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Implementation of a robotic flexible assembly system
As part of the Intelligent Task Automation program, a team developed enabling technologies for programmable, sensory controlled manipulation in unstructured environments. These technologies include 2-D/3-D vision sensing and understanding, force sensing and high speed force control, 2.5-D vision alignment and control, and multiple processor architectures. The subsequent design of a flexible, programmable, sensor controlled robotic assembly system for small electromechanical devices is described using these technologies and ongoing implementation and integration efforts. Using vision, the system picks parts dumped randomly in a tray. Using vision and force control, it performs high speed part mating, in-process monitoring/verification of expected results and autonomous recovery from some errors. It is programmed off line with semiautomatic action planning.
Robust multi‐loop control of a floating wind turbine
Abstract A principal challenge facing the control of floating offshore wind turbines (FOWTs) is the problem of instability, or “negative damping,” when using blade pitch feedback to control generator speed. This closed‐loop instability can be attributed to non‐minimum phase zeros in the transfer function from blade pitch to generator speed. Standard approaches to improving stability and performance include robust tuning of control gains and introducing multiple feedback loops to respond to platform motion. Combining these approaches is nontrivial because multiple control loops complicate the impact of coupling in the system dynamics. The single‐loop approach to analyzing stability robustness neglects inter‐loop coupling, while a simplistic multi‐loop approach is highly sensitive to dimensional scaling and overestimates the robustness of the single‐loop controller. This work proposes a sensitivity representation that separates some of the natural FOWT dynamic coupling into a parallel feedback loop in the sensitivity function loop to address both of these concerns. The modified robustness measure is used with a simplified linear FOWT model to optimize scheduled multi‐loop control parameters in an automated tuning procedure. This controller is implemented for the 10‐MW Ultraflexible Smart FLoating Offshore Wind Turbine (USFLOWT) and compared against conventional single‐ and multi‐loop controllers tuned using frequency‐domain analysis and high‐fidelity OpenFAST simulations. The multi‐loop robust controller shows the highest overall performance in generator speed regulation and tower load reduction, though consideration of power quality, actuator usage, and other structural loading leads to additional trade‐offs.
MODELING, IMPLEMENTATION AND CONTROL OF A CVT BASED PTO FOR A SMALL SCALE MHK-TURBINE IN LOW FLOW SPEED OPERATION
Modeling, implementation, field testing and control of a power takeoff (PTO) device equipped with a ball-type continuously variable transmission (B-CVT) for a small marine hydrokinetic (MHK) turbine deployed from a floating unmanned autonomous mobile catamaran platform is described. The turbine is a partially submerged multi-blade undershot waterwheel (USWW). A validated numerical torque model for the MHK turbine has been derived and a speed controller has been developed, implemented and tested in the field. The dependance of the power generated as a function of number and submergence level of turbine blades has been investigated and the number of blades that maximizes power production is determined. Bench and field testing in support of characterizing the power conversion capabilities of MHK turbine and PTO are described. Detailed results of the final torque and power coefficient models, the controls architecture, and the MHK turbine performance with varying numbers of blades are provided.
Investigation of Inner Loop Flight Control Strategies for High-Speed Research
This report describes the activities and findings conducted under contract NAS1-19858 with NASA Langley Research Center. Subject matter is the investigation of suitable flight control design methodologies and solutions for large, flexible high-speed vehicles. Specifically, methodologies are to address the inner control loops used for stabilization and augmentation of a highly coupled airframe system possibly involving rigid-body motion, structural vibrations, unsteady aerodynamics, and actuator dynamics. Techniques considered in this body of work are primarily conventional-based, and the vehicle of interest is the High-Speed Civil Transport (HSCT). Major findings include 1) current aeroelastic vehicle modeling procedures require further emphasis and refinement, 2) traditional and nontraditional inner loop flight control strategies employing a single feedback loop do not appear sufficient for highly flexible HSCT class vehicles, 3) inner loop flight control systems will, in all likelihood, require multiple interacting feedback loops, and 4) Ref. H HSCT configuration presents major challenges to designing acceptable closed-loop flight dynamics.
Inner loop flight control for the High-Speed Civil Transport
High-speed aerospace vehicles which employ high strength, light weight, yet deformable materials may exhibit significant interaction between the rigid-body and vibrational dynamics. Preliminary High-Speed Civil Transport (HSCT) configurations are a prime example. Traditionally, separate control systems have been used to augment the rigid-body and vibrational dynamics. In the HSCT arena, the highly coupled motions may not allow this design freedom. The research activity addresses two specific issues associated with the design and development of an integrated flight control system (FCS) for HSCT configurations, which are discussed next. The HSCT is expected to have a short period instability at subsonic speeds. Flight vehicles with this characteristic (i.e., F-16, F-22, X-29, Space Shuttle) are stabilized with what is called a superaugmented pitch rate loop. One concern is 'Will this stability augmentation logic work for a HSCT?' Studies show that an idealized pitch rate design would be acceptable, but is not realistic. Investigations using a contaminated pitch rate design reveal serious hurdles to overcome in the FCS design. Mounting location for the pitch rate sensor is critical. Results indicate a forward location leads to destabilizing pick-up of aeroelastic modes, while aft locations lead to undesirable coupling of the dominate pitch mode with the first aeroelastic mode. Intermediate locations for the sensor may not be acceptable. The source of the problem is the presence of low frequency aeroelastic modes in HSCT configurations, which are not present in vehicles currently using the superaugmented logic. To say the least, a conventional superaugmented pitch rate loop strategy may have undesirable characteristics. An unconventional strategy, which attempts to eliminate the above deficiencies by blending several pitch rate signals, indicates an improvement in the FCS architecture feasibility, but is still lacking in some respects. The HSCT configuration does not have aerodynamic surfaces in the vicinity of the nose (i.e., no canard or vane). A second concern is 'Can the fuselage bending/torsion aeroelastic modes be effectively augmented without sufficient control input near the vehicle nose?' The superaugmented FCS results above may be suggesting the necessity of a secondary feedback loop to achieve an acceptable integrated FCS. Preliminary analysis of HSCT aeroelastic mode shapes indicate the use of existing wing leading edge devices as a second control input may be lacking in control authority for the rigid-body attitude and aeroelastic modes. An effort is underway to incorporate generic wing leading edge devices and canards into a generic HSCT model for the purpose of assessing additional control authority and it's use in candidate FCS designs. A generic HSCT mathematical model was necessary for the studies above. A HSCT category model is available in NASA-CR-172201. This model describes the linear, longitudinal dynamics about the following flight condition: ascent, W = 730,000 lbs, h = 6,500 ft, M = 0.6. The model incorporates the full rigid-body variable set, as well as eighteen aeroelastic modes. Elevator deflection serves as the control input. Modifications to the model include the incorporation of relaxed static stability (i.e., static margin from -7.3% to +10%) and additional control inputs.
Low-Subsonic-Speed Static Longitudinal Stability and Control Characteristics of a Winged Reentry-Vehicle Configuration Having Wingtip Panels that Fold up for High-Drag Reentry
An investigation of the low-subsonic-speed static longitudinal stability and control characteristics of a model of a manned reentry-vehicle configuration capable of high-drag reentry and glide landing has been a made in the Langley free-flight tunnel. The model had a modified 63 deg delta plan-form wing with a fuselage on the upper surface. This configuration had wingtip panels designed to fold up 90 deg for the high-drag reentry phase of the flight and to extend horizontally for the glide landing. Data for the basic configurations and modifications to determine the effects of plan form, wingtip panel incidence, dihedral, and vertical position of the wingtip panels are presented without analysis.
Control system design for the MOD-5A 7.3 mW wind turbine generator
This paper provides descriptions of the requirements analysis, hardware development and software development phases of the Control System design for the MOD-5A 7.3 mW Wind Turbine Generator. The system, designed by General Electric Company, Advanced Energy Programs Department, under contract DEN 3-153 with NASA Lewis Research Center and DOE, provides real time regulation of rotor speed by control of both generator torque and rotor torque. A variable speed generator system is used to provide both airgap torque control and reactive power control. The wind rotor is designed with segmented ailerons which are positioned to control blade torque. The central component of the control system, selected early in the design process, is a programmable controller used for sequencing, alarm monitoring, communication, and real time control. Development of requirements for use of aileron controlled blades and a variable speed generator required an analytical simulation that combined drivetrain, tower and blade elastic modes with wind disturbances and control behavior. An orderly two phase plan was used for controller software development. A microcomputer based turbine simulator was used to facilitate hardware and software integration and test.
Flight investigation of V/STOL height- control requirements for hovering and low- speed flight under visual conditions
Flight test of V/STOL height control requirement for hovering and low speed flight under visual conditions
An analysis of minimum heat trajectories for entry at hyperbolic speeds.
Optimum trajectory control for minimum heating paths during manned vehicle reentry at hyperbolic speeds
Interaction effects of a control jet exhausting radially from the nose of an ogive- cylinder body at transonic speeds
Interaction effects of control jet exhausting radially from nose of ogive-cylinder body at transonic speeds
Integrated control system concept for high-speed aircraft
The synthesis and evaluation of flight control system architectures for future aircraft are discussed in terms of design features and the requirements for fighter aircraft. Advanced fighter configurations may feature canards, flaperons, two-dimensional vectoring nozzles, a mixing compression inlet, and an advanced turbojet engine. Survey and evaluation technology will also progress to include distributed microprocessors, VLSI and VHSIC microcircuitry, optical circuits, analytic redundancy, etc. Bottom-p and top-down architectures have been investigated to fulfill the reliability, maintainability, cost, and performance goals. A centralized architecture has been devised with line-removable units to facilitate maintainability and reduce weight. Descriptions are provided of the performance parameters and applications of optical elements, photoelastic pressure sensors, rare earth sensors, computing elements, and information transfer system.
Enhancing Control Of Helicopter Yaw At Low Speed
Spoilers on tail boom significantly improve yaw control in both right and left sidewinds. Spoilers are two thin plates extending outward, perpendicular to curvature of boom, distance of about 6 percent of total depth of tail boom. Along-the-boom dimensions of spoilers are as long as possible without interfering with such existing critical parts as tail rotor. Further enhancement, spoilers made retractable and automatically deployable as required. Concept applicable to all single-rotor helicopters. Applied as simple economical addition to existing helicopters or incorporated into new helicopter designs.
Experimental and analytical investigations to improve low-speed performance and stability and control characteristics of supersonic cruise fighter vehicles
Small- and large-scale models of supersonic cruise fighter vehicles were used to determine the effectiveness of airframe/propulsion integration concepts for improved low-speed performance and stability and control characteristics. Computer programs were used for engine/airframe sizing studies to yield optimum vehicle performance.
Non-linear dynamic compensation system
A non-linear dynamic compensation subsystem is added in the feedback loop of a high precision optical mirror positioning control system to smoothly alter the control system response bandwidth from a relatively wide response bandwidth optimized for speed of control system response to a bandwidth sufficiently narrow to reduce position errors resulting from the quantization noise inherent in the inductosyn used to measure mirror position. The non-linear dynamic compensation system includes a limiter for limiting the error signal within preselected limits, a compensator for modifying the limiter output to achieve the reduced bandwidth response, and an adder for combining the modified error signal with the difference between the limited and unlimited error signals. The adder output is applied to control system motor so that the system response is optimized for accuracy when the error signal is within the preselected limits, optimized for speed of response when the error signal is substantially beyond the preselected limits and smoothly varied therebetween as the error signal approaches the preselected limits.
Control-Surface Instability on High-Speed Airplanes
Tests of several modern airplanes indicate that control surfaces with a high degree of aerodynamic balance are likely to possess characteristics which make them unsatisfactory or dangerous in high-speed flight. Dive tests made in the spring of 1940 at the NACA on a naval fighter-type airplane illustrate one form of instability that may be encountered. During a dive at an indicated airspeed of 365 miles per hour, the ailerons suddenly overbalanced. The efforts of the pilot to bring the ailerons back to neutral resulted in a violent oscillation of the control stick from side to side. Fortunately, the force required to return the ailerons to neutral was within the pilot's capabilities. A time history of the maneuver is given in figure1 and typical frames from motion pictures of the cockpit and of the wing, taken during the maneuver, are given in figure 2. In the illustrated case, the occurrence of aerodynamic overbalance was attributed to a slight bulge, approximately 1/16 inch thick, on the lower surface of the leading edges of the ailerons, caused by the installation of additional mass balance ahead of the hinge line. A drawing showing the shape of the bulge is given in figure 3. After this slight protuberance had been eliminated, dives were successfully made at higher speeds.
Flight Dynamics Conceptual Design Exploration of Multirotor eVTOL
The advent of electric propulsion is revolutionizing the paradigm of rotorcraft design, leading to new electric Vertical Take-Off and Landing (eVTOL) aircraft. Direct drive topologies are common within these new designs, and some designers have chosen to utilize this mechanism for Primary Flight Control (PFC), effectively utilizing the aircraft engines as PFC actuators to control the speed of the rotors. This decision integrates the propulsion and flight control systems, and intrinsically couples the aircraft sizing and control. Four separate tools were exercised throughout this study to conduct a conceptual design exploration of eVTOL aircraft handling qualities. The main tasks for these tools were: 1) aircraft sizing and performance analysis, including the calculation of trim; 2) flight dynamics modeling and analysis; 3) handling qualities-centric control law optimization; and 4) electric motor sizing. Sizing of an RPM- controlled Hexacopter concept explored the dependency of aircraft size to fundamental design parameters: 1) disk loading and 2) blade loading coefficient. Increasing the design disk loading resulted in designs with high agility, but at the cost of significant growth in the design gross weight. Finally, Categories II and III pilot-induced-oscillation (PIO) are known potentially-catastrophic handling qualities deficiencies of fly-by-wire flight control systems such as those expected of eVTOL aircraft. Consideration of PIO predictive metrics in conceptual design control synthesis led to increased PIO robustness.
Controller for computer control of brushless dc motors
A motor speed and torque controller for brushless d.c. motors provides an unusually smooth torque control arrangement. The controller provides a means for controlling a current waveform in each winding of a brushless dc motor by synchronization of an excitation pulse train from a programmable oscillator. Sensing of torque for synchronization is provided by a light beam chopper mounted on the motor rotor shaft. Speed and duty cycle are independently controlled by controlling the frequency and pulse width output of the programmable oscillator. A means is also provided so that current transitions from one motor winding to another is effected without abrupt changes in output torque.