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NASA NTRS1993

A modified approach to controller partitioning

The idea of computing a decentralized control law for the integrated flight/propulsion control of an aircraft by partitioning a given centralized controller is investigated. An existing controller partitioning methodology is described, and a modified approach is proposed with the objective of simplifying the associated controller approximation problem. Under the existing approach, the decentralized control structure is a variable in the partitioning process; by contrast, the modified approach assumes that the structure is fixed a priori. Hence, the centralized controller design may take the decentralized control structure into account. Specifically, the centralized controller may be designed to include all the same inputs and outputs as the decentralized controller; then, the two controllers may be compared directly, simplifying the partitioning process considerably. Following the modified approach, a centralized controller is designed for an example aircraft mode. The design includes all the inputs and outputs to be used in a specified decentralized control structure. However, it is shown that the resulting centralized controller is not well suited for approximation by a decentralized controller of the given structure. The results indicate that it is not practical in general to cast the controller partitioning problem as a direct controller approximation problem.

Garg, Sanjay↗

NASA NTRS1998

A Second Law Based Unstructured Finite Volume Procedure for Generalized Flow Simulation

An unstructured finite volume procedure has been developed for steady and transient thermo-fluid dynamic analysis of fluid systems and components. The procedure is applicable for a flow network consisting of pipes and various fittings where flow is assumed to be one dimensional. It can also be used to simulate flow in a component by modeling a multi-dimensional flow using the same numerical scheme. The flow domain is discretized into a number of interconnected control volumes located arbitrarily in space. The conservation equations for each control volume account for the transport of mass, momentum and entropy from the neighboring control volumes. In addition, they also include the sources of each conserved variable and time dependent terms. The source term of entropy equation contains entropy generation due to heat transfer and fluid friction. Thermodynamic properties are computed from the equation of state of a real fluid. The system of equations is solved by a hybrid numerical method which is a combination of simultaneous Newton-Raphson and successive substitution schemes. The paper also describes the application and verification of the procedure by comparing its predictions with the analytical and numerical solution of several benchmark problems.

Majumdar, Alok↗

NASA NTRS2008

Flight Validation of a Metrics Driven L(sub 1) Adaptive Control

The paper addresses initial steps involved in the development and flight implementation of new metrics driven L1 adaptive flight control system. The work concentrates on (i) definition of appropriate control driven metrics that account for the control surface failures; (ii) tailoring recently developed L1 adaptive controller to the design of adaptive flight control systems that explicitly address these metrics in the presence of control surface failures and dynamic changes under adverse flight conditions; (iii) development of a flight control system for implementation of the resulting algorithms onboard of small UAV; and (iv) conducting a comprehensive flight test program that demonstrates performance of the developed adaptive control algorithms in the presence of failures. As the initial milestone the paper concentrates on the adaptive flight system setup and initial efforts addressing the ability of a commercial off-the-shelf AP with and without adaptive augmentation to recover from control surface failures.

Dobrokhodov, Vladimir↗

NASA NTRS1998

Control Technology Lessons Learned: Case Study Using the Micro-Precision Interferometer Testbed

The paper presents a partial account of control lessons learned during the development of the Micro-Precision Interferometer (MIP) testbed.

control↗

NASA NTRS1997

Method for neural network control of motion using real-time environmental feedback

A method of motion control for robotics and other automatically controlled machinery using a neural network controller with real-time environmental feedback. The method is illustrated with a two-finger robotic hand having proximity sensors and force sensors that provide environmental feedback signals. The neural network controller is taught to control the robotic hand through training sets using back- propagation methods. The training sets are created by recording the control signals and the feedback signal as the robotic hand or a simulation of the robotic hand is moved through a representative grasping motion. The data recorded is divided into discrete increments of time and the feedback data is shifted out of phase with the control signal data so that the feedback signal data lag one time increment behind the control signal data. The modified data is presented to the neural network controller as a training set. The time lag introduced into the data allows the neural network controller to account for the temporal component of the robotic motion. Thus trained, the neural network controlled robotic hand is able to grasp a wide variety of different objects by generalizing from the training sets.

Buckley, Theresa M.↗

NASA NTRS2002

Effects of Hypergravity Rearing on Growth Hormone (GH) Secretion In Preweanling Rats

We previously reported that rat pups reared at 1.5-g, 1.75 or 2.0-g hypergravity weigh 6-15% less than 1.0-g controls. To account for these findings. we measured the lactational hormones, prolaction (Prl) and oxytocin (OT), in the pups' mothers. Gravity related differences in Prl were not observed whereas OT of lactating dams was significantly reduced relative to controls. Milk transfer from dam to pup was not impaired in hypergravity-reared litters tested at 1-g. Together, these findings suggest that impaired lactation and milk transfer do not account for reduced body masses of postnatal rats reared in hypergravity. In the present study, we analyzed growth hormone (GH) secretion and maternal licking in pups reared in hypergravity and in 1.0-g controls. Recent reports using dwarfing phenotypes in mouse mutants have provided evidence for postnatal dependence on GH and insulin-like growth factors (IGFs). Beginning on Gestational day (G)11 of the rats' 22 day pregnancy, rat dams and their litters were exposed to either 1.5-g, 1.75-g or 2.0-g. On Postnatal day (P)10, we measured plasma GH using enzyme immunoassay (EIA). Contrary to our hypothesis, GH was significantly elevated in pups reared at 2.0-g relative to 1.0-g controls. Pup-oriented behaviors of the hypergravity dams were also changed, possibly accounting for the increase in pup GH. GH alone does not appear to play a role in reduced body weights of hypergravity-reared pups.

Baer, L. A.↗

NASA NTRS1983

Symmetric linear systems

Employment as a means of transportation in the civilian construction trades represents one of the many applications of the helicopter. However, a major limitation to its use in heavy construction has been that the mass which can be effectively and safely transported is severely restricted. The construction of the so-called 'heavy lift' helicopter provided one solution to this problem. But it has been found that there are physical and economic limitations to the payload which can be transported. The proposal has been made to overcome these limitations by making use of multiple helicopters to move a single mass. A study of the feasibility of this proposal showed that automatic control would be needed to make the concept successful. The present investigation is concerned with some initial models in regard to the twinlift problem, taking into account the control theoretic problems.

Lewis, J.↗

NASA NTRS2018

Output Feedback Adaptive Control of Non-Minimum Phase Systems Using Optimal Control Modification

This paper describes output feedback adaptive control approaches for non-minimum phase SISO systems with relative degree 1 and non-strictly positive real (SPR) MIMO systems with uniform relative degree 1 using the optimal control modification method. It is well-known that the standard model-reference adaptive control (MRAC) cannot be used to control non-SPR plants to track an ideal SPR reference model. Due to the ideal property of asymptotic tracking, MRAC attempts an unstable pole-zero cancellation which results in unbounded signals for non-minimum phase SISO systems. The optimal control modification can be used to prevent the unstable pole-zero cancellation which results in a stable adaptation of non-minimum phase SISO systems. However, the tracking performance using this approach could suffer if the unstable zero is located far away from the imaginary axis. The tracking performance can be recovered by using an observer-based output feedback adaptive control approach which uses a Luenberger observer design to estimate the state information of the plant. Instead of explicitly specifying an ideal SPR reference model, the reference model is established from the linear quadratic optimal control to account for the non-minimum phase behavior of the plant. With this non-minimum phase reference model, the observer-based output feedback adaptive control can maintain stability as well as tracking performance. However, in the presence of the mismatch between the SPR reference model and the non-minimum phase plant, the standard MRAC results in unbounded signals, whereas a stable adaptation can be achieved with the optimal control modification. An application of output feedback adaptive control for a flexible wing aircraft illustrates the approaches.

Adaptive Contro↗

NASA NTRS2007

Overview of TRMM Data Products and Services

November 27, 2007 marks the l0th anniversary of the launch of the Tropical Rainfall Measuring Mission (TRMM) satellite. In anticipation of this anniversary, this paper will present an overview of the various TRMM data products currently available including the standard products, near real-time products, special products, and prototype products. It also will present an easy way to obtain these data. TRMM standard products have been publicly available since a few months after launch in November 1997. TRMM is currently on version 6 of the data product. Version 3 was the "at launch" version. The approval for each of these versions came through the Joint TRMM Science Team. Standard products are divided into 3 categories: single TRMM instrument, Visible Infrared Scanner (VIRS), TRMM Microwave Imager (TMI), and Precipitation Radar (PR); combined TRMM products (PR and TMI); finally TRMM and other satellites (combined, TMI, SSMI, AMSRE, AMSU). The single TRMM instrument products are processed through 4 levels: Level lA, science data packets processed into orbital files; Level 1B and lC, geolocated data at the instrument field of view; Level 2, geolocated, geophysical parameters at the instrument field of view; Level 3, time aggregated, gridded geophysical parameters. These products are available with 24 hours of production through an anonymous ftp account on trmmopen.gsfc.nasa.gov. The TRMM data system started to produce near real-time products at the end of 1999. They are currently available only through a controlled user account. However, approval to get access to this account can be obtained by sending a note to Erich.F.Stoclter@nasa.gov providing the reason for access and contact information including a valid email. TRMM is not restricting access but needs the information to determine the usefulness of near-real time data to the general science community including applications agencies. TRMM near real-time products are swath products up to Level 2 of processing. The oldest data in the swath is generally no older than 120 minutes when it becomes available to the community. The real-time products including a VIRS level lB, a TMI parameter reduced 1B, a TMI level 2 parameter reduced rain product, a PR level 2 surface rain product, and a PR level 2 rain product with 25 vertical levels. Currently, TRMM also produces a gridded 3 hour global merged product from several radiometers including AMSU and from radiometercalibrated IR data. The paper also describes several simple-format gridded text products available fiom the trmmopen.gsfc.nasa.gov anonymous fip server denoted as 3668 products. These products were produced to provide rain estimates from the three TRMM instruments in a universal format (ASCII) that requires very little data format knowledge. The paper goes on to describe prototype L1 radiometer products that apply an early intercalibration approach that provides a starting point to be used for Global Precipitation Measurement mission radiometer products. The paper also provides a brief overview of a precipitation features data product being produced using TRMM products including the Lighting Imaging Sensor (LIS) using an algorithm developed at the University of Utah and distributed by that organization. The paper concludes with some possible changes to products that are planned for the next reprocessing cycle and special services such as geographical subsetting available to the science community.

Stocker, Erich Franz↗

NASA NTRS1990

Markov Chains For Testing Redundant Software

Preliminary design developed for validation experiment that addresses problems unique to assuring extremely high quality of multiple-version programs in process-control software. Approach takes into account inertia of controlled system in sense it takes more than one failure of control program to cause controlled system to fail. Verification procedure consists of two steps: experimentation (numerical simulation) and computation, with Markov model for each step.

White, Allan L.↗

NASA NTRSDate not supplied

A Comparison of Model Predictive Control Architectures for Application to Electrified Aircraft Propulsion Systems

As electrified aircraft propulsion (EAP) systems continue to mature, more sophisticated hardware and software are being developed to balance operations among electric machines and gas-turbine engines. In hybrid-electric propulsion systems, the increased complexity resulting from integrating turbine-engine shafts with electric machines necessitates control methodologies to account for various physical domains. Ideal controllers for hybrid-electric engines manage systems, subsystems, and their interactions in a coordinated fashion, able to account for safety and performance goals while being computationally efficient. In a previous work, linear model predictive control (MPC) schemes were implemented in centralized and distributed frameworks on a nonlinear turbofan engine model as a proof of concept. However, these schemes were not evaluated for computational complexity, prompting further study. The research presented here develops hierarchical MPC schemes to reduce the computational burden of the previous MPC schemes. A two-tier framework is implemented, where a slower sampling MPC controls electric machines and determines fan-speed tracking goals for a faster sampling controller, which is either a MPC or a proportional-integral (PI) controller. The proposed designs are compared to the centralized MPC investigated previously, and performance is measured via fan speed tracking error, energy storage state-of-charge, and computation time. Results reveal that the hierarchical MPC scheme employing a lower-level PI controller improves computation time while maintaining comparable tracking and state-of-charge regulation to the centralized scheme.

model predictive control↗

NASA NTRSDate not supplied

A Comparison of Model Predictive Control Architectures for Application to Electrified Aircraft Propulsion Systems

model predictive control↗

NASA NTRS1983

Stochastic analysis of the control of the movement of the spacecraft in the vicinity of the colinear libration point by means of the forces of luminous pressure

This paper is dedicated to the possible investigation of the utilization of the solar radiation pressure for the spacecraft motion control in the vicinity of collinear libration point of planar restricted ring problem of three bodies. The control is realized by changing the solar sail area at its permanent orientation. In this problem the influence of the trajectory errors and the errors of the execution control is accounted. It is worked out, the estimation method of the solar sail sizes, which are necessary for spacecraft keeping in the vicinity of collinear libration point during the certain time with given probability. The main control parameters were calculated for some examples in case of libration points of the Sun-Earth and Earth-Moon systems.

Lukyanov, S. S.↗

NASA NTRS1996

Optimal and robust control of transition

Optimal and robust control theories are used to determine feedback control rules that effectively stabilize a linearly unstable flow in a plane channel. Wall transpiration (unsteady blowing/suction) with zero net mass flux is used as the control. Control algorithms are considered that depend both on full flowfield information and on estimates of that flowfield based on wall skin-friction measurements only. The development of these control algorithms accounts for modeling errors and measurement noise in a rigorous fashion; these disturbances are considered in both a structured (Gaussian) and unstructured ('worst case') sense. The performance of these algorithms is analyzed in terms of the eigenmodes of the resulting controlled systems, and the sensitivity of individual eigenmodes to both control and observation is quantified.

Bewley, T. R.↗

NASA NTRS1983

Spacelab Data Processing Facility

The Spacelab Data Processing Facility (SDPF) processes, monitors, and accounts for the payload data from Spacelab and other Shuttle missions and forwards relevant data to various user facilities worldwide. The SLDPF is divided into the Spacelab Input Processing System (SIPS) and the Spacelab Output Processing System (SOPS). The SIPS division demultiplexes, synchronizes, time tags, quality checks, accounts for the data, and formats the data onto tapes. The SOPS division further edits, blocks, formats, and records the data on tape for shipment to users. User experiments must conform to the Spacelab's onboard High Rate Multiplexer (HRM) format for maximum process ability. Audio, analog, instrumentation, high density, experiment data, input/output data, quality control and accounting, and experimental channel tapes along with a variety of spacelab ancillary tapes are provided to the user by SLDPF.

Source record↗

NASA NTRS2020

Modeling and Control of Robot-Structure Coupling During In-Space Structure Assembly

This paper considers the problem of robot-structure coupling dynamics during in-space robotic assembly of large flexible structures. A two-legged walking robot is used as a construction agent, whose primary goal is to stably walking on the flexible structure while carrying a substructure component to a designated location. The reaction forces inserted by the structure to the walking robot are treated as bounded disturbance inputs, and a trajectory tracking robotic controller is proposed that combines the standard full state feedback motion controller and an adaptive controller to account for the disturbance inputs. In this study, a reduced-order Euler-Bernoulli beam structure model is adapted, and a finite number of co-located sensors and actuators are distributed along the span of the beam structure. The robot-structure coupling forces are treated as a bounded external forcing function to the structure, and hence an output covariance constraint problem can be formulated, in terms of linear matrix inequality, for optimal structure control by utilizing the direct output feedback controllers. The numerical simulations show the effectiveness of the proposed robot-structure modeling and control methodology.

Swei, Sean↗

NASA NTRS2011

Shuttle Propulsion System Major Events and the Final 22 Flights

Numerous lessons have been documented from the Space Shuttle Propulsion elements. Major events include loss of the Solid Rocket Boosters (SRB's) on STS-4 and shutdown of a Space Shuttle Main Engine (SSME) during ascent on STS-51F. On STS-112 only half the pyrotechnics fired during release of the vehicle from the launch pad, a testament for redundancy. STS-91 exhibited freezing of a main combustion chamber pressure measurement and on STS-93 nozzle tube ruptures necessitated a low liquid level oxygen cut off of the main engines. A number of on pad aborts were experienced during the early program resulting in delays. And the two accidents, STS-51L and STS-107, had unique heritage in history from early program decisions and vehicle configuration. Following STS-51L significant resources were invested in developing fundamental physical understanding of solid rocket motor environments and material system behavior. And following STS-107, the risk of ascent debris was better characterized and controlled. Situational awareness during all mission phases improved, and the management team instituted effective risk assessment practices. The last 22 flights of the Space Shuttle, following the Columbia accident, were characterized by remarkable improvement in safety and reliability. Numerous problems were solved in addition to reduction of the ascent debris hazard. The Shuttle system, though not as operable as envisioned in the 1970's, successfully assembled the International Space Station (ISS). By the end of the program, the remarkable Space Shuttle Propulsion system achieved very high performance, was largely reusable, exhibited high reliability, and was a heavy lift earth to orbit propulsion system. During the program a number of project management and engineering processes were implemented and improved. Technical performance, schedule accountability, cost control, and risk management were effectively managed and implemented. Award fee contracting was implemented to provide performance incentives. The Certification of Flight Readiness and Mission Management processes became very effective. A key to the success of the propulsion element projects was related to relationships between the MSFC project office and support organizations with their counterpart contractor organizations. The teams worked diligently to understand and satisfy requirements and achieve mission success.

Owen, James W.↗

NASA NTRS2016

Feasibility of Varying Geo-Fence Around an Unmanned Aircraft Operation Based on Vehicle Performance and Wind

Managing trajectory separation is critical to ensuring accessibility, efficiency, and safety in the unmanned airspace. The notion of geo-fences is an emerging concept, where distance buffers enclose individual trajectories and areas of operation in order to manage the airspace. Currently, the Air Traffic Management system for commercial travel defines static distance buffers around the aircraft; however, commercial UASs are envisioned to operate in significantly closer proximity to other UAS requiring a geo-fence for spacing operations. The geo-fence size can be determined based on vehicle performance characteristics, state of the airspace, weather, and other unforeseen events such as emergency or disaster response. Calculation of the geo-fence size could be determined as part of pre-flight planning and during real-time operations. A largely non-homogeneous fleet of UASs will be operating in low altitude and will likely be commercially developed. Due to intellectual property concerns, the operators may not provide detailed specifications of the control system to UTM. In addition, the huge variety of UAS makes modeling each control system prohibitive and flight data for these vehicles may not exist. Therefore, a generalized, simple geo-fence sizing algorithm must be developed such that it does not rely on detailed knowledge of the vehicle control system, accounts for the presence of urban winds, and is sufficiently accurate. In this work, two simple models are investigated to determine its feasibility as an adequate means for calculating the geo-fence size. The vehicle data used in this work are provided by UAS manufactures who have partnered with NASA's UTM project and some publicly available websites. The first model utilizes wind data processed from the NOAA HRRR (Hourly Rapid Refresh) product and Sonar Annemometer data provided by San Jose State. The second model utilizes OpenFOAM which is a CFD code used to generate a wind field for flow around a single building. The key vehicle performance parameters can include UAS response time to disturbances, command to actuation latency, control system rate limits, time to recovery to desired path, and aerodynamics. It was found that the first model provides an initial understanding of geo-fence sizing, but does not provide enough accuracy to provide UTM with an efficient means of scheduling vehicles. The results of the second model reveal that modeling UAS controls systems with a linearized plant and gain scheduled PID controller does not allow capture the UAS flight dynamics within a significant envelope of the wind disturbances.

uncertainty↗