the eigenvalues and eigenvectors in a perturbed design.

Koganti, Gopichand↗

NASA NTRS1993

Substructure-based control of flexible structures

A decentralized procedure is presented for the design of controllers for flexible structures. Spatially significant components are created which approximate the response of a specific part of the complete structure. For each component, the controller and observer gain matrices which are used in a controller for the complete structure. The proposed method is illustrated on a model of NASA Langley's CSI testbed structure.

Babuska, Vit↗

NASA NTRS1992

SXRP - An X-ray polarimeter for the SPECTRUM-X-Gamma mission

The Stellar X-ray Polarimeter (SXRP) is a focal plane instrument which will be flown on the SPECTRUM-X-Gamma mission in 1993. The polarimeter is composed of two separate instruments: the first exploits the dependence on the polarization of the Bragg reflection from a graphite crystal, and of the Thomson scattering from a metallic lithium target. The second instrument makes use of the recently discovered polarization dependence of X-ray photoemission from CsI. The SXRP will permit sensitive measurements of several classes of galactic X-ray sources, such as X-ray pulsars, black-hole candidates and supernova remnants. Moreover, and for the first time, SXRP will be able to perform highly sensitive measurements of the brightest extragalactic sources.

Costa, E.↗

NASA NTRS1993

The Oriented Scintillation Spectrometer Experiment - Instrument description

The Oriented Scintillation Spectrometer Experiment on the Arthur Holly Compton Gamma Ray Observatory satellite uses four actively shielded NaI (Tl)-CsI(Na) phoswich detectors to provide gamma-ray line and continuum detection capability in the 0.05-10 MeV energy range. The instrument includes secondary capabilities for gamma-ray and neutron detection between 10 and 250 MeV. The detectors have 3.8 deg x 11.04 deg (FWHM) fields of view defined by tungsten collimators. Each detector has an independent, single-axis orientation system which permits offset pointing from the spacecraft Z-axis for background measurements and multitarget observations. The instrument, and its calibration and performance, are described.

Johnson, W. N.↗

NASA NTRS1993

HILT - A heavy ion large area proportional counter telescope for solar and anomalous cosmic rays

The HILT sensor has been designed to measure heavy ion elemental abundances, energy spectra, and direction of incidence in the mass range from He to Fe and in the energy range 4 to 250 MeV/nucleon. With its large geometric factor of 60 sq cm sr the sensor is optimized to provide compositional and spectral measurements for low intensity cosmic rays (i.e. for small solar energetic particle events and for the anomalous component of cosmic rays). The instrument combines a large area ion drift chamber-proportional counter system with two arrays of 16 Li-drift solid state detectors and 16 CsI crystals. The multi dE/dx-E technique provides a low background mass and energy determination. The sensor also measures particle direction. Combining these measurements with the information on the spacecraft position and attitude in the low-altitude polar orbit, it will be possible to infer the ionic charge of the ions from the local cutoff of the Earth's magnetic field. The ionic charge in this energy range is of particular interest because it provides unique clues to the origin of these particles and has not been investigated systematically so far. Together with the other instruments on board SAMPEX (LEICA, MAST, and PET), a comprehensive measurement of the entire solar and anomalous particle population will be achieved.

Klecker, Berndt↗

NASA NTRS1988

Some instrumentation requirement issues for the Space Station structural characterization experiment

The Space Station will provide unique opportunities to the research and technology community as a national in-space research facility. Opportunities will exist for technology experiments in a variety of disciplines, including dynamics and control of large space structures (LSS). The Space Station Structural Characterization Experiment (SSSCE) is an early space station technology experiment now under development. The objective of the experiment is to instrument and use the Space Station as a generic research test article, in support of research and technology activities in the areas of structural dynamics and control/structure interaction (CSI). Tests will be conducted, potentially, on each assembly flight configuration, as well as on the phase 1 configuration. Structural dynamic response data will be measured and transferred to the ground for analysis. These measurements will support the development and in-space verification of system identification and analytical modeling techniques for future LSS, including the evolutionary Space Station. The paper begins by restating the principal objective of SSSCE, along with the basic approach that will be used. The body of the paper deals with instrumentation requirement issues. The paper closes with several questions concerning modal-testing objectives and limitations, a brief review of a previous on-orbit experiment, the Solar Array Flight Experiment, and concluding remarks.

Pappa, Richard S.↗

NASA NTRS1990

Control/structure interaction conceptual design tool

The JPL Control/Structure Interaction Program is developing new analytical methods for designing micro-precision spacecraft with controlled structures. One of these, the Conceptual Design Tool, will illustrate innovative new approaches to the integration of multi-disciplinary analysis and design methods. The tool will be used to demonstrate homogeneity of presentation, uniform data representation across analytical methods, and integrated systems modeling. The tool differs from current 'integrated systems' that support design teams most notably in its support for the new CSI multi-disciplinary engineer. The design tool will utilize a three dimensional solid model of the spacecraft under design as the central data organization metaphor. Various analytical methods, such as finite element structural analysis, control system analysis, and mechanical configuration layout, will store and retrieve data from a hierarchical, object oriented data structure that supports assemblies of components with associated data and algorithms. In addition to managing numerical model data, the tool will assist the designer in organizing, stating, and tracking system requirements.

Briggs, Hugh C.↗

NASA NTRS1991

Methods for evaluating the predictive accuracy of structural dynamic models

Modeling uncertainty is defined in terms of the difference between predicted and measured eigenvalues and eigenvectors. Data compiled from 22 sets of analysis/test results was used to create statistical databases for large truss-type space structures and both pretest and posttest models of conventional satellite-type space structures. Modeling uncertainty is propagated through the model to produce intervals of uncertainty on frequency response functions, both amplitude and phase. This methodology was used successfully to evaluate the predictive accuracy of several structures, including the NASA CSI Evolutionary Structure tested at Langley Research Center. Test measurements for this structure were within + one-sigma intervals of predicted accuracy for the most part, demonstrating the validity of the methodology and computer code.

Hasselman, Timothy K.↗

NASA NTRS1993

Gamma ray spectrometer for Lunar Scout 2

We review the current status of the Los Alamos program to develop a high-resolution gamma-ray spectrometer for the Lunar Scout-II mission, which is the second of two Space Exploration Initiative robotic precursor missions to study the Moon. This instrument will measure gamma rays in the energy range of approximately 0.1 - 10 MeV to determine the composition of the lunar surface. The instrument is a high-purity germanium crystal surrounded by an CsI anticoincidence shield and cooled by a split Stirling cycle cryocooler. It will provide the abundance of many elements over the entire lunar surface.

Moss, C. E.↗

NASA NTRS1993

Telescope for x ray and gamma ray studies in astrophysics

Imaging of x-rays has been achieved by various methods in astrophysics, nuclear physics, medicine, and material science. A new method for imaging x-ray and gamma-ray sources avoids the limitations of previously used imaging devices. Images are formed in optical wavelengths by using mirrors or lenses to reflect and refract the incoming photons. High energy x-ray and gamma-ray photons cannot be reflected except at grazing angles and pass through lenses without being refracted. Therefore, different methods must be used to image x-ray and gamma-ray sources. Techniques using total absorption, or shadow casting, can provide images in x-rays and gamma-rays. This new method uses a coder made of a pair of Fresnel zone plates and a detector consisting of a matrix of CsI scintillators and photodiodes. The Fresnel zone plates produce Moire patterns when illuminated by an off-axis source. These Moire patterns are deconvolved using a stepped sine wave fitting or an inverse Fourier transform. This type of coder provides the capability of an instantaneous image with sub-arcminute resolution while using a detector with only a coarse position-sensitivity. A matrix of the CsI/photodiode detector elements provides the necessary coarse position-sensitivity. The CsI/photodiode detector also allows good energy resolution. This imaging system provides advantages over previously used imaging devices in both performance and efficiency.

Weaver, W. D.↗

NASA NTRS1994

New concepts for HgI2 scintillator gamma ray spectroscopy

The primary goals of this project are development of the technology for HgI2 photodetectors (PD's), development of a HgI2/scintillator gamma detector, development of electronics, and development of a prototype gamma spectrometer. Work on the HgI2 PD's involved HgI2 purification and crystal growth, detector surface and electrical contact studies, PD structure optimization, encapsulation and packaging, and testing. Work on the HgI2/scintillator gamma detector involved a study of the optical - mechanical coupling for the optimization of CsI(Tl)/HgI2 gamma ray detectors and determination of the relationship between resolution versus scintillator type and size. The development of the electronics focused on low noise amplification circuits using different preamp input FET's and the use of a coincidence technique to maximize the signal, minimize the noise contribution in the gamma spectra, and improve the overall system resolution.

Iwanczyk, Jan S.↗