Margin determination in the design and development of a thermal control system
A method for determining margins in conceptual-level design via probabilistic methods is described.
MER↗
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TERRA Battery Thermal Control Anomaly - Simulation and Corrective Actions
The TERRA spacecraft was launched in December 1999 from Vandenberg Air Force Base, becoming the flagship of NASA's Earth Observing System program to gather data on how the planet's processes create climate. Originally planned as a 5 year mission, it still provides valuable science data after nearly 10 years on orbit. On October 13th, 2009 at 16:23z following a routine inclination maneuver, TERRA experienced a battery cell failure and a simultaneous failure of several battery heater control circuits used to maintain cell temperatures and gradients within the battery. With several cells nearing the minimum survival temperature, preventing the electrolyte from freezing was the first priority. After several reset attempts and power cycling of the control electronics failed to reestablish control authority on the primary side of the controller, it was switched to the redundant side, but anomalous performance again prevented full heater control of the battery cells. As the investigation into the cause of the anomaly and corrective action continued, a battery thermal model was developed to be used in determining the control ability remaining and to simulate and assess corrective actions. Although no thermal model or detailed reference data of the battery was available, sufficient information was found to allow a simplified model to be constructed, correlated against pre-anomaly telemetry, and used to simulate the thermal behavior at several points after the anomaly. It was then used to simulate subsequent corrective actions to assess their impact on cell temperatures. This paper describes the rapid development of this thermal model, including correlation to flight data before and after the anomaly., along with a comparative assessment of the analysis results used to interpret the telemetry to determine the extent of damage to the thermal control hardware, with near-term corrective actions and long-term operations plan to overcome the anomaly.
Grob, Eric W.↗
Micropulsed Plasma Thrusters for Attitude Control of a Low-Earth-Orbiting CubeSat
This study presents a 3-Unit CubeSat design with commercial-off-the-shelf hardware, Teflon-fueled micropulsed plasma thrusters, and an attitude determination and control approach. The micropulsed plasma thruster is sized by the impulse bit and pulse frequency required for continuous compensation of expected maximum disturbance torques at altitudes between 400 and 1000 km, as well as to perform stabilization of up to 20 deg /s and slew maneuvers of up to 180 deg. The study involves realistic power constraints anticipated on the 3-Unit CubeSat. Attitude estimation is implemented using the q method for static attitude determination of the quaternion using pairs of the spacecraft-sun and magnetic-field vectors. The quaternion estimate and the gyroscope measurements are used with an extended Kalman filter to obtain the attitude estimates. Proportional-derivative control algorithms use the static attitude estimates in order to calculate the torque required to compensate for the disturbance torques and to achieve specified stabilization and slewing maneuvers or combinations. The controller includes a thruster-allocation method, which determines the optimal utilization of the available thrusters and introduces redundancy in case of failure. Simulation results are presented for a 3-Unit CubeSat under detumbling, pointing, and pointing and spinning scenarios, as well as comparisons between the thruster-allocation and the paired-firing methods under thruster failure.
Gatsonis, Nikolaos A.↗
Application of step-response lambda tuning to proportional-integral controllers in water resource recovery facilities
Proportional-integral-derivative (PID) controllers in water resource recovery facilities (WRRFs) feedback control loops are commonplace. While simple to implement, such control loops are rarely tuned optimally or systematically. Heuristic tuning approaches are commonly applied with varying degrees of success using trial-and-error, ad hoc tuning rules, or duplication of tuning values from a similar system. However, there are effective methods, such as lambda tuning, produce acceptable tuning with limited effort. These are based on the step-response method, where a manual process perturbation is used to define the relationship between the manipulated and controlled variables. Based on such an experiment, a simple process model is constructed and used to determine the controller tuning values. In this work, we used the step-response method and lambda tuning for two control systems in full-scale WRRFs. This led to responsive and stable behavior of the controlled system as defined by the absolute average error of the controlled variable to setpoint and standard deviation of the manipulated variable. Tuning of feedback control loops can be completed successfully through a systematic approach, and this work suggests that tuning tools, like lambda, should be part of all wastewater treatment control engineers' toolbox.
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
Eleventh Annual Conference on Manual Control
This volume contains a compilation of written versions of papers presented at the Eleventh Annual Conference on Manual Control in a meeting held at NASA-Ames Research Center, May 21-23, 1975. Five main topics were discussed during this three-day conference. These were covered in sessions on Concurrent Tasks, Physiological Systems, Controls and Displays, Performance/Workload Evaluation, and System Identification. Forty-nine papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile and remote control systems.
Source record↗
Twelfth Annual Conference on Manual Control
Main topics discussed cover multi-task decision making, attention allocation and workload measurement, displays and controls, nonvisual displays, tracking and other psychomotor tasks, automobile driving, handling qualities and pilot ratings, remote manipulation, system identification, control models, and motion and visual cues. Sixty-five papers are included with presentations on results of analytical studies to develop and evaluate human operator models for a range of control task, vehicle dynamics and display situations; results of tests of physiological control systems and applications to medical problems; and on results of simulator and flight tests to determine display, control and dynamics effects on operator performance and workload for aircraft, automobile, and remote control systems.
Wempe, T. E.↗
A pilot's assessment of helicopter handling-quality factors common to both agility and instrument flying tasks
A series of simulation and flight investigations were undertaken to evaluate helicopter flying qualities and the effects of control system augmentation for nap-of-the-Earth (NOE) agility and instrument flying tasks. Handling quality factors common to both tasks were identified. Precise attitude control was determined to be a key requirement for successful accomplishment of both tasks. Factors that degraded attitude controllability were improper levels of control sensitivity and damping, and rotor system cross coupling due to helicopter angular rate and collective pitch input. Application of rate command, attitude command, and control input decouple augmentation schemes enhanced attitude control and significantly improved handling qualities for both tasks. The NOE agility and instrument flying handling quality considerations, pilot rating philosophy, and supplemental flight evaluations are also discussed.
Gerdes, R. M.↗
A pilot's assessment of helicopter handling-quality factors common to both agility and instrument flying tasks
Results from a series of simulation and flight investigations undertaken to evaluate helicopter flying qualities and the effects of control system augmentation for nap-of-the-earth (NOE) agility and instrument flying tasks were analyzed to assess handling-quality factors common to both tasks. Precise attitude control was determined to be a key requirement for successful accomplishment of both tasks. Factors that degraded attitude controllability were improper levels of control sensitivity and damping and rotor-system cross-coupling due to helicopter angular rate and collective pitch input. Application of rate-command, attitude-command, and control-input decouple augmentation schemes enhanced attitude control and significantly improved handling qualities for both tasks. NOE agility and instrument flying handling-quality considerations, pilot rating philosophy, and supplemental flight evaluations are also discussed.
Gerdes, R. M.↗
Active flutter suppression using optical output feedback digital controllers
A method for synthesizing digital active flutter suppression controllers using the concept of optimal output feedback is presented. A convergent algorithm is employed to determine constrained control law parameters that minimize an infinite time discrete quadratic performance index. Low order compensator dynamics are included in the control law and the compensator parameters are computed along with the output feedback gain as part of the optimization process. An input noise adjustment procedure is used to improve the stability margins of the digital active flutter controller. Sample rate variation, prefilter pole variation, control structure variation and gain scheduling are discussed. A digital control law which accommodates computation delay can stabilize the wing with reasonable rms performance and adequate stability margins.
Source record↗
Overview of the Miniature Sensor Technology Integration (MSTI) spacecraft attitude control system
Msti2 is a small, 164 kg (362 lb), 3-axis stabilized, low-Earth-orbiting satellite whose mission is missile booster tracking. The spacecraft is actuated by 3 reaction wheels and 12 hot gas thrusters. It carries enough fuel for a projected life of 6 months. The sensor complement consists of a Horizon Sensor, a Sun Sensor, low-rate gyros, and a high rate gyro for despin. The total pointing control error allocation is 6 mRad (.34 Deg), and this is while tracking a target on the Earth's surface. This paper describes the Attitude Control System (ACS) algorithms which include the following: attitude acquisition (despin, Sun and Earth acquisition), attitude determination, attitude control, and linear stability analysis.
Mcewen, Rob↗
Explicit determination of lateral-directional stability and control derivatives by simutaneous time vector analysis of two maneuvers
An extension of the time vector technique for determining stability and control derivatives from flight data is formulated. The technique provides for explicit determination of derivatives by means of simultaneous analysis of two maneuvers which differ by a dependent control input. The control derivatives for the dependent input are also explicitly determined. This extended technique is preferable to the application of the time vector method to single maneuvers in that no estimates of derivatives are required. An example illustrating the application of the technique is given.
Gilyard, G. B.↗
Telescope protection algorithm for the Space Infrared Telescope Facility
This paper presents a proposed on-board Telescope Protection Algorithm (TPA) for the Space Infrared Telescope Facility (SIRTF). This TPA consists of hardware and software capable of performing both fail-operational and fail-safe modes of operation. In the fail-operational mode, each ephemeris load and slew/dwell command sequence is checked on-board before use. The slew command monitor detects unallowable slew/dwell commands and transfers control to an algorithm which slews to and maintains a safe telescope orientation while preserving precise attitude determination and control. This fail-operational mode is also given the authority to autonomously restart the slew/dwell sequence at a point beyond the faulty command. The fail-safe system consists of software and hardware which detects impending earth, moon, or sun avoidance zone violations and activates a backup hardware safe hold mode. The subject TPA and relevant sensor complement were designed for the SIRTF mission; however, this system can easily be used as a basis for failure detection and correction in a wide range of other missions.
Class, B. F.↗
Controls Modeling Approach for Deployment of a Large Thin Structure for Solar Sails
One of the principal challenges with solar sails is to safely deploy the large sail structures while simultaneously maintaining attitude control. This challenge includes changing moments and products of inertia along with large sail shape uncertainties as it transitions from stowed to the fully deployed shape at the end of the deployment. With these changes, the control system must manage any potential momentum buildup and keep the pointing within mission requirements. The attitude determination and control system team for Solar Cruiser, a 1600 square meter solar sail project out of Marshall Space Flight Center, approached this problem by modeling the nominal moments and products of inertia for different stages of deployment from 10% to 100% in 10% increments. At each step, the inertias were used to generate tuned PID gains, which were used as part of a nominal deployment analysis to prevent unintentional slewing and tumbling. The team created and analyzed off nominal cases, where the moments of inertia and products were changed to induce uncertainties for the control system to manage during deployment. These cases helped verify that the control system can handle off-nominal deployments as well as any uncertainties occurring during deployment of the space sail system. This paper will show this method can be successfully used for modeling solar sail deployments as part of the attitude control system.
Solar Sails↗
Controls Modeling Approach for Deployment of a Large Thin Structures for Solar Sails
One of the principal challenges with solar sails is to safely deploy the large sail structures while simultaneously maintaining attitude control. This challenge includes changing moments and products of inertia along with large sail shape uncertainties as it transitions from stowed to the fully deployed shape at the end of the deployment. With these changes, the control system must manage any potential momentum buildup and keep the pointing within mission requirements. The attitude determination and control system team for Solar Cruiser, a 1600 square meter solar sail project out of Marshall Space Flight Center, approached this problem by modeling the nominal moments and products of inertia for different stages of deployment from 10% to 100% in 10% increments. At each step, the inertias were used to generate tuned PID gains, which were used as part of a nominal deployment analysis to prevent unintentional slewing and tumbling. The team created and analyzed off nominal cases, where the moments of inertia and products were changed to induce uncertainties for the control system to manage during deployment. These cases helped verify that the control system can handle off-nominal deployments as well as any uncertainties occurring during deployment of the space sail system. This paper will show this method can be successfully used for modeling solar sail deployments as part of the attitude control system.
Solar Sails↗
Method for Correcting Control Surface Angle Measurements in Single Viewpoint Photogrammetry
A method of determining a corrected control surface angle for use in single viewpoint photogrammetry to correct control surface angle measurements affected by wing bending. First and second visual targets are spaced apart &om one another on a control surface of an aircraft wing. The targets are positioned at a semispan distance along the aircraft wing. A reference target separation distance is determined using single viewpoint photogrammetry for a "wind off condition. An apparent target separation distance is then computed for "wind on." The difference between the reference and apparent target separation distances is minimized by recomputing the single viewpoint photogrammetric solution for incrementally changed values of target semispan distances. A final single viewpoint photogrammetric solution is then generated that uses the corrected semispan distance that produced the minimized difference between the reference and apparent target separation distances. The final single viewpoint photogrammetric solution set is used to determine the corrected control surface angle.
Burner, Alpheus W.↗
Determination of Longitudinal Stability and Control Characteristics from Free-Flight Model Tests with Results at Transonic Speeds for Three Airplane Configurations
A test technique and data analysis method has been developed for determining the longitudinal aerodynamic characteristics from free-flight tests of rocket-propelled models. The technique makes use of accelerometers and an angle-of-attack indicator to permit instantaneous measurements of lift, drag, and pitching moments. The data, obtained during transient oscillations resulting from control-surface disturbances, are analyzed by essentially nonlinear direct methods (such as cross plots of the variation of lift coefficient with angle of attack) and by linear indirect methods by using the equations of motion for a transient oscillation. The analysis procedure has been set forth in some detail and the feasibility of the method has been demonstrated by data measured through the transonic speed range on several airplane configurations. It was shown that the flight conditions and dynamic similitude factors for the tests described were reasonably close to typical full-scale airplane conditions.
Gillis, Clarence L↗
Vehicle Steering control: A model of learning
A hierarchy of strategies were postulated to describe the process of learning steering control. Vehicle motion and steering control data were recorded for twelve novices who drove an instrumented car twice a week during and after a driver training course. Car-driver describing functions were calculated, the probable control structure determined, and the driver-alone transfer function modelled. The data suggested that the largest changes in steering control with learning were in the way the driver used the lateral position cue.
Smiley, A.↗
Active flutter control using discrete optimal constrained dynamic compensators
A method for synthesizing digital active flutter suppression controllers using the concept of optimal output feedback is presented. A recently developd convergent algorithm is employed to determine constrained control law parameters that minimize an infinite-time discrete quadratic performance index. Low-order compensator dynamics are included in the control law and the compensator parameters are computed along with the output feedback gain as part of the optimization process. An input noise adjustment procedure is used to improve the stability margins of the digital active flutter controller. Results from investigations into sample rate variation, prefilter pole variation, and effects of varying flight condtions are discussed. The study indicates that a digital control law which accommodates computation delay can stabilize the wing with reasonable rms performance and adequate stability margins.
Broussard, J. R.↗