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At least 289 records · Page 16

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NASA NTRS2018

Progress Towards Integrating the Finite-Volume Cubed-Sphere (FV3) Dynamical Core Tangent Linear and Adjoint Models into JEDI

The Joint Effort for Data assimilation Integration (JEDI) -- led by the Joint Center for Satellite Data Assimilation (JCSDA) -- is an inter-organizational endeavor to develop a common framework for performing data assimilation. This extensive framework will ultimately provide solvers, observation operators, interpolation and model interfaces using object oriented modeling. Two partners involved in JEDI use or plan to use the Finite Volume Cubed-Sphere (FV3) dynamical core to produce weather forecasts; these are NASA's Global Modeling and Assimilation Office and NOAA's National Center for Environment Prediction. In this work we present an update on ongoing efforts to integrate the FV3 tangent linear and adjoint models into the prototype JEDI framework. We setup and run a simple cycled data assimilation experiment using 4DVAR on the cubed sphere grid and with the FV3 tangent linear and adjoint models. Development of the observation operators for JEDI is separately underway. Instead of using real observations a simplified set of simulated observations will be used. We discuss the steps required to bring the FV3 linearized model into the object oriented framework and consider what would be the computational requirements of running this configuration for an operational system. FV3 uses a small time-step to ensure that small scales are well resolved, however this presents design challenges when running 4DVAR with the adjoint. An approach to storing the FV3 model trajectory has been developed that maintains the flexibility of using automatic differentiation. We discuss how this approach is incorporated into the framework. Other important uses of adjoint models include computing observation impacts and singular vectors, we consider how these tools can be included in JEDI.

Holdaway, Daniel↗

NASA NTRS1986

Aircraft control surface failure detection and isolation using the OSGLR test

The performance of the orthogonal series generalized likelihood ratio (OSGLR) test in detecting and isolating commercial aircraft control surface and actuator failures is evaluated. A modification to incorporate age-weighting which significantly reduces the sensitivity of the algorithm to modeling errors is presented. The steady-state implementation of the algorithm based on a single linear model valid for a cruise flight condition is tested using a nonlinear aircraft simulation. A number of off-nominal no-failure flight conditions including maneuvers, nonzero flap deflections, different turbulence levels and steady winds were tested. Based on the no-failure decision functions produced by off-nominal flight conditions, the failure detection and isolation performance at the nominal flight condition was determined. The extension of the algorithm to a wider flight envelope by scheduling on dynamic pressure and flap deflection is examined. Based on this testing, the OSGLR algorithm should be capable of detecting control surface failures that would affect the safe operation of a commercial aircraft. Isolation may be difficult if there are several surfaces which produce similar effects on the aircraft. Extending the algorithm over the entire operating envelope of a commercial aircraft appears feasible.

Bonnice, W. F.↗

NASA NTRS2010

Loop Shaping Control Design for a Supersonic Propulsion System Model Using Quantitative Feedback Theory (QFT) Specifications and Bounds

This paper covers the propulsion system component modeling and controls development of an integrated mixed compression inlet and turbojet engine that will be used for an overall vehicle Aero-Propulso-Servo-Elastic (APSE) model. Using previously created nonlinear component-level propulsion system models, a linear integrated propulsion system model and loop shaping control design have been developed. The design includes both inlet normal shock position control and jet engine rotor speed control for a potential supersonic commercial transport. A preliminary investigation of the impacts of the aero-elastic effects on the incoming flow field to the propulsion system are discussed, however, the focus here is on developing a methodology for the propulsion controls design that prevents unstart in the inlet and minimizes the thrust oscillation experienced by the vehicle. Quantitative Feedback Theory (QFT) specifications and bounds, and aspects of classical loop shaping are used in the control design process. Model uncertainty is incorporated in the design to address possible error in the system identification mapping of the nonlinear component models into the integrated linear model.

Connolly, Joseph W.↗

NASA NTRS1986

Multi-variable control of the GE T700 engine using the LQG/LTR design methodology

The design of scalar and multi-variable feedback control systems for the GET700 turboshaft engine coupled to a helicopter rotor system is examined. A series of linearized models are presented and analyzed. Robustness and performance specifications are posed in the frequency domain. The linear-quadratic-Gaussian with loop-transfer-recovery (LQG/LTR) methodology is used to obtain a sequence of three feedback designs. Even in the single-input/single-output case, comparison of the current control system with that derived from the LQG/LTR approach shows significant performance improvement. The multi-variable designs, evaluated using linear and nonlinear simulations, show even more potential for performance improvement.

Pfeil, W. H.↗

NASA NTRS1986

Multi-variable control of the GE T700 engine using the LQG/LTR design methodology

The design of scalar and multi-variable feedback control systems for the GE T700 turboshaft engine coupled to a helicopter rotor system is examined. A series of linearized models are presented and analyzed. Robustness and performance specifications are posed in the frequency domain. The linear-quadratic-Gaussian with loop-transfer-recovery (LQG/LTR) methodology is used to obtain a sequence of three feedback designs. Even in the single-input/single-output case, comparison of the current control system with that derived from the LQG/LTR approach shows significant performance improvement. The multi-variable designs, evaluated using linear and nonlinear simulations, show even more potential for performance improvement.

Pfeil, W. H.↗

NASA NTRS1989

Preliminary results on noncollocated torque control of space robot actuators

In the Space Station era, more operations will be performed robotically in space in the areas of servicing, assembly, and experiment tending among others. These robots may have various sets of requirements for accuracy, speed, and force generation, but there will be design constraints such as size, mass, and power dissipation limits. For actuation, a leading motor candidate is a dc brushless type, and there are numerous potential drive trains each with its own advantages and disadvantages. This experiment uses a harmonic drive and addresses some inherent limitations, namely its backdriveability and low frequency structural resonances. These effects are controlled and diminished by instrumenting the actuator system with a torque transducer on the output shaft. This noncollocated loop is closed to ensure that the commanded torque is accurately delivered to the manipulator link. The actuator system is modelled and its essential parameters identified. The nonlinear model for simulations will include inertias, gearing, stiction, flexibility, and the effects of output load variations. A linear model is extracted and used for designing the noncollocated torque and position feedback loops. These loops are simulated with the structural frequency encountered in the testbed system. Simulation results are given for various commands in position. The use of torque feedback is demonstrated to yield superior performance in settling time and positioning accuracy. An experimental setup being finished consists of a bench mounted motor and harmonic drive actuator system. A torque transducer and two position encoders, each with sufficient resolution and bandwidth, will provide sensory information. Parameters of the physical system are being identified and matched to analytical predictions. Initial feedback control laws will be incorporated in the bench test equipment and various experiments run to validate the designs. The status of these experiments is given.

Tilley, Scott W.↗

NASA NTRS1989

Digital redesign of the control system for the Robotics Research Corporation model K-1607 robot

The analog control system for positioning each link of the Robotics Research Corporation Model K-1607 robot manipulator was redesigned for computer control. In order to accomplish the redesign, a linearized model of the dynamic behavior of the robot was developed. The parameters of the model were determined by examination of the input-output data collected in closed-loop operation of the analog control system. The robot manipulator possesses seven degrees of freedom in its motion. The analog control system installed by the manufacturer of the robot attempts to control the positioning of each link without feedback from other links. Constraints on the design of a digital control system include: the robot cannot be disassembled for measurement of parameters; the digital control system must not include filtering operations if possible, because of lack of computer capability; and criteria of goodness of control system performing is lacking. The resulting design employs sampled-data position and velocity feedback. The criteria of the design permits the control system gain margin and phase margin, measured at the same frequencies, to be the same as that provided by the analog control system.

Carroll, Robert L.↗

NASA NTRS1985

Modelling of ionospheric temperature profiles

Ionosphere electron temperature data gathered by the AE-C, AEROS, Isis-1 and -2 spacecraft are employed to define linear models for the average conditions. Account is taken of evidence for seasonal, altitudinal, solar activity and density-temperature effects. Notably, use is made of the high negative correlations between the electron temperature and density, thereby allowing either to be calculated if data are available on the density.

Bilitza, D.↗

NASA NTRS1971

New techniques for the analysis of manual control systems

Studies are summarized on the application of advanced analytical and computational methods to the development of mathematical models of human controllers in multiaxis manual control systems. Specific accomplishments include the following: (1) The development of analytical and computer methods for the measurement of random parameters in linear models of human operators. (2) Discrete models of human operator behavior in a multiple display situation were developed. (3) Sensitivity techniques were developed which make possible the identification of unknown sampling intervals in linear systems. (4) The adaptive behavior of human operators following particular classes of vehicle failures was studied and a model structure proposed.

Bekey, G. A.↗

NASA NTRSDate not supplied

A Comparison of Model Predictive Control Architectures for Application to Electrified Aircraft Propulsion Systems

As electrified aircraft propulsion (EAP) systems continue to mature, more sophisticated hardware and software are being developed to balance operations among electric machines and gas-turbine engines. In hybrid-electric propulsion systems, the increased complexity resulting from integrating turbine-engine shafts with electric machines necessitates control methodologies to account for various physical domains. Ideal controllers for hybrid-electric engines manage systems, subsystems, and their interactions in a coordinated fashion, able to account for safety and performance goals while being computationally efficient. In a previous work, linear model predictive control (MPC) schemes were implemented in centralized and distributed frameworks on a nonlinear turbofan engine model as a proof of concept. However, these schemes were not evaluated for computational complexity, prompting further study. The research presented here develops hierarchical MPC schemes to reduce the computational burden of the previous MPC schemes. A two-tier framework is implemented, where a slower sampling MPC controls electric machines and determines fan-speed tracking goals for a faster sampling controller, which is either a MPC or a proportional-integral (PI) controller. The proposed designs are compared to the centralized MPC investigated previously, and performance is measured via fan speed tracking error, energy storage state-of-charge, and computation time. Results reveal that the hierarchical MPC scheme employing a lower-level PI controller improves computation time while maintaining comparable tracking and state-of-charge regulation to the centralized scheme.

model predictive control↗

NASA NTRSDate not supplied

A Comparison of Model Predictive Control Architectures for Application to Electrified Aircraft Propulsion Systems

model predictive control↗

NASA NTRS1993

New parameterizations and sensitivities for simple climate models

This paper presents a reexamination of the earth radiation budget parameterization of energy balance climate models in light of data collected over the last 12 years. The study consists of three parts: (1) an examination of the infrared terrestrial radiation to space and its relationship to the surface temperature field on time scales from 1 month to 10 years; (2) an examination of the albedo of the earth with special attention to the seasonal cycle of snow and clouds; (3) solutions for the seasonal cycle using the new parameterizations with special attention to changes in sensitivity. While the infrared parameterization is not dramatically different from that used in the past, the albedo in the new data suggest that a stronger latitude dependence be employed. After retuning the diffusion coefficient the simulation results for the present climate generally show only a slight dependence on the new parameters. Also, the sensitivity parameter for the model is still about the same (1.25 C for a 1 percent increase of solar constant) for the linear models and for the nonlinear models that include a seasonal snow line albedo feedback (1.34 C). One interesting feature is that a clear-sky planet with a snow line albedo feedback has a significantly higher sensitivity (2.57 C) due to the absence of smoothing normally occurring in the presence of average cloud cover.

Graves, Charles E.↗

NASA NTRS2023

Eastern Indigo Snake (Drymarchon couperi) Shelter Site Use in Peninsular Florida and Implications for Habitat Conservation

Shelters are critical for many species as protection from predators and extreme temperatures. Successful conservation of reptiles requires understanding both shelter site requirements and availability. The Eastern Indigo Snake (EIS) is endemic to the southeastern United States and is federally listed. Recovery has focused on maximizing unfragmented landscapes, with less attention on fine-scale features such as shelter sites. In the northern EIS range, Gopher Tortoise (Gopherus polyphemus) burrows are used extensively for shelter. Although EIS in peninsular Florida often shelter in tortoise burrows, they also use other shelters where tortoise burrows are scarce or absent. Solely focusing EIS survey and management efforts where Gopher Tortoises are present may overlook occupied habitats and misallocate resources. We investigated the importance of different shelter sites in central Florida using data from radio-tracked EIS. We modeled the use of shelter categories as a function of sex, season, and habitat using Bayesian multinomial generalized linear models. Results showed that EIS in peninsular Florida used Gopher Tortoise burrows across all seasons and habitats. Tortoise burrow use was highest in xeric habitats and lowest in mesic habitats where burrows are most and least abundant, respectively. There was less variability in shelter site use in disturbed habitats and flatwoods. Cool season tortoise burrow use across sexes and habitats in our study was much lower than in southern Georgia. Our results indicate that EIS are less dependent on Gopher Tortoise burrows in peninsular Florida and that suitable habitats with few or no tortoise burrows could still provide conservation value for EIS.

Bayesian hierarchical modeling↗

NASA NTRS1985

Variability simulations with a steady, linearized primitive equations model

Solutions of the steady, primitive equations on a sphere, linearized about a zonally symmetric basic state are computed for the purpose of simulating monthly mean variability in the troposphere. The basic states are observed, winter monthly mean, zonal means of zontal and meridional velocities, temperatures and surface pressures computed from the 15 year NMC time series. A least squares fit to a series of Legendre polynomials is used to compute the basic states between 20 H and the equator, and the hemispheres are assumed symmetric. The model is spectral in the zonal direction, and centered differences are employed in the meridional and vertical directions. Since the model is steady and linear, the solution is obtained by inversion of a block, pente-diagonal matrix. The model simulates the climatology of the GFDL nine level, spectral general circulation model quite closely, particularly in middle latitudes above the boundary layer. This experiment is an extension of that simulation to examine variability of the steady, linear solution.

Kinter, J. L., III↗

NASA NTRS1989

Computational fluid dynamic control

A general technique is presented for modeling fluid, or gas, dynamic systems specifically for the development of control systems. The numerical methods which are generally used in computational fluid dynamics are borrowed to create either continuous-time or discrete-time models of the particular fluid system. The resulting equations can be either left in a nonlinear form, or easily linearized about an operating point. As there are typically very many states in these systems, the usual linear model reduction methods can be used on them to allow a low-order controller to be designed. A simple example is given which typifies many internal flow control problems. The resulting control is termed computational fluid dynamic control.

Hartley, Tom T.↗

NASA NTRS2011

Coupled Elastic-Thermal Dynamics of Deployable Mesh Reflectors

This paper presents a coupled elastic-thermal dynamic model and a quasi-static strategy on the analysis of the reflector dynamics in the space mission. The linearized model, its natural frequencies and mode shapes are then derived upon the nonlinear static equilibrium of the structure. The numerical example is provided to fully adapt the strategy and investigate the dynamic behaviors of the structure. Finally the proposed method is applied on the sample of the deployable mesh reflector and the simulation results are presented. The research work delivered in the paper will be used to design the feedback surface in future.

fixed boundaries↗

NASA NTRS1972

Further observations on the relationship of EMG and muscle force

Human skeletal muscle may be regarded as an electro-mechanical transducer. Its physiological input is a neural signal originating at the alpha motoneurons in the spinal cord and its output is force and muscle contraction, these both being dependent on the external load. Some experimental data taken during voluntary efforts around the ankle joint and by direct electrical stimulation of the nerve are described. Some of these experiments are simulated by an analog model, the input of which is recorded physiological soleus muscle EMG. The output is simulated foot torque. Limitations of a linear model and effect of some nonlinearities are discussed.

Agarwal, G. C.↗

NASA NTRS1984

A variable structure approach to robust control of VTOL aircraft

This paper examines the application of variable structure control theory to the design of a flight control system for the AV-8A Harrier in a hover mode. The objective in variable structure design is to confine the state trajectories to a subspace of the total state space. The motion in this subspace is insensitive to system parameter variations and external disturbances that lie in the range space of the control. A switching type of control law results from the design procedure. The control system was designed to track a vector-valued velocity command. For comparison, a proportional controller was designed using optimal linear regulator theory. Both controllers were evaluated for their transient response performance using a linear model; then a nonlinear simulation study of a hovering approach to landing was conducted. The variable structure controller outperformed its linear counterpart in the presence of wind disturbances and plant parameter uncertainties afforded by the simulation.

Calise, A. J.↗