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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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At least 55 records · Page 3
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Multirate digital control system design

Methods for multirate digital control system design are discussed. A simple method for sampling rate selection based on control bandwidths is proposed. Methods for generating a discrete-time state model of a sampled-data plant and a discrete-time equivalent to an analog cost function for a sampled-data plant are described. The succesive loop closures and linear quadratic Gaussian synthesis methods are reviewed, and a constrained optimization synthesis method is introduced. The proposed sampling rate selection, discretization, and synthesis methods are applied to two example design problems. Multirate and single-rate compensators synthesized by the different methods are compared, based on closed-loop responses, with compensators having the same real-time computation load.

Berg, Martin C.↗
NASA NTRS2011

Constraint Embedding Technique for Multibody System Dynamics

Multibody dynamics play a critical role in simulation testbeds for space missions. There has been a considerable interest in the development of efficient computational algorithms for solving the dynamics of multibody systems. Mass matrix factorization and inversion techniques and the O(N) class of forward dynamics algorithms developed using a spatial operator algebra stand out as important breakthrough on this front. Techniques such as these provide the efficient algorithms and methods for the application and implementation of such multibody dynamics models. However, these methods are limited only to tree-topology multibody systems. Closed-chain topology systems require different techniques that are not as efficient or as broad as those for tree-topology systems. The closed-chain forward dynamics approach consists of treating the closed-chain topology as a tree-topology system subject to additional closure constraints. The resulting forward dynamics solution consists of: (a) ignoring the closure constraints and using the O(N) algorithm to solve for the free unconstrained accelerations for the system; (b) using the tree-topology solution to compute a correction force to enforce the closure constraints; and (c) correcting the unconstrained accelerations with correction accelerations resulting from the correction forces. This constraint-embedding technique shows how to use direct embedding to eliminate local closure-loops in the system and effectively convert the system back to a tree-topology system. At this point, standard tree-topology techniques can be brought to bear on the problem. The approach uses a spatial operator algebra approach to formulating the equations of motion. The operators are block-partitioned around the local body subgroups to convert them into aggregate bodies. Mass matrix operator factorization and inversion techniques are applied to the reformulated tree-topology system. Thus in essence, the new technique allows conversion of a system with closure-constraints into an equivalent tree-topology system, and thus allows one to take advantage of the host of techniques available to the latter class of systems. This technology is highly suitable for the class of multibody systems where the closure-constraints are local, i.e., where they are confined to small groupings of bodies within the system. Important examples of such local closure-constraints are constraints associated with four-bar linkages, geared motors, differential suspensions, etc. One can eliminate these closure-constraints and convert the system into a tree-topology system by embedding the constraints directly into the system dynamics and effectively replacing the body groupings with virtual aggregate bodies. Once eliminated, one can apply the well-known results and algorithms for tree-topology systems to solve the dynamics of such closed-chain system.

Woo, Simon S.↗
NASA NTRS1966

Closing the ecology.

Completely regenerative spacecraft life support systems, discussing loop closure techniques and possible conversion methods for metabolic wastes

LIFE SUPPORT SYSTEM↗
NASA NTRS1972

A comparison of open and closed loop applications of the minimum distance guidance technique

A comparison is made of open and closed loop applications of a second order guidance algorithm, using the minimum distance strategy. A nonlinear reoptimization procedure is used as the ideal guidance history. The system model used for the comparison is a low-thrust vehicle performing a minimum time, three-dimensional, heliocentric Earth-Mars transfer. For the example problem considered, closed loop guidance proves to be much more accurate on satisfaction of the final state than the open loop procedure. On the other hand, closed loop guidance proves to be much more vulnerable to perturbation by highly nonlinear regions in the trajectory. Finally, the results indicate that for this problem the best loop closure interval is at each integration step, about one day, or more often, if possible.

Lattimore, J. P., Jr.↗
NASA NTRS1973

Handling properties of diverse automobiles and correlation with full scale response data

Driver/vehicle response and performance of a variety of vehicles in the presence of aerodynamic disturbances are discussed. Steering control is emphasized. The vehicles include full size station wagon, sedan, compact sedan, van, pickup truck/camper, and wagon towing trailer. Driver/vehicle analyses are used to estimate response and performance. These estimates are correlated with full scale data with test drivers and the results are used to refine the driver/vehicle models, control structure, and loop closure criteria. The analyses and data indicate that the driver adjusts his steering control properties (when he can) to achieve roughly the same level of performance despite vehicle variations. For the more disturbance susceptible vehicles, such as the van, the driver tightens up his control. Other vehicles have handling dynamics which cause him to loosen his control response, even though performance degrades.

Hoh, R. H.↗
NASA NTRS1973

A linear stochastic model of the human operator

A linear stochastic model of the human operator is developed and applied to the problem of piloted control of an aircraft. The pilot and aircraft are modeled as linear time-invariant systems containing both process and measurement noise. The loop closure by the pilot is determined by formulating the problem as an optimal stochastic control problem. The solution to the optimal control problem yields not only the pilot's optimal control output which he uses to control the vehicle, but also the optimal combination of his observations of the vehicle states upon which the pilot bases his control. A method is presented so that, using experimental pilot vehicle data, the cost functional which is minimized in the optimal control problem will be numerically equal to the pilot rating that the pilot would associate with the given vehicle and task.

Durrett, J. C.↗
NASA NTRS1977

A dual-loop model of the human controller in single-axis tracking tasks

A dual loop model of the human controller in single axis compensatory tracking tasks is introduced. This model possesses an inner-loop closure which involves feeding back that portion of the controlled element output rate which is due to control activity. The sensory inputs to the human controller are assumed to be system error and control force. The former is assumed to be sensed via visual, aural, or tactile displays while the latter is assumed to be sensed in kinesthetic fashion. A nonlinear form of the model is briefly discussed. This model is then linearized and parameterized. A set of general adaptive characteristics for the parameterized model is hypothesized. These characteristics describe the manner in which the parameters in the linearized model will vary with such things as display quality. It is demonstrated that the parameterized model can produce controller describing functions which closely approximate those measured in laboratory tracking tasks for a wide variety of controlled elements.

Hess, R. A.↗
NASA NTRS1977

A dual-loop model of the human controller

A representative model of the human controller in single-axis compensatory tracking tasks that exhibits an internal feedback loop which is not evident in single-loop models now in common use is presented. This hypothetical inner-loop involves a neuromuscular command signal derived from the time rate of change of controlled element output which is due to control activity. It is not contended that the single-loop human controller models now in use are incorrect, but that they contain an implicit but important internal loop closure, which, if explicitly considered, can account for a good deal of the adaptive nature of the human controller in a systematic manner.

Hess, R. A.↗
NASA NTRS1981

Comparison of closed loop model with flight test results

An analytic technique capable of predicting the landing characteristics of proposed aircraft configurations in the early stages of design was developed. In this analysis, a linear pilot-aircraft closed loop model was evaluated using experimental data generated with the NT-33 variable stability in-flight simulator. The pilot dynamics are modeled as inner and outer servo loop closures around aircraft pitch attitude, and altitude rate-of-change respectively. The landing flare maneuver is of particular interest as recent experience with military and other highly augmented vehicles shows this task to be relatively demanding, and potentially a critical design point. A unique feature of the pilot model is the incorporation of an internal model of the pilot's desired flight path for the flare maneuver.

George, F. L.↗
NASA NTRS1982

The effects of atmospheric turbulence on a quadrotor heavy lift airship

The response of a quadrotor heavy lift airship to atmospheric turbulence is evaluated using a four-point input model. Results show interaction between gust inputs and the characteristic modes of the vehicle's response. Example loop closures demonstrate tradeoffs between response regulation and structural loads. Vehicle responses to a tuned discrete wave front compare favorably with the linear results and illustrate characteristic HLA motion.

Tischler, M. B.↗
NASA NTRS1985

Space shuttle revitalization system

The Space Shuttle air revitalization system is discussed. The sequential steps in loop closure are examined and a schematic outline of the regenerative air revitalization system is presented. Carbon dioxide reduction subsystem concepts are compared. Schemes are drawn for: static feedwater electrolysis cell, solid polymer electrolyte water electrolysis cell, air revitalization system, nitrogen generation reactions, nitrogen subsystem staging, vapor compression distillation subsystem, thermoelectric integrated membrane evaporation subsystem, catalytic distillation water reclamation subsystem, and space shuttle solid waste management system.

Quattrone, P. D.↗
NASA NTRS1986

Effect of time delay on flying qualities: An update

Flying qualities problems of modern, full-authority electronic flight control systems are most often related to the introduction of additional time delay in aircraft response to a pilot input. These delays can have a significant effect on the flying qualities of the aircraft. Time delay effects are reexamined in light of recent flight test experience with aircraft incorporating new technology. Data from the X-29A forward-swept-wing demonstrator, a related preliminary in-flight experiment, and other flight observations are presented. These data suggest that the present MIL-F-8785C allowable-control system time delay specifications are inadequate or, at least, incomplete. Allowable time delay appears to be a function of the shape of the aircraft response following the initial delay. The cockpit feel system is discussed as a dynamic element in the flight control system. Data presented indicate that the time delay associated with a significant low-frequency feel system does not result in the predicted degradation in aircraft flying qualities. The impact of the feel system is discussed from two viewpoints: as a filter in the control system which can alter the initial response shape and, therefore, the allowable time delay, and as a unique dynamic element whose delay contribution can potentially be discounted by special pilot loop closures.

Smith, R. E.↗
NASA NTRS1986

Effect of time delay on flying qualities - An update

Flying qualities problems of modern, full-authority electronic flight control systems are most often related to the introduction of additional time delay in aircraft response to a pilot input. These delays can have a significant effect on the flying qualities of the aircraft. This paper reexamines time delay effects in light of recent flight test experience with aircraft incorporating new technology. Data from the X-29A forward-swept-wing demonstrator, a related preliminary in-flight experiment, and other flight observations are presented. These data suggest that the present MIL-F-8785C allowable-control system time delay specifications are inadequate or, at least, incomplete. Allowable time delay appears to be a function of the shape of the aircraft response following the initial delay. The cockpit feel system is discussed as a dynamic element in the flight control system. Data presented indicate that the time delay associated with a significant low-frequency feel system does not result in the predicted degradation in aircraft flying qualities. The impact of the feel system is discussed from two viewpoints: as a filter in the control system which can alter the initial response shape and, therefore, the allowable time delay, and as a unique dynamic element whose delay contribution can potentially be discounted by special pilot loop closures.

Smith, R. E.↗
NASA NTRS1987

Flexible spacecraft simulator

Verification of control algorithms for flexible spacecraft can be done only through simulation and test; these are necessary to understand control/structure interaction (C/SI) sufficiently to design robust controllers for future spacecraft. The objective persued is to develop a low-cost facility which simulates the fundamental problem of C/SI; and to provide accessibility for designs so that experience can be gained in applying various multivariable control design methods to an actual structure. A test facility is being constructed with test elements that provide 3 rigid body and 6 flexible modes, all in the horizontal plane, with frequencies below 2.5 Hz. The control force actuator are on/off air jets with sensing by optical displacement sensors. Loop closure is provided by a digital computer with control algorithms designed using the IAC and MATRIX-X.

Source record↗
NASA NTRS1987

Control of aircraft landing approach in wind shear

Wind and wind shear components are estimated and used for controlling an externally-blown flap STOL aircraft and a B-727 during landing approach under the JAWS microburst profile. A combination of feedforward and feedback concepts is used. The objective is tracking of airspeed and glide slope. Both an asymptotic disturbance rejection scheme, which is equivalent to MIMO zero assignment, and a linear quadratic scheme prove to be successful. Higher angle-of-attack is used only after thrust saturation. Downdraft is found to be more difficult to counter for STOL aircraft than is horizontal wind shear. A third design formulation based on successive loop closure is also presented. A 'Wind Shear Penetration Index' is described, which offers a simple and quantitative evaluation of an aircraft's ability to safely penetrate a wind shear. This index is particularly useful if used with Doppler radars.

Chu, Peter Yaohwa↗
NASA NTRS1991

Method for optimal configuration of an ECLSS on the Space Station Freedom

The establishment of a permanently manned Space Station represents a substantial challenge in the design of a life support system, specifically in the need to supply a large crew for missions of extended duration. The Space Station will evolve by time phased modular increments delivered and supplied by the Space Shuttle and other advanced launch systems. With the addition of each subsequent phase or alteration of mission duties, the requirements of the Station may differ from previous phases of development. With the addition of future crews and pressurized volume throughout the lifetime of the Space Station, change-out of individual subsystems may be necessary in order to meet the performance, safety, and reliability levels required from the Environmental Control and Life Support System (ECLSS). The analysis of this system growth demands the capability for advanced, integrated assessment techniques so that the unique mission drivers during each phase and mission scenario may be identified and evaluated. In order to determine the impacts of the interdependency between the ECLSS, the crew, the various user experiments, and the other distributed systems, consideration must be given to all Space Station resources and requirements during the initial and subsequent evolution phase. Therefore, it is necessary for analysis efforts to study the long term effects of established designs. These studies must quantify the optimal degree of loop closure within the capabilities of existing and future technologies including any resulting maintenance and logistics requirements. In addition, the necessity for subsystem retrofit during the lifetime of the Station must be examined. The source of system requirements due to long term exposure to the microgravity environment is illustrated, the criticality of the ECLSS functions is reviewed, and a method is described to develop an optimal design during each configuration based on the cross-consumption of Station resources. A comparison utilizing this procedure is discussed.

Gould, Marston J.↗
NASA NTRS1991

Monitoring and control of atmosphere in a closed environment

Applications requiring new technologies for atmosphere monitoring and control in the closed environment and their principal functions aboard the Space Station Freedom are described. Oxygen loop closure, involving the conversion of carbon dioxide to oxygen; carbon dioxide reduction and removal; and monitoring of atmospheric contamination are discussed. The Trace Contaminant Monitor, the Major Constituent Analyzer, the Carbon Dioxide Monitor, and the Particulate Counter Monitor are discussed.

Humphries, R.↗
NASA NTRS1993

Design and control of a hand exoskeleton for use in extravehicular activities

To counter problems inherent in extravehicular activities (EVA) and complex space operations, an exoskeleton, a unique adaptive structure, has been designed. The exoskeleton fits on the hand and powers the proximal and middle phalanges of the index finger, the middle finger, and the combined ring and little finger. A kinematic analysis of the exoskeleton joints was performed using the loop-closure method. This analysis determined the angular displacement and velocity relationships of the exoskeleton joints. This information was used to determine the output power of the exoskeleton. Three small DC motors (one for each finger) are used to power the exoskeleton. The motors are mounted on the forearm. Power is transferred to the exoskeleton using lead screws. The control system for the exoskeleton measures the contact force between the operator and the exoskeleton. This information is used as the input to drive the actuation system. The control system allows the motor to rotate in both directions so that the operator may close or open the exoskeleton.

Shields, B.↗