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NASA NTRS1985

The effect of sensor and actuator errors on static shape control for large space structures

An analytical study was performed to predict and assess the effect of actuator and sensor errors on the performance of a shape control procedure for flexible space structures using applied temperatures. Approximate formulas were derived for the expected value and variance of the rms distortion ratio (ratio of rms distortions with and without corrections) based on the assumption of zero-mean normally distributed random errors in measured distortions and actuator output temperatures. Studies were carried out for a 55-meter radiometer antenna reflector distorted from its ideal parabolic shape by nonuniform orbital heating. The first study consisted of varying the sensor and actuator errors for the case of 12 actuators and computing the distortion ratio. In the second study, sensor and actuator errors were prescribed and the effect of increasing the number of actuators was evaluated.

Haftka, R. T.↗

NASA NTRS1987

Effect of sensor and actuator errors on static shape control for large space structures

Haftka, Raphael T.↗

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 NTRS2003

Mirrors Containing Biomimetic Shape-Control Actuators

Curved mirrors of a proposed type would comprise lightweight sheets or films containing integral, biologically inspired actuators for controlling their surface figures. These mirrors could be useful in such applications as collection of solar energy, focusing of radio beams, and (provided sufficient precision could be achieved) imaging. These mirrors were originally intended for use in outer space, but it should also be possible to develop terrestrial versions. Several prior NASA Tech Briefs articles have described a variety of approaches to the design of curved, lightweight mirrors containing integral shape-control actuators. The primary distinction between the present approach and the prior approaches lies in the actuator design concept, which involves shapes and movements reminiscent of those of a variety of small, multi-armed animals. The shape and movement of an actuator of this type can also be characterized as reminiscent of that of an umbrella. This concept can be further characterized as a derivative of that of multifinger grippers, the fingers of which are bimorph bending actuators (see Figure 1). The fingers of such actuators can be strips containing any of a variety of materials that have been investigated for use as actuators, including such electroactive polymers as ionomeric polymer/metal composites (IPMCs), ferroelectric polymers, and grafted elastomers. A mirror according to this proposal would be made from a sheet of one of the actuator composites mentioned above. The design would involve many variables, including the pre-curvature and stiffness of the mirror sheet, the required precision of figure control, the required range of variation in focal length (see Figure 2), the required precision of figure control for imaging or non-imaging use, the bending and twisting moments needed to effect the required deformations, and voltage-tomoment coefficients of the actuators, and the voltages accordingly required for actuation. A typical design would call for segmentation of the electrodes on the actuators so that voltages could be applied locally to effect local bending for fine adjustment of the surface figure.

Bar-Cohen, Yoseph↗

NASA NTRS1984

Selection of actuator locations for static shape control of large space structures by heuristic integer programing

Orbiting spacecraft such as large space antennas have to maintain a highly accurate space to operate satisfactorily. Such structures require active and passive controls to mantain an accurate shape under a variety of disturbances. Methods for the optimum placement of control actuators for correcting static deformations are described. In particular, attention is focused on the case were control locations have to be selected from a large set of available sites, so that integer programing methods are called for. The effectiveness of three heuristic techniques for obtaining a near-optimal site selection is compared. In addition, efficient reanalysis techniques for the rapid assessment of control effectiveness are presented. Two examples are used to demonstrate the methods: a simple beam structure and a 55m space-truss-parabolic antenna.

Haftka, R. T.↗

NASA NTRS2005

Finite Element Analysis of Adaptive-Stiffening and Shape-Control SMA Hybrid Composites

The usage of shape memory materials has extended rapidly to many fields, including medical devices, actuators, composites, structures and MEMS devices. For these various applications, shape memory alloys (SMAs) are available in various forms: bulk, wire, ribbon, thin film, and porous. In this work, the focus is on SMA hybrid composites with adaptive-stiffening or morphing functions. These composites are created by using SMA ribbons or wires embedded in a polymeric based composite panel/beam. Adaptive stiffening or morphing is activated via selective resistance heating or uniform thermal loads. To simulate the thermomechanical behavior of these composites, a SMA model was implemented using ABAQUS user element interface and finite element simulations of the systems were studied. Several examples are presented which show that the implemented model can be a very useful design and simulation tool for SMA hybrid composites.

Gao, Xiu-Jie↗

NASA NTRS1987

Optimum shape control of flexible beams by piezo-electric actuators

The utilization of piezoelectric actuators in controlling the static deformation and shape of flexible beams is examined. An optimum design procedure is presented to enable the selection of the optimal location, thickness and excitation voltage of the piezoelectric actuators in a way that would minimize the deflection of the beam to which these actuators are bonded. Numerical examples are presented to illustrate the application of the developed optimization procedure in minimizing structural deformation of beams using ceramic and polymeric piezoelectric actuators bonded to the beams with a typical bonding agent. The obtained results emphasize the importance of the devised rational produce in designing beam-actuator systems with minimal elastic distortions.

Baz, A.↗

NASA NTRS2017

Methodologies for Root Locus and Loop Shaping Control Design with Comparisons

This paper describes some basics for the root locus controls design method as well as for loop shaping, and establishes approaches to expedite the application of these two design methodologies to easily obtain control designs that meet requirements with superior performance. The two design approaches are compared for their ability to meet control design specifications and for ease of application using control design examples. These approaches are also compared with traditional Proportional Integral Derivative (PID) control in order to demonstrate the limitations of PID control. Robustness of these designs is covered as it pertains to these control methodologies and for the example problems.

Classical ControlFeedback ControlsRoot LocusLoop S↗

NASA NTRS1985

Selection of actuator locations for static shape control of large space structures by heuristic integer programing

Orbiting spacecraft such as large space antennas have to maintain a highly accurate shape to operate satisfactorily. Such structures require active and passive controls to maintain an accurate shape under a variety of disturbances. Methods for the optimum placement of control actuators for correcting static deformations are described. In particular, attention is focused on the case were control locations have to be selected from a large set of available sites, so that integer programing methods are called for. The effectiveness of three heuristic techniques for obtaining a near-optimal site selection is compared. In addition, efficient reanalysis techniques for the rapid assessment of control effectiveness are presented. Two examples are used to demonstrate the methods: a simple beam structure and a 55m space-truss-parabolic antenna.

Haftka, R. T.↗

NASA NTRS1991

Limits on static shape control for space structures

This paper deals with correction of shape distortion due to zero-mean normally distributed errors in structural sizes. The concept of ideal actuators - actuators that can produce any desired displacement field - is introduced. Using this concept, a bound on the possible improvement in the expected value of the root-mean-square shape error is obtained. The shape correction associated with the ideal actuators is also characterized. An actuator effectiveness index is developed by comparing the displacement field generated by the actuator to the ideal. The results are specialized to a simple form for truss structures composed of nominally identical members. The bound and effectiveness index are tested on a 55-m radiometer antenna truss structure. It is found that previously obtained results for optimum actuators had a performance close to the bound obtained here. Also, it is found that large numbers of actuators are needed for large reductions in shape errors. Furthermore, the actuators associated with the optimum design are shown to have high effectiveness indices. Since only a small fraction of truss elements tend to have high effectiveness indices, the use of the effectiveness index can greatly reduce the number of truss members that need to be considered actuator sites.

Haftka, Raphael T.↗

NASA NTRS1989

Shape control of high degree-of-freedom variable geometry trusses

Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Salerno, R. J.↗

NASA NTRS1984

Optimal quasi-static shape control for large aerospace antennae

In this paper, an on-line control approach which will adjust the steady-state shape of a large antenna arbitarily close to any achievable desired profile is proposed. The method makes use of distributed parameter system theory and allows refocusing using a limited number of control actuators and sensors. The controller gains are calculated by approximating the solution to an infinite-dimensional optimal quasi-static control problem. A very general convergence result for such quasi-static controllers is proved and applied to the antenna controller to show convergence, using any Galerkin (finite-element) approximation method.

Balas, M. J.↗

NASA NTRS1987

Suboptimal shape control for quasi-static distributed-parameter systems

An on-line control approach which will adjust the steady-state shape of a large antenna arbitrarily close to any achievable desired profile is approached. The method makes use of distributed-parameter system theory and allows refocusing using a limited number of control actuators and sensors. The controller gains are calculated by approximating the solution to an infinite-dimensional optimal quasi-static control problem. The controller gain calculation is computationally simpler than that previously proposed. The Galerkin (finite element) approximation method is used for model reduction. It is proved that both gain and state convergence can be achieved by using the proposed approximation scheme.

Balas, M. J.↗

NASA NTRS1990

Controlling Shape And Vibration Of Antennas

Report discusses application of advanced techniques to maintain large wrap-rib, offset-feed spaceborne antenna reflector in precise shape required for high performance. Idea is to use integrated system of sensors, control processor, and actuators to measure and suppress both vibrations and static or slowly varying (e.g., thermal) deviations from desired shape. Technology applicable to other elastically deformable structures.

Mettler, E.↗

NASA NTRS2012

Aeroelastic Modeling of Elastically Shaped Aircraft Concept via Wing Shaping Control for Drag Reduction

Lightweight aircraft design has received a considerable attention in recent years as a means for improving cruise efficiency. Reducing aircraft weight results in lower lift requirements which directly translate into lower drag, hence reduced engine thrust requirements during cruise. The use of lightweight materials such as advanced composite materials has been adopted by airframe manufacturers in current and future aircraft. Modern lightweight materials can provide less structural rigidity while maintaining load-carrying capacity. As structural flexibility increases, aeroelastic interactions with aerodynamic forces and moments become an increasingly important consideration in aircraft design and aerodynamic performance. Furthermore, aeroelastic interactions with flight dynamics can result in issues with vehicle stability and control. Abstract This paper describes a recent aeroelastic modeling effort for an elastically shaped aircraft concept (ESAC). The aircraft model is based on the rigid-body generic transport model (GTM) originally developed at NASA Langley Research Center. The ESAC distinguishes itself from the GTM in that it is equipped with highly flexible wing structures as a weight reduction design feature. More significantly, the wings are outfitted with a novel control effector concept called variable camber continuous trailing edge (VCCTE) flap system for active control of wing aeroelastic deflections to optimize the local angle of attack of wing sections for improved aerodynamic efficiency through cruise drag reduction and lift enhancement during take-off and landing. The VCCTE flap is a multi-functional and aerodynamically efficient device capable of achieving high lift-to-drag ratios. The flap system is comprised of three chordwise segments that form the variable camber feature of the flap and multiple spanwise segments that form a piecewise continuous trailing edge. By configuring the flap camber and trailing edge shape, drag reduction could be achieved. Moreover, some parts of the flap system can be made to have a high frequency response for roll control, gust load alleviation, and aeroservoelastic (ASE) modal suppression control. Abstract The aeroelastic model of the ESAC is based on one-dimensional structural dynamic theory that captures the aeroelastic deformation of a wing structure in a combined motion that involves flapwise bending, chordwise bending, and torsion. The model includes the effect of aircraft propulsion due to wing flexibility which causes the propulsive forces and moments to couple with the wing elastic motion. Engine mass is also accounted in the model. A fuel management model is developed to describe the wing mass change due to fuel usage in the main tank and wing tanks during cruise. Abstract The model computes both static and dynamic responses of the wing structures. The static aeroelastic deflections are used to estimate the effect of wing flexibility on induced drag and the potential drag reduction by the VCCTE flap system. A flutter analysis is conducted to estimate the flutter speed boundary. Gust load alleviation via adaptive control has been recently investigated to address flexibility of aircraft structures. A multi-objective flight control approach is presented for drag reduction control. The approach is based on an optimal control framework using a multi-objective cost function. Future studies will demonstrate the potential benefits of the approach.

Aeroelasticity↗

NASA NTRS1990

Statistical analysis of static shape control in space structures

The article addresses the problem of efficient analysis of the statistics of initial and corrected shape distortions in space structures. Two approaches for improving efficiency are considered. One is an adjoint technique for calculating distortion shapes: the second is a modal expansion of distortion shapes in terms of pseudo-vibration modes. The two techniques are applied to the problem of optimizing actuator locations on a 55 m radiometer antenna. The adjoint analysis technique is used with a discrete-variable optimization method. The modal approximation technique is coupled with a standard conjugate-gradient continuous optimization method. The agreement between the two sets of results is good, validating both the approximate analysis and optimality of the results.

Burdisso, Ricardo A.↗

NASA NTRS2008

Interface Shape Control using Localized Heating during Bridgman Growth

Numerical calculations were performed to assess the effect of localized radial heating on the melt-crystal interface shape during vertical Bridgman growth. System parameters examined include the ampoule, melt and crystal thermal conductivities, the magnitude and width of localized heating, and the latent heat of crystallization. Concave interface shapes, typical of semiconductor systems, could be flattened or made convex with localized heating. Although localized heating caused shallower thermal gradients ahead of the interface, the magnitude of the localized heating required for convexity was less than that which resulted in a thermal inversion ahead ofthe interface. A convex interface shape was most readily achieved with ampoules of lower thermal conductivity. The conditions under which convection in the melt must be considered were determined.

Volz, M. P.↗

NASA NTRS2008

Interface Shape Control Using Localized Heating during Bridgman Growth

Numerical calculations were performed to assess the effect of localized radial heating on the melt-crystal interface shape during vertical Bridgman growth. System parameters examined include the ampoule, melt and crystal thermal conductivities, the magnitude and width of localized heating, and the latent heat of crystallization. Concave interface shapes, typical of semiconductor systems, could be flattened or made convex with localized heating. Although localized heating caused shallower thermal gradients ahead of the interface, the magnitude of the localized heating required for convexity was less than that which resulted in a thermal inversion ahead of the interface. A convex interface shape was most readily achieved with ampoules of lower thermal conductivity. Increasing melt convection tended to flatten the interface, but the amount of radial heating required to achieve a convex interface was essentially independent of the convection intensity.

Volz, M. P.↗