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NASA NTRS1985

Approximation of Optimal Infinite Dimensional Compensators for Flexible Structures

The infinite dimensional compensator for a large class of flexible structures, modeled as distributed systems are discussed, as well as an approximation scheme for designing finite dimensional compensators to approximate the infinite dimensional compensator. The approximation scheme is applied to develop a compensator for a space antenna model based on wrap-rib antennas being built currently. While the present model has been simplified, it retains the salient features of rigid body modes and several distributed components of different characteristics. The control and estimator gains are represented by functional gains, which provide graphical representations of the control and estimator laws. These functional gains also indicate the convergence of the finite dimensional compensators and show which modes the optimal compensator ignores.

Gibson, J. S.↗

NASA NTRS1990

Polynomial Compensation, Inversion, And Approximation

New criterion introduced for design of discrete-time compensator. Method devised for polynomial compensation, inversion, and approximation of discrete-time linear systems. Involves quadratic measure of difference between response of compensated system and desired response. Impulse response of compensated system improves as degree of polynomial increases. Compensator emphasizes matching of large initial response. Compensators used in variety of applications, including navigation systems for spacecraft, aircraft, ships, and automated manufacturing equipment.

Baram, Yoram↗

NASA NTRS1993

A wide-band fiber optic frequency distribution system employing thermally controlled phase compensation

An active wide-band fiber optic frequency distribution system employing a thermally controlled phase compensator to stabilize phase variations induced by environmental temperature changes is described. The distribution system utilizes bidirectional dual wavelength transmission to provide optical feedback of induced phase variations of 100 MHz signals propagating along the distribution cable. The phase compensation considered differs from earlier narrow-band phase compensation designs in that it uses a thermally controlled fiber delay coil rather than a VCO or phase modulation to compensate for induced phase variations. Two advantages of the wide-band system over earlier designs are (1) that it provides phase compensation for all transmitted frequencies, and (2) the compensation is applied after the optical interface rather than electronically ahead of it as in earlier schemes. Experimental results on the first prototype shows that the thermal stabilizer reduces phase variations and Allan deviation by a factor of forty over an equivalent uncompensated fiber optic distribution system.

Johnson, Dean↗

NASA NTRS1994

Isostatic compensation of equatorial highlands on Venus

Spherical harmonic models for Venus' global topography and gravity incorporating Magellan data are used to test isostatic compensation models in five 30 deg x 30 deg regions representative of the main classes of equatorial highlands. The power spectral density for the harmonic models obeys a power-law scaling with spectral slope Beta approximately 2 (Brown noise) for the topography and Beta approximately 3 (Kaula's law) for the geoid, similar to what is observed for Earth. The Venus topography spectrum has lower amplitudes than Earth's which reflects the dominant lowland topography on Venus. Observed degree geoid to topography ratios (GTRs) on Venus are significantly smaller than degree GTRs for uncompensated topography, indicative of substantial compensation. Assuming a global Airy compensation, most of the topography is compensated at depths greater than 100 km, suggesting a thick lithosphere on Venus. For each region considered we obtain a regional degree of compensation C from a linear regression of Bouguer anomaly versus Bouguer gravity data. Geoid anomaly (N) versus topography variation (h) data for each sample were compared, in the least-squares sense, to theoretical correlations for Pratt, Airy, and thermal thinning isostasy models yielding regional GTR, zero-elevation crustal thickness (H), and zero elevation thermal lithosphere thickness (y(sub L(sub 0)), respectively. We find the regional compensation to be substantial (C approximately 52-80%), and the h, N data correlations in the chosen areas can be explained by isostasy models applicable on the Earth and involving variations in crustal thickness (Airy) and/or lithospheric (thermal thinning) thickness. However, a thick crust and lithosphere (y(sub L(sub 0)) approximately 300 km) must be assumed for Venus.

Kucinskas, Algis B.↗

NASA NTRS1987

Pointing compensation system for spacecraft instruments

A closed loop system reduces pointing errors in one or more spacecraft instruments. Associated with each instrument is a electronics package (3) for commanding motion in that instrument and a pointing control system (5) for imparting motion in that instrument in response to a command (4) from the commanding package (3). Spacecraft motion compensation logic (25) compensates for instrument pointing errors caused by instrument-motion-induced spacecraft motion. Any finite number of instruments can be so compensated, by providing each pointing control system (5) and each commanding package (3), for the instruments desired to be compensated, with a link to the spacecraft motion compensation logic (25). The spacecraft motion compensation logic (25) is an electronic manifestation of the algebraic negative of a model of the dynamics of motion of the spacecraft. An example of a suitable model, and computer-simulated results, are presented.

Plescia, Carl T.↗

NASA NTRS2012

Gigabit Ethernet Asynchronous Clock Compensation FIFO

Clock compensation for Gigabit Ethernet is necessary because the clock recovered from the 1.25 Gb/s serial data stream has the potential to be 200 ppm slower or faster than the system clock. The serial data is converted to 10-bit parallel data at a 125 MHz rate on a clock recovered from the serial data stream. This recovered data needs to be processed by a system clock that is also running at a nominal rate of 125 MHz, but not synchronous to the recovered clock. To cross clock domains, an asynchronous FIFO (first-in-first-out) is used, with the write pointer (wprt) in the recovered clock domain and the read pointer (rptr) in the system clock domain. Because the clocks are generated from separate sources, there is potential for FIFO overflow or underflow. Clock compensation in Gigabit Ethernet is possible by taking advantage of the protocol data stream features. There are two distinct data streams that occur in Gigabit Ethernet where identical data is transmitted for a period of time. The first is configuration, which happens during auto-negotiation. The second is idle, which occurs at the end of auto-negotiation and between every packet. The identical data in the FIFO can be repeated by decrementing the read pointer, thus compensating for a FIFO that is draining too fast. The identical data in the FIFO can also be skipped by incrementing the read pointer, which compensates for a FIFO draining too slowly. The unique and novel features of this FIFO are that it works in both the idle stream and the configuration streams. The increment or decrement of the read pointer is different in the idle and compensation streams to preserve disparity. Another unique feature is that the read pointer to write pointer difference range changes between compensation and idle to minimize FIFO latency during packet transmission.

Duhachek, Jeff↗

NASA NTRS2016

Capacitive Trans-Impedance Amplifier Circuit with Charge Injection Compensation

A capacitive trans-impedance amplifier circuit with charge injection compensation is provided. A feedback capacitor is connected between an inverting input port and an output port of an amplifier. A MOS reset switch has source and drain terminals connected between the inverting input and output ports of the amplifier, and a gate terminal controlled by a reset signal. The reset switch is open or inactive during an integration phase, and closed or active to electrically connect the inverting input port and output port of the amplifier during a reset phase. One or more compensation capacitors are provided that are not implemented as gate oxide or MOS capacitors. Each compensation capacitor has a first port connected to a compensation signal that is a static signal or a toggling compensation signal that toggles between two compensation voltage values, and a second port connected to the inverting input port of the amplifier.

Milkov, Mihail M.↗

DOE OSTI2021

Compensation Between Poleward Energy Transports in the Ocean and Atmosphere

The goal of our project is to investigate the degree of compensation in poleward energy transports by the atmosphere and ocean and its dependence on the time scale, latitude and background climate primarily based on a large suite of the Community Earth System Model version 1 (CESM1) simulations to test the Bjerknes compensation hypothesis. Our particular emphases are to understand: (1) robustness of the degree of the compensation across the various simulations with differing parameterizations and initial conditions, (2) the competing role of atmosphere-ocean couplings through the momentum flux and buoyancy flux in enabling or deterring the compensation, and (3) the role of compensation in the leading modes of variability in the atmosphere and ocean.

58 GEOSCIENCES↗

NASA NTRS1973

Optical tracking telescope compensation

In order to minimize the effects of parameter variations in the dynamics of an optical tracking telescope, a model referenced parameter adaptive control system is described that - in conjunction with more traditional forms of compensation - achieves a reduction of rms pointing error by more than a factor of six. The adaptive compensation system utilizes open loop compensation, closed loop compensation, and model reference compensation to provide the precise input to force telescope axis velocity to follow the ideal velocity.

Gilbart, J. W.↗

NASA NTRS1978

Design of a compensation for an ARMA model of a discrete time system

The design of an optimal dynamic compensator for a multivariable discrete time system is studied. Also the design of compensators to achieve minimum variance control strategies for single input single output systems is analyzed. In the first problem the initial conditions of the plant are random variables with known first and second order moments, and the cost is the expected value of the standard cost, quadratic in the states and controls. The compensator is based on the minimum order Luenberger observer and it is found optimally by minimizing a performance index. Necessary and sufficient conditions for optimality of the compensator are derived. The second problem is solved in three different ways; two of them working directly in the frequency domain and one working in the time domain. The first and second order moments of the initial conditions are irrelevant to the solution. Necessary and sufficient conditions are derived for the compensator to minimize the variance of the output.

Mainemer, C. I.↗

NASA NTRS1983

Compensation for time delay in flight simulator visual-display systems

A piloted aircraft can be viewed as a closed-loop, man-machine control system. When a simulator pilot is performing a precision maneuver, a delay in the visual display of aircraft response to pilot-control input decreases the stability of the pilot-aircraft system. The less stable system is more difficult to control precisely. Pilot dynamic response and performance change as the pilot attempts to compensate for the decrease in system stability, and these changes bias the simulation results by influencing the pilot's rating of the handling qualities of the simulated aircraft. Delay compensation, designed to restore pilot-aircraft system stability, was evaluated in several studies which are reported here. The studies range from single-axis, tracking-task experiments (with sufficient subjects and trials to establish statistical significance of the results) to a brief evaluation of compensation of a computer-generated-imagery (CGI) visual display system in a full six-degree-of-freedom simulation. The compensation was effective - improvements in pilot performance and workload or aircraft handling-qualities rating (HQR) were observed. Results from recent aircraft handling-qualities research literature which support the compensation design approach are also reviewed.

Crane, D. F.↗

NASA NTRS1986

Fixed order dynamic compensation for multivariable linear systems

This paper considers the design of fixed order dynamic compensators for multivariable time invariant linear systems, minimizing a linear quadratic performance cost functional. Attention is given to robustness issues in terms of multivariable frequency domain specifications. An output feedback formulation is adopted by suitably augmenting the system description to include the compensator states. Either a controller or observer canonical form is imposed on the compensator description to reduce the number of free parameters to its minimal number. The internal structure of the compensator is prespecified by assigning a set of ascending feedback invariant indices, thus forming a Brunovsky structure for the nominal compensator.

Kramer, F. S.↗

NASA NTRS1987

Fixed order compensator design based on frequency shaped cost functionals

This paper treats the design of fixed order compensators using frequency shaped cost functionals. The formulation is done in an output feedback setting which exploits an observer canonical form to represent the compensator dynamics. The major advantages of the design approach are that the order of the compensator is fixed by the design process, and it is not necessary to realize the frequency shaping dynamics as an integral part of the compensator design. This avoids the two-step approach of full state feedback design followed by the design of an observer, which in the case of a full order observer requires a compensator of order n + nf where n is the order of the plant and nf is the order of the frequency shaping realization. The formulation also precludes the use of direct feedback of the plant output, thus reducing the effect of sensor noise and improving the robustness to high frequency unmodeled dynamics. A structural vibration model describing the fast dynamics of a lightweight flexible arm is used as an example to illustrate the design procedure.

Calise, Anthony J.↗

NASA NTRS1987

Investigation, development, and application of optimal output feedback theory. Volume 3: The relationship between dynamic compensators and observers and Kalman filters

Relationships between observers, Kalman Filters and dynamic compensators using feedforward control theory are investigated. In particular, the relationship, if any, between the dynamic compensator state and linear functions of a discrete plane state are investigated. It is shown that, in steady state, a dynamic compensator driven by the plant output can be expressed as the sum of two terms. The first term is a linear combination of the plant state. The second term depends on plant and measurement noise, and the plant control. Thus, the state of the dynamic compensator can be expressed as an estimator of the first term with additive error given by the second term. Conditions under which a dynamic compensator is a Kalman filter are presented, and reduced-order optimal estimaters are investigated.

Broussard, John R.↗

NASA NTRS1988

Dynamic compensation in the central Pacific Ocean

The intermediate-wavelength geoid (lambda similar to 2000 km) and sea-floor topography fields in the central Pacific Ocean were studied in terms of static and dynamic compensation models. Topographic features on the sea-floor with lambda less than 1000 km were found to be compensated both regionally, by the elastic strength of the lithosphere, and locally, by displacing mantle material to reach isostatic adjustment. The larger-scale sea-floor topography and the corresponding geoid anomalies with lambda similar to 2000 km cannot be explained by either local or regional compensation. The topography and the resulting geoid anomaly at this wavelength were modeled by considering the dynamic effects arising from viscous stresses in a layer of fluid with a highly temperature-dependent viscosity for the cases of: (1) surface cooling, and (2) basal heating. In this model, the mechanical properties of the elastic part of the lithosphere were taken into account by considering an activation energy of about 520 kJ/mol in the Arrhenius law for the viscosity. Numerical predictions of the topography, total geoid anomaly, and admittance were obtained, and the results show that the thermal perturbation in the layer, which accounts for the mass deficit, must be located close to the surface to compensate the gravitational effect of the surface deformation. For the case of basal heating, the temperature dependence of viscosity results in a separation of the upper, quasi-rigid lid from the lower mobile fluid, hence inhibiting the development of a compensating thermal perturbation at shallow depths. The results clearly rule out small-scale, upper-mantle convection as the source of these anomalies. Instead, the geophysical observables can be well explained by a shallow, transient thermal perturbation.

Hinojosa, Juan Homero↗

NASA NTRS1990

Dissipative compensators for flexible spacecraft control

The problem of controller design for flexible spacecraft is addressed. Model-based compensators, which rely on the knowledge of the system parameters to tune the state estimator, are considered. The instability mechanisms resulting from high sensitivity to parameter uncertainties are investigated. Dissipative controllers, which use collocated actuators and sensors, are also considered, and the robustness properties of constant-gain dissipative controllers in the presence of unmodeled elastic-mode dynamics, sensor/actuator nonlinearities, and actuator dynamics are summarized. In order to improve the performance without sacrificing robustness, a class of dissipative dynamic compensators is proposed and is shown to retain robust stability in the presence of second-order actuator dynamics if acceleration feedback is employed. A class of dissipative dynamic controllers is proposed which consists of a low-authority, constant-gain controller and a high-authority dynamic compensator. A procedure for designing an optimal dissipative dynamic compensator is given which minimizes a quadratic performance criterion. Such compensators offer the promise of better performance while still retaining robust stability.

Joshi, S. M.↗

NASA NTRS1990

Delay compensation in integrated communication and control systems. I - Conceptual development and analysis

A procedure for compensating for the effects of distributed network-induced delays in integrated communication and control systems (ICCS) is proposed. The problem of analyzing systems with time-varying and possibly stochastic delays could be circumvented by use of a deterministic observer which is designed to perform under certain restrictive but realistic assumptions. The proposed delay-compensation algorithm is based on a deterministic state estimator and a linear state-variable-feedback control law. The deterministic observer can be replaced by a stochastic observer without any structural modifications of the delay compensation algorithm. However, if a feedforward-feedback control law is chosen instead of the state-variable feedback control law, the observer must be modified as a conventional nondelayed system would be. Under these circumstances, the delay compensation algorithm would be accordingly changed. The separation principle of the classical Luenberger observer holds true for the proposed delay compensator. The algorithm is suitable for ICCS in advanced aircraft, spacecraft, manufacturing automation, and chemical process applications.

Luck, Rogelio↗

NASA NTRS1991

Further evaluation of the constrained least squares electromagnetic compensation method

Technologies exist for construction of antennas with adaptive surfaces that can compensate for many of the larger distortions caused by thermal and gravitational forces. However, as the frequency and size of reflectors increase, the subtle surface errors become significant and degrade the overall electromagnetic performance. Electromagnetic (EM) compensation through an adaptive feed array offers means for mitigation of surface distortion effects. Implementation of EM compensation is investigated with the measured surface errors of the NASA 15 meter hoop/column reflector antenna. Computer simulations are presented for: (1) a hybrid EM compensation technique, and (2) evaluating the performance of a given EM compensation method when implemented with discretized weights.

Smith, William T.↗