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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1975

Jump resonant frequency islands in nonlinear feedback control systems

A new type of jump resonance is predicted and observed in certain nonlinear feedback control systems. The new jump resonance characteristic is described as a 'frequency island' due to the fact that a portion of the input-output transfer characteristic is disjoint from the main body. The presence of such frequency islands was predicted by using a sinusoidal describing function characterization of the dynamics of an inertial gyro employing nonlinear ternary rebalance logic. While the general conditions under which such islands are possible has not been examined, a numerical approach is presented which can aid in establishing their presence. The existence of the frequency islands predicted for the ternary rebalanced gyro was confirmed by simulating the nonlinear system and measuring the transfer function.

Koenigsberg, W. D.↗

NASA NTRS1975

Attitude determination of a high altitude balloon system. Part 2: Development of the parameter determination process

The attitude of the balloon system is determined as a function of time if: (a) a method for simulating the motion of the system is available, and (b) the initial state is known. The initial state is obtained by fitting the system motion (as measured by sensors) to the corresponding output predicted by the mathematical model. In the case of the LACATE experiment the sensors consisted of three orthogonally oriented rate gyros and a magnetometer all mounted on the research platform. The initial state was obtained by fitting the angular velocity components measured with the gyros to the corresponding values obtained from the solution of the math model. A block diagram illustrating the attitude determination process employed for the LACATE experiment is shown. The process consists of three essential parts; a process for simulating the balloon system, an instrumentation system for measuring the output, and a parameter estimation process for systematically and efficiently solving the initial state. Results are presented and discussed.

Nigro, N. J.↗

NASA NTRS1976

Position error propagation in the simplex strapdown navigation system

The results of an analysis of the effects of deterministic error sources on position error in the simplex strapdown navigation system were documented. Improving the long term accuracy of the system was addressed in two phases: understanding and controlling the error within the system, and defining methods of damping the net system error through the use of an external reference velocity or position. Review of the flight and ground data revealed error containing the Schuler frequency as well as non-repeatable trends. The only unbounded terms are those involving gyro bias and azimuth error coupled with velocity. All forms of Schuler-periodic position error were found to be sufficiently large to require update or damping capability unless the source coefficients can be limited to values less than those used in this analysis for misalignment and gyro and accelerometer bias. The first-order effects of the deterministic error sources were determined with a simple error propagator which provided plots of error time functions in response to various source error values.

Source record↗

NASA NTRS1976

Skylab attitude control system

The attitude stabilization and control system for Skylab evolved from an analog controller into a fully digital processing system. Features of this system include a software-determined attitude reference to provide general maneuvering ability, an in-orbit programming capability, the use of large control moment gyros for attitude control, and the use of vehicle maneuvers to desaturate gyro momentum. The objectives, requirements, and implementations of the control system software are described, along with the rationales for certain design decisions and discussion of some system dynamics and actual performance.

Coon, T. R.↗

NASA NTRS1975

The SAS-3 attitude control system

SAS-3 uses a reaction wheel to provide torque to control the spin rate. If the wheel speed becomes too great or too small, it must be restored to its nominal rate by momentum dumping which is done by magnetic torquing against the earth's magnetic field by the satellite's magnetic coils. A small rate-integrating gyro is used to sense the spin rate so that closed loop control of the spin rate can be achieved. These various systems are described in detail including the reaction wheel system, the gyro system, along with control modes (spin rate control and the star lock mode).

Mobley, F. F.↗

NASA NTRS1976

Attitude control system

An attitude control system is described in which angular rate signals are generated by rate gyros mounted closely adjacent to gimbaled engines at the rear of a vehicle. Error signals representative of a commanded change in vehicle angle or attitude are obtained from a precision inertial platform located in the nose region of the vehicle. The rate gyro derived signals dominate at high frequencies where dynamic effects become significant, and platform signals dominate at low frequencies where precision signals are required for a steady vehicle attitude. The blended signals are applied in a conventional manner to control the gimbaling of vehicle engines about control axes.

Vonpragenau, G. L.↗

NASA NTRS1975

Advanced Earth Observation System Instrumentation Study (aeosis)

Various types of measurements were studied for estimating the orbit and/or attitude of an Earth Observation Satellite. An investigation was made into the use of known ground targets in the earth sensor imagery, in combination with onboard star sightings and/or range and range rate measurements by ground tracking stations or tracking satellites (TDRSS), to estimate satellite attitude, orbital ephemeris, and gyro bias drift. Generalized measurement equations were derived for star measurements with a particular type of star tracker, and for landmark measurements with a multispectral scanner being proposed for an advanced Earth Observation Satellite. The use of infra-red horizon measurements to estimate the attitude and gyro bias drift of a geosynchronous satellite was explored.

White, R.↗

NASA NTRS1977

Performance tests of two precision attitude determination systems

Results of laboratory performance tests of two satellite attitude determination systems are given. One system employed a strapdown star tracker and gyro assembly, the other a single axis, gimballed star tracker and a gyro assembly. The laboratory tests simulated those orbit conditions which would be experienced on a three axis stabilized, earth pointed satellite in geosynchronous orbit. A ground-fixed laboratory test was performed in which system axes remained stationary in the laboratory coordinates while revolving star beams stimulated the star trackers. The laboratory instrumentation techniques used to meet the stringent accuracy requirements are described. Results are presented which show both systems met the performance goal of 3.6 arc seconds. Comparative analyses of both systems are also discussed.

Mcaloon, K. J.↗

NASA NTRS1978

The role of cryogenics in the gyroscope experiment

The design of apparatus being built to measure the general relativistic precession of gyroscopes in earth orbit is discussed, with emphasis on the role of cryogenics. Operation with a superconducting rotor is crucial in that it provides the only known way of attaining the required angular resolution of 0.001 arc-sec. Operation at low temperatures also provides the star tracker, to which the gyros are referenced, with excellent null stability. The boil-off gas from the large helium dewar is used to operate the vehicle in a drag-free mode which is expected to improve the gyro performance by a factor of ten. The dewar system is compatible with a wide range of experiments requiring temperatures as low as 2K in space.

Lipa, J. A.↗

NASA NTRS1978

Performance of ground attitude determination procedures for HEAO-1

Ground attitude support for HEAO 1 provided at GSFC by the HEAO 1 Attitude Ground Support System (AGSS) is described. Information telemetered from Sun sensors, gyroscopes, star trackers, and an onboard computer are used by the AGSS to compute updates to the onboard attitude reference and gyro calibration parameters. The onboard computer utilizes these updates in providing continuous attitudes (accurate to 0.25degree) for use in the observatory's attitude control procedures. The relationship between HEAO 1 onboard and ground processing, the procedures used by the AGSS in computing attitude and gyro calibration updates, and the performance of these procedures in the HEAO 1 postlaunch environment is discussed.

Fallon, L., III↗

NASA NTRS1979

Autonomous attitude estimation via star sensing and pattern recognition

Results are reported on the development of an autonomous, onboard, near real time spacecraft attitude estimation technique. The approach uses CCD based star sensors to digitize relative star positions. Three microcomputers are envisioned, configured in parallel, to: (1) determine star image centroids and delete spurious images; (2) identify measured stars with stars in an onboard catalog and determine discrete attitude estimates; (3) integrate gyro rate measurements and determine optimal real time attitude estimates for use in the control system and for feedback to the star identification algorithm. Algorithms for the star identification are presented. The discrete attitude estimation algorithm recovers thermally varying interlock angles between two star sensors. The optimal state estimation process recovers rate gyro biases in addition to real time attitude estimates.

Junkins, J. L.↗

NASA NTRS1979

DRIRU II - The NASA standard high performance Inertial Reference Unit

This paper discusses the design configuration, performance and environmental capability of NASA's Dry Rotor Inertial Reference Unit (DRIRU II) for use in spacecraft precision attitude stabilization systems. The system is a self-contained, strapdown, dual rate sensing unit for spacecraft requiring high accuracy, reliability and low power consumption. Modular construction of the basic unit, arrangement of gyros, electronic modules and power supplies, signal flow, and mounting are described. DRIRU II is designed to meet specified performance requirements for a minimum of two years of operating time in orbit and a reliability prediction analysis is presented. The characteristics of test equipment are given together with the results of the environmental, radiation, and magnetic field sensitivity tests. DRIRU II may be modified for unique requirements and the rate range and resolution options are tabulated. The flexibility of the unit afforded by the use of dry tuned gimbal gyros and its modular construction results in a system capable of satisfying the demanding requirements of a broad spectrum of future applications. The units are planned for the Solar Max, Landsat-D and ASPS missions in the 1980's.

Irvine, R. B.↗

NASA NTRS1979

Gyrodampers for large space structures

The problem of controlling the vibrations of a large space structures by the use of actively augmented damping devices distributed throughout the structure is addressed. The gyrodamper which consists of a set of single gimbal control moment gyros which are actively controlled to extract the structural vibratory energy through the local rotational deformations of the structure, is described and analyzed. Various linear and nonlinear dynamic simulations of gyrodamped beams are shown, including results on self-induced vibrations due to sensor noise and rotor imbalance. The complete nonlinear dynamic equations are included. The problem of designing and sizing a system of gyrodampers for a given structure, or extrapolating results for one gyrodamped structure to another is solved in terms of scaling laws. Novel scaling laws for gyro systems are derived, based upon fundamental physical principles, and various examples are given.

Aubrun, J. N.↗

NASA NTRS1980

Atmospheric Emission Photometric Imaging on Spacelab (AEPI)

Two parallel detector systems are used for atmospheric emission photometric emission. The top system is a TV system using the image intensified S.E.C. tube as the detector. The bottom system, the photon counting array (P.C.A.), uses a microchannel plate intensified anode array tube and is equivalent to a 100 channel photomultiplier. For the television, the filters are selected by means of a filter wheel set. The field of view of the is interchangeable between 20 and 6 degrees, by means of a moveable prism. The quartz window mu channel plate intensifier is fiber optically coupled to a 40-25 demagnifying tube which is in turn coupled to the S.E.C. tube. The PCA channel has a fixed field of view of 4 deg and a remote control interchangeable photometric converter optics which converts the imaging array into a multichannel photometer. The mu channel plate array tube amplifies the photons into detectable counts for the PCA electronics. The entire system is pointed by a two axis gimbal. The flight equipment to be acquired consists of a gyro package and an interactive flight control unit panel. The gyro package is necessary because of the inadequate attitude reference supplied by the current Spacelab systems.

Mende, S. B.↗

NASA NTRS1981

Synchrotron emissivity from mildly relativistic particles

Approximate analytic expressions are presented for evaluation of the frequency and angular dependence of synchrotron emissivity from mildly relativistic particles with arbitrary energy spectrum and pitch angle distribution in a given magnetic field. Results agree with previous expressions for a nonrelativistic Maxwellian particle distribution, and when extrapolated to nonrelativistic and extreme relativistic regimes, they also agree with the previous expressions obtained under those limiting conditions. The results from the analytic expression are compared with results from detailed numerical evaluations. Excellent agreement is found not only at frequencies large compared to the gyro-frequency but also at lower frequencies, in fact, all the way down to the gyro-frequency, where the analytic approximations are expected to be less accurate.

Petrosian, V.↗

NASA NTRS1980

Torque equilibrium attitude control for Skylab reentry

The method of torque equilibrium attitude control used to control the reentry of Skylab to an altitude below 150 km without the use of thruster fuel once the attitude was established is discussed. The Skylab attitude and pointing control system, which included rate gyros, sun sensors, star tracker, the Apollo telescope mount digital computer, control moment gyros and cold-gas attitude thrusters, is presented. The 12 torque equilibrium attitudes found at which aerodynamic, gravity gradient and gyroscopic torques would balance are indicated, and the three of those at which the solar power supply would be adequate for attitude control are illustrated. The equilibrium seeking method employed is then examined, and the operation and performance of the torque equilibrium attitude control system during the three weeks prior to Skylab reentry are discussed. It is concluded that the torque equilibrium attitude control method developed for Skylab was successful in performing its assigned mission, and will be valuable for the design of future, low-altitude spacecraft or tethered vehicles.

Glaese, J. R.↗

NASA NTRS1981

A simple attitude data filter for three-axis attitude initialization for autonomous ascent of Shuttle-launched spacecraft

A method for accurately initializing spacecraft attitude after release from the Orbiter is described. It is noted that the method is suitable for an autonomous ascent to mission orbit. Test results are given from a FORTRAN simulation of the estimation algorithm using measurement data from a detailed spacecraft dynamics simulation program. The technique here is orbital yaw-gyrocompassing. Attitude is estimated through a Kalman filter, using pitch and roll measurements from an earth sensor, while gyro data provide the system dynamics information. In the tests described, gyro and earth sensor data are generated by an existing control system simulation of earth-search and yaw-gyrocompassing attitude dynamics; they include realistic errors such as delays, random noise and quantization effects. The estimated attitude history is compared with the true attitude history from the simulation program to assess the accuracy and convergence of the filter in the presence of noisy measurements and disturbances, including thruster firings for momentum control. It is noted that since the earth sensor provides direct measurements of pitch and roll, the main criterion of filter performance is yaw accuracy.

Joshi, R. T.↗

NASA NTRS1981

Pointing system modeling for performance prediction

The paper considers the modeling and analysis of the JPL Precision Pointing and Tracking System, a gyro stabilized platform pointing system using optical target tracking. Sensor and actuator models are described which realistically represent actual hardware, and a practical controller and state estimator is developed through modern control techniques. The effect of the actuator nonlinearities on the system performance evaluation is discussed along with the modeling of the noise sources in the gyro. Finally, the limitations of implementing the control algorithms on the spacecraft computer, and the resulting tradeoffs are presented.

Boussalis, D.↗