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NASA NTRSDate not supplied

Design, Instrumentation, and Data Analysis for the SLS Core Stage Green Run Test Series

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. The actuators are powered by a Shuttle-derived hydraulic Core Auxiliary Power Unit (CAPU), and integrated with an all-new Core Stage thrust structure. The actuators are interfaced to the SLS Vehicle Management (VM) software via an all-new TVC Actuator Control (TAC) avionics subsystem. Despite the significant test and flight experience of the Shuttle hardware, the SLS Green Run ambient and hot fire test activities revealed a number of new findings associated with the dynamic response of the TVC integrated system. Test responses suggested that the TVC system did not meet its performance specifications and its step and frequency responses exhibited unexpected departures from prior lab tests and modeled behavior. This paper is the fifth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. In this paper, the design of the TVC analyses conducted during the Core Stage Green Run test series are discussed in detail. Throughout the course of the test activities, the SLS flight control team worked diligently with the Core Stage contractor to revise test command profiles and ensure sufficient instrumentation was available to collect data. Post-test analysis combined the Green Run modal, ambient, and hot fire test data, MSFC 2- axis Core Stage TVC Inertial Load Simulator (ILS) data, Hardware-In-the-Loop (HWIL) Systems Integration Lab (SIL) results, and actuator Acceptance Testing Procedure (ATP) responses. These data were used to characterize the response, validate critical math models of the TVC subsystem, and isolate the probable cause of the unexpected responses. Through comprehensive analysis of the available test data sources, the integrated team identified the dominant contributors to the observed response and developed test-correlated rationale for vehicle flight control system performance, ultimately leading to a confident posture for the Artemis I mission.

John H. Wall↗

NASA NTRS1985

AFWAL control technology programs

An overview of space oriented control technology programs which are applicable to flexible large space structures is presented. The spacecraft control activity is interdisciplinary with activities in structures, structural dynamics and control brought together. The large flexible structures to be controlled have many physical factors that influence the final controllability of the vehicle. Factors are studied such as rigidity of both structural elements and joints, damping inherent in both material and discrete dampers located throughout the structure, and the bandwidth of both sensors and actuators used to sense motion and control are the physical factors that are interdisciplinary and influence control.

Hoehne, V. O.↗

NASA NTRS1992

Spacecraft dynamics characterization and control system failure detection. Volume 3: Control system failure monitoring

We discuss the application of Generalized Parity Relations to two experimental flexible space structures, the NASA Langley Mini-Mast and Marshall Space Flight Center ACES mast. We concentrate on the generation of residuals and make no attempt to implement the Decision Function. It should be clear from the examples that are presented whether it would be possible to detect the failure of a specific component. We derive the equations from Generalized Parity Relations. Two special cases are treated: namely, Single Sensor Parity Relations (SSPR) and Double Sensor Parity Relations (DSPR). Generalized Parity Relations for actuators are also derived. The NASA Langley Mini-Mast and the application of SSPR and DSPR to a set of displacement sensors located at the tip of the Mini-Mast are discussed. The performance of a reduced order model that includes the first five models of the mast is compared to a set of parity relations that was identified on a set of input-output data. Both time domain and frequency domain comparisons are made. The effect of the sampling period and model order on the performance of the Residual Generators are also discussed. Failure detection experiments where the sensor set consisted of two gyros and an accelerometer are presented. The effects of model order and sampling frequency are again illustrated. The detection of actuator failures is discussed. We use Generalized Parity Relations to monitor control system component failures on the ACES mast. An overview is given of the Failure Detection Filter and experimental results are discussed. Conclusions and directions for future research are given.

Vanschalkwyk, Christiaan M.↗

NASA NTRS1986

Robust multivariable controller design for flexible spacecraft

Large, flexible spacecraft are typically characterized by a large number of significant elastic modes with very small inherent damping, low, closely spaced natural frequencies, and the lack of accurate knowledge of the structural parameters. Summarized here is some recent research on the design of robust controllers for such spacecraft, which will maintain stability, and possible performance, despite these problems. Two types of controllers are considered, the first being the linear-quadratic-Gaussian-(LQG)-type. The second type utilizes output feedback using collocated sensors and actuators. The problem of designing robust LQG-type controllers using the frequency domain loop transfer recovery (LTR) method is considered, and the method is applied to a large antenna model. Analytical results regarding the regions of stability for LQG-type controllers in the presence of actuator nonlinearities are also presented. The results obtained for the large antenna indicate that the LQG/LTR method is a promising approach for control system design for flexible spacecraft. For the second type of controllers (collocated controllers), it is proved that the stability is maintained in the presence of certain commonly encountered nonlinearities and first-order actuator dynamics. These results indicate that collocated controllers are good candidates for robust control in situations where model errors are large.

Joshi, Suresh M.↗

NASA NTRS2004

The Precision Formation Flying Integrated Analysis Tool (PFFIAT)

Several space missions presently in the concept phase (e.g. Stellar Imager, Submillimeter Probe of Evolutionary Cosmic Structure, Terrestrial Planet Finder) plan to use multiple spacecraft flying in precise formation to synthesize unprecedently large aperture optical systems. These architectures present challenges to the attitude and position determination and control system; optical performance is directly coupled to spacecraft pointing with typical control requirements being on the scale of milliarcseconds and nanometers. To investigate control strategies, rejection of environmental disturbances, and sensor and actuator requirements, a capability is needed to model both the dynamical and optical behavior of such a distributed telescope system. This paper describes work ongoing at NASA Goddard Space Flight Center toward the integration of a set of optical analysis tools (Optical System Characterization and Analysis Research software, or OSCAR) with the Formation Flying Test Bed (FFTB). The resulting system is called the Precision Formation Flying Integrated Analysis Tool (PFFIAT), and it provides the capability to simulate closed-loop control of optical systems composed of elements mounted on multiple spacecraft. The attitude and translation spacecraft dynamics are simulated in the FFTB, including effects of the space environment (e.g. solar radiation pressure, differential orbital motion). The resulting optical configuration is then processed by OSCAR to determine an optical image. From this image, wavefront sensing (e.g. phase retrieval) techniques are being developed to derive attitude and position errors. These error signals will be fed back to the spacecraft control systems, completing the control loop. A simple case study is presented to demonstrate the present capabilities of the tool.

Stoneking, Eric↗

NASA NTRS1985

AFWAL space control technology program

An overview of space oriented control technology programs which are applicable to flexible large space structures is presented. The spacecraft control activity is interdisciplinary with activities in structures, structural dynamics and control brought together. The large flexible structures to be controlled have many physical factors that influence the final controllability of the vehicle. Factors are studied such as rigidity of both structural elements and joints, damping inherent in both material as well as discrete dampers located throughout the structure, and the bandwidth of both sensors and actuators used to sense motion and control it. Descriptions of programs both in-house and contracted are given.

Hoehne, V. O.↗

NASA NTRS2004

The Precision Formation Flying Integrated Analysis Tool (PFFIAT)

Several space missions presently in the concept phase (e.g. Stellar Imager, Sub- millimeter Probe of Evolutionary Cosmic Structure, Terrestrial Planet Finder) plan to use multiple spacecraft flying in precise formation to synthesize unprecedently large aperture optical systems. These architectures present challenges to the attitude and position determination and control system; optical performance is directly coupled to spacecraft pointing with typical control requirements being on the scale of milliarcseconds and nanometers. To investigate control strategies, rejection of environmental disturbances, and sensor and actuator requirements, a capability is needed to model both the dynamical and optical behavior of such a distributed telescope system. This paper describes work ongoing at NASA Goddard Space Flight Center toward the integration of a set of optical analysis tools (Optical System Characterization and Analysis Research software, or OSCAR) with the Formation J?lying Test Bed (FFTB). The resulting system is called the Precision Formation Flying Integrated Analysis Tool (PFFIAT), and it provides the capability to simulate closed-loop control of optical systems composed of elements mounted on multiple spacecraft. The attitude and translation spacecraft dynamics are simulated in the FFTB, including effects of the space environment (e.g. solar radiation pressure, differential orbital motion). The resulting optical configuration is then processed by OSCAR to determine an optical image. From this image, wavefront sensing (e.g. phase retrieval) techniques are being developed to derive attitude and position errors. These error signals will be fed back to the spacecraft control systems, completing the control loop. A simple case study is presented to demonstrate the present capabilities of the tool.

Stoneking, Eric↗

NASA NTRSDate not supplied

TPSAS-NF1676L-21010-DND

The primary objective of this work is the dynamic analyses of the Tendon-Actuated Lightweight In-Space Manipulator (TALISMAN) which entails structural dynamics, multi-body dynamics and flexible multi-body dynamics modeling and simulation of robotic systems, associated space vehicles and operations. The dynamic analysis is in the critical path of TALISMAN technology development for utilization in the Asteroid Redirect Mission (ARM) and for potential application to Satellite Servicing Missions (SSM). In addition, modeling work supports control design, and the testing of space operations.

Cornelia Altenbuchner↗

NASA NTRS1991

Experimental verification of nanometer level optical pathlength control on a flexible structure

This paper describes an experimental facility being developed for demonstration and validation of control concepts arising out of NASA's Control Structure Interaction program. The facility is meant to be a ground testbed with relevance to a broad class of precision optical space systems. The objective of the experimental program is to investigate a multilayer control approach to the maintenance of nanometer-level optical pathlength stability in the presence of external disturbances and multiple structural resonances. The facility is designed to explore the effect of applying, separately and in combinations, structural vibration suppression, vibration isolation, and active optical articulation. This paper describes the testbed facility, the structure, optics, sensors, actuators, and real-time computer and program development environment. Initial optical articulation experimental results are presented.

O'Neal, Michael↗

NASA NTRS1992

Wavefront sensing, control, and pointing

A majority of future NASA astrophysics missions from orbiting interferometers to 16-m telescopes on the Moon have, as a common requirement, the need to bring light from a large entrance aperture to the focal plane in a way that preserves the spatial coherence properties of the starlight. Only by preserving the phase of the incoming wavefront, can many scientific observations be made, observations that range from measuring the red shift of quasi-stellar objects (QSO's) to detecting the IR emission of a planet in orbit around another star. New technologies for wavefront sensing, control, and pointing hold the key to advancing our observatories of the future from those already launched or currently under development. As the size of the optical system increases, either to increase the sensitivity or angular resolution of the instrument, traditional technologies for maintaining optical wavefront accuracy become prohibitively expensive or completely impractical. For space-based instruments, the low mass requirement and the large temperature excursions further challenge existing technologies. The Hubble Space Telescope (HST) is probably the last large space telescope to rely on passive means to keep its primary optics stable and the optical system aligned. One needs only look to the significant developments in wavefront sensing, control, and pointing that have occurred over the past several years to appreciate the potential of this technology for transforming the capability of future space observatories. Future developments in space-borne telescopes will be based in part on developments in ground-based systems. Telescopes with rigid primary mirrors much larger than 5 m in diameter are impractical because of gravity loading. New technologies are now being introduced, such as active optics, that address the scale problem and that allow very large telescopes to be built. One approach is a segmented design such as that being pioneered by the W.M. Keck telescope now under construction at the Mauna Kea Observatory. It consists of 36 hexagonal mirror segments, supported on a framework structure, which are positioned by actuators located between the structure and the mirrors. The figure of the telescope is initialized by making observations of a bright star using a Shack Hartmann sensor integrated with a white light interferometer. Then, using sensed data from the mirror edges to control these actuators, the figure of the mosaic of 36 segments is maintained as if it were a rigid primary mirror. Another active optics approach is the use of a thin meniscus mirror with actuators. This technique was demonstrated on the European Southern Observatory's New Technology Telescope (NTT) and is planned for use in the Very Large Telescope (consists of four 8-m apertures), which is now entering the design phase.

Pitts, Thomas↗

NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators (C2M2) for Outfitting a Tall Lunar Tower (TLT) and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C-CMMs) for outfitting and other servicing tasks. Mobile robotic systems traversing these structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The robotic system described in the proposed paper is designed to provide access to the structure through collaborative mobile robotics. The paper will provide a method to constrain the design of such a robot via the geometry of the truss structure and the controlling joint torques across various gaits. The focus of the design is on a six-degree of freedom (DOF) robot arranged with two-DOF at each end and at the center. The variable features of this system are the actuators and the length of the links connecting the two-DOF modules. The result of the analysis is a link sizing range which the robot can be designed within to ensure functionality on the truss structure. A C-CMM will be designed using the scaling utility and several constructed to demonstrate operating both independently and collaboratively.

in-space assembly↗

NASA NTRS1995

A preliminary attempt to use neural networks for turbulent eddy classification

This note describes an attempt to use standard neural network tools to fashion a means of detecting eddy patterns in the wall region of a turbulent flow. The research was motivated by the desire to formulate a means to use only flow parameters that can be sensed on the wall to describe the passing eddy structure. If a simple formulation can be obtained, it could conceivably be utilized to control actuators embedded in the wall. Such actuators have been developed by Jacobson and Reynolds (1993a), Blackwelder and Liu (1994), Tung et al. (1995), and others. These actuators have the common characteristics that they are small and are typically flush with the wall when not deployed. When they are activated, it is assumed that they will be able to interact constructively with the turbulent eddies near their location to either decrease the wall shear stress, enhance or reduce the mixing, etc. At present, there is only a nascent understanding of the interaction dynamics between the actuators and the eddies in the flow. Nevertheless, for such interaction to succeed, methods to couple the actuators to the oncoming flow must be obtained. General methods must be found that will detect the space and temporal location of the desired structure. In particular, it will be necessary to know when the eddies will arrive at the location of the actuator. This research attempted to use the shear stress measurements on the wall in the vicinity of an actuator location to predict when a particular eddy pattern would arrive and/or occur at the designated location. In this work the eddy pattern to be detected was identified by its velocity signature only.

Blackwelder, Ron F.↗

NASA NTRS1983

Stable feedback control of distributed parameter systems: Time and frequency domain conditions

Large space structures, or any mechanically flexible structures, are inherently distributed parameter systems (DPS) whose dynamics are modeled by partial, rather than ordinary, differential equations. Such DPS are described by operator equations on an infinite-dimensional Hilbert (or Banach) space. However, any feedback controller for such a DPS must be a finite-dimensional (and discrete-time) system in order to be implemented with on-line digital computers and a finite (small) number of actuators and sensors. There are many ways to synthesize such controllers; the Galerkin or finite-element approach is emphasized.

Balas, M. J.↗

NASA NTRS1991

Analysis and testing of a space crane articulating joint testbed

The topics are presented in viewgraph form and include: space crane concept with mobile base; mechanical versus structural articulating joint; articulating joint test bed and reference truss; static and dynamic characterization completed for space crane reference truss configuration; improved linear actuators reduce articulating joint test bed backlash; 1-DOF space crane slew maneuver; boom 2 tip transient response finite element dynamic model; boom 2 tip transient response shear-corrected component modes torque driver profile; peak root member force vs. slew time torque driver profile; and open loop control of space crane motion.

Thomas R Sutter↗

NASA NTRS1991

Precision pointing control for an orbital earth observing system

The design concept developed for the pointing system of the high-resolution imaging spectrometer (HIRIS) which will be flown on one of NASA's earth observing system platforms is presented. The instrument is an F/5.4-aperture spectrometer with a focal length of 1222 mm, and it uses a precision two-axis gimballed mirror pointing system to image and track targets. Pointing accuracy of better than 585 arcsec (peak-to-peak), and pointing jitter of less than 2.65 arcsec in 33 ms are ensured through the use of gimbal position and basebody rate sensors. A state-space controller implemented with a digital computer is used to provide a position loop bandwidth of 1 Hz and a rate loop bandwidth of 7 Hz. An overview of the system design and flight hardware is given, the development of the controller architecture is addressed, and a simulation assessment of the pointing system that takes into consideration issues such as nonlinear effects, sensor noise, and noncollocated sensors and actuators in a flexible structure is discussed.

Robeck, Linda S.↗

NASA NTRS2014

OCCAMS: Optically Controlled and Corrected Active Meta-Material Space Structures

Telescopes require sub-wavelength figure (shape) error in order to achieve acceptable Strehl ratios. Traditional methods of achieving this require rigid and therefore heavy mirrors and reaction structures as well as proportionally heavy and expensive spacecraft busses and launch vehicles. This effectively limits the diameter and therefore resolution and collecting area of space optics. Large diameter telescopes must either be heavy or actively controlled. Space telescopes of the size proposed for missions such as TPF (Terrestrial Planet Finder), TPI (Terrestrial Planet Imager), etc. will likely require large active primaries and structures and corrective optics to implement downstream wavefront control. We propose a novel viable enabling technology. High resolution space imaging requires the production of lightweight large aperture optics subject to design tradespace constraints based on nanometer physical tolerances, low system aerial density, high control authority, suitable thermal and mechanical properties, deployment capability, launch vehicle volume constraints, as well as production cost and schedule risk mitigation. Segmented systems impose additional requirements on segment alignment, wavefront phasing, and telescope mass with increased edge diffraction. Photons weigh nothing. Why must even small space telescopes "weigh" tons? Our team is working to demonstrate that they do not, by leveraging 15 years of effort and a novel advanced concept.The ultimate research goal is to refine technology to produce a mission capable ultra-lightweight membrane optic whose shape can be remotely controlled using a laser beam. Using our novel optically-controlled molecular actuators allows substitution of optically-induced control for rigidity and mirror mass. In analogy with noise-canceling headphones, this technique also potentially provides a way to excite vibratory modes to couple with and damp out normal modes of oscillation induced by slewing, other motion and thermal changes, thus allowing a robust response to repointing of a large aperture.

Astronomy↗

NASA NTRS2005

Solar Sail Roadmap Mission GN and C Challenges

The NASA In-Space Propulsion program is funding development work for solar sails to enhance future scientific opportunities. Key to this effort are scientific solar sail roadmap missions identified by peer review. The two near-term missions of interest are L1 Diamond and Solar Polar Imager. Additionally, the New Millennium Program is sponsoring the Space Technology 9 (ST9) demonstration mission. Solar sails are one of five technologies competing for the ST9 flight demonstration. Two candidate solar sail missions have been identified for a potential ST9 flight. All the roadmap missions and candidate flight demonstration missions face various GN&C challenges. A variety of efforts are underway to address these challenges. These include control actuator design and testing, low thrust optimization studies, attitude control system design and modeling, control-structure interaction studies, trajectory control design, and solar radiation pressure model development. Here we survey the various efforts underway and identify a few of specific recent interest and focus.

Heaton, Andrew F.↗

NASA NTRS2012

Prediction of BVI Noise for an Active Twist Rotor Using a Loosely Coupled CFD/CSD Method and Comparison to Experimental Data

Numerical predictions of the acoustic characteristics of an Active Twist Rotor (ATR), using two methods to compute the rotor blade aerodynamics and elastic blade motion are compared to experimental data from a wind tunnel test in the NASA Langley Transonic Dynamics Tunnel (TDT) in 2000. The first method, a loosely coupled iterative method, utilizes the Computational Fluid Dynamics (CFD) code OVERFLOW 2 and the Computational Structural Dynamics (CSD) code CAMRAD II. The second method utilizes the CAMRAD II free-wake model only. The harmonic active-twist control to the main rotor blade system is identified with three parameters - harmonic actuation frequency, actuation amplitude, and control phase angle. The resulting aerodynamics and blade motion data from the two methods are then used in the acoustics code PSU-WOPWOP to predict acoustic pressure on a spherical array of equally spaced observers surrounding the rotor. This spherical distribution of pressure is used to compute the sound power level representing baseline and actuated conditions. Sound power levels for three categories of noise are defined as - blade-vortex interaction sound power level (BVIPWL), low frequency sound power level (LFPWL), and overall sound power level, OAPWL. Comparisons with measured data indicate the CFD/CSD analysis successfully captures the trends in sound power levels and the effects of active-twist control at advance ratios of 0.14 and 0.17. The free-wake model predictions show inconsistent sound power levels relative to the trends in the experimental and CFD data. This paper presents the first ever comparison between CFD/CSD acoustic predictions for an active-twist rotor and experimental measurements.

Fogarty, David E.↗