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NASA NTRS2009

Rover Attitude and Pointing System Simulation Testbed

The MER (Mars Exploration Rover) Attitude and Pointing System Simulation Testbed Environment (RAPSSTER) provides a simulation platform used for the development and test of GNC (guidance, navigation, and control) flight algorithm designs for the Mars rovers, which was specifically tailored to the MERs, but has since been used in the development of rover algorithms for the Mars Science Laboratory (MSL) as well. The software provides an integrated simulation and software testbed environment for the development of Mars rover attitude and pointing flight software. It provides an environment that is able to run the MER GNC flight software directly (as opposed to running an algorithmic model of the MER GNC flight code). This improves simulation fidelity and confidence in the results. Further more, the simulation environment allows the user to single step through its execution, pausing, and restarting at will. The system also provides for the introduction of simulated faults specific to Mars rover environments that cannot be replicated in other testbed platforms, to stress test the GNC flight algorithms under examination. The software provides facilities to do these stress tests in ways that cannot be done in the real-time flight system testbeds, such as time-jumping (both forwards and backwards), and introduction of simulated actuator faults that would be difficult, expensive, and/or destructive to implement in the real-time testbeds. Actual flight-quality codes can be incorporated back into the development-test suite of GNC developers, closing the loop between the GNC developers and the flight software developers. The software provides fully automated scripting, allowing multiple tests to be run with varying parameters, without human supervision.

Vanelli, Charles A.↗

NASA NTRS2011

Rapid Automated Aircraft Simulation Model Updating from Flight Data

Techniques to identify aircraft aerodynamic characteristics from flight measurements and compute corrections to an existing simulation model of a research aircraft were investigated. The purpose of the research was to develop a process enabling rapid automated updating of aircraft simulation models using flight data and apply this capability to all flight regimes, including flight envelope extremes. The process presented has the potential to improve the efficiency of envelope expansion flight testing, revision of control system properties, and the development of high-fidelity simulators for pilot training.

Brian, Geoff↗

NASA NTRS2011

Gain Scheduling for the Orion Launch Abort Vehicle Controller

One of NASAs challenges for the Orion vehicle is the control system design for the Launch Abort Vehicle (LAV), which is required to abort safely at any time during the atmospheric ascent portion of ight. The focus of this paper is the gain design and scheduling process for a controller that covers the wide range of vehicle configurations and flight conditions experienced during the full envelope of potential abort trajectories from the pad to exo-atmospheric flight. Several factors are taken into account in the automation process for tuning the gains including the abort effectors, the environmental changes and the autopilot modes. Gain scheduling is accomplished using a linear quadratic regulator (LQR) approach for the decoupled, simplified linear model throughout the operational envelope in time, altitude and Mach number. The derived gains are then implemented into the full linear model for controller requirement validation. Finally, the gains are tested and evaluated in a non-linear simulation using the vehicles ight software to ensure performance requirements are met. An overview of the LAV controller design and a description of the linear plant models are presented. Examples of the most significant challenges with the automation of the gain tuning process are then discussed. In conclusion, the paper will consider the lessons learned through out the process, especially in regards to automation, and examine the usefulness of the gain scheduling tool and process developed as applicable to non-Orion vehicles.

McNamara, Sara J.↗

NASA NTRS1996

Design and Integration of an Actuated Nose Strake Control System

Aircraft flight characteristics at high angles of attack can be improved by controlling vortices shed from the nose. These characteristics have been investigated with the integration of the actuated nose strakes for enhanced rolling (ANSER) control system into the NASA F-18 High Alpha Research Vehicle. Several hardware and software systems were developed to enable performance of the research goals. A strake interface box was developed to perform actuator control and failure detection outside the flight control computer. A three-mode ANSER control law was developed and installed in the Research Flight Control System. The thrust-vectoring mode does not command the strakes. The strakes and thrust-vectoring mode uses a combination of thrust vectoring and strakes for lateral- directional control, and strake mode uses strakes only for lateral-directional control. The system was integrated and tested in the Dryden Flight Research Center (DFRC) simulation for testing before installation in the aircraft. Performance of the ANSER system was monitored in real time during the 89-flight ANSER flight test program in the DFRC Mission Control Center. One discrepancy resulted in a set of research data not being obtained. The experiment was otherwise considered a success with the majority of the research objectives being met.

Flick, Bradley C.↗

NASA NTRS2022

Testing Mars 2020 Flight Software and Hardware in the Surface System Development Environment

The Mars 2020 (M2020) Perseverance Rover is NASA's most advanced planetary rover mission to date. It includes a novel Sample Caching Subsystem (SCS) which will collect rock cores for possible future return to Earth, as well as an improved mobility system with enhanced autonomous navigation which will enable it to traverse faster and farther than prior rovers. The development of both systems required extensive flight software and flight hardware testing. To support this testing, we developed the Surface System Development Environment (SSDEV) and used it for a wide variety of testing. SSDEV is a bundled subset of M2020 Flight Software which runs on commercially available Linux computers and can be combined with multiple backend options for simulation and hardware control. The SSDEV architecture enabled our teams to perform much more testing of flight software and flight hardware than would have otherwise been possible. As a secondary benefit, the SSDEV-based test campaigns also helped our teams enter the operations phase of the mission with greater readiness of operations products and tools. In this paper, we summarize the motivation for SSDEV, provide an overview of the SSDEV architecture, list several examples of how SSDEV was used, and summarize lessons learned. SSDEV is not a substitute for integrated testing with flight-like avionics, but it enabled substantially more testing than would have otherwise been possible and also provided some unique benefits. We recommend architectures like SSDEV to future projects that need to perform extensive hardware and software testing using a limited set of flight-like avionics.

Wai, Dennis↗

NASA NTRS1962

VISUAL CONTROL OF RENDEZVOUS

Space rendezvous involving human occupants will be required in many phases of space flight. In order that rendezvous capability be concurrent with other phases of manned space flight to insure that such tasks as the rotation and addition of crews for manned space station, supply of stations and launching complexes for deep-space probes, and the emergency rescue of personnel may be carried out, it is desirable to determine the ability of a human pilot to control the rendezvous maneuver. The National Aeronautics and Space Administration has conducted a study program to determine vehicle requirements and control techniques for a number of proposed methods for performing piloted space rendezvous. The final step in each phase of the rendezvous study program has been a simulation of the man-machine combination to test its feasibility. Initially, an analytical study was conducted to determine a range of conditions that would exist at the beginning of the terminal phase of rendezvous (ref. 1). Piloted systems were investigated for rendezvous control using these initial conditions. One such study of piloted rendezvous in which all the required control information was displayed to the simulator pilot on instruments is presented in reference 2. While the control of the rendezvous maneuver by use of the instrument display was shown to be feasible, the sufficiently accurate measurement of the necessary information to operate the instrument was realized to be a difficult problem. Consideration was therefore given to the possibility of maneuvering range and range rate required for the control of the rendezvous from visual sightings made during the initial control application. To provide this capability, an analytical study was made. This analytical study, presented in reference 3, derived three techniques for obtaining range and range rate visually and conducted a simplified preliminary situation to test the three analytical techniques. The study reported herein is a continuation of the simulation work begun in reference 3, and is aimed at determining the ability of a pilot to use visual information to reduce or eliminate the need for some or all of the data that would normally be displayed on instruments.

Rendezvous↗

NASA NTRS1987

Simulated airline service experience with laminar-flow control leading-edge systems

The first JetStar leading edge flight test was made November 30, 1983. The JetStar was flown for more than 3 years. The titanium leading edge test articles today remain in virtually the same condition as they were in on that first flight. No degradation of laminar flow performance has occurred as a result of service. The JetStar simulated airline service flights have demonstrated that effective, practical leading edge systems are available for future commercial transports. Specific conclusions based on the results of the simulated airline service test program are summarized.

Maddalon, Dal V.↗

NASA NTRS1974

The effects of bed rest on crew performance during simulated shuttle reentry. Volume 1: Study overview and physiological results

A centrifuge study was carried out to measure physiological stress and control task performance during simulated space shuttle orbiter reentry. Jet pilots were tested with, and without, anti-g-suit protection. The pilots were exposed to simulated space shuttle reentry acceleration profiles before, and after, ten days of complete bed rest, which produced physiological deconditioning similar to that resulting from prolonged exposure to orbital zero g. Pilot performance in selected control tasks was determined during simulated reentry, and before and after each simulation. Physiological stress during reentry was determined by monitoring heart rate, blood pressure, and respiration rate. Study results indicate: (1) heart rate increased during the simulated reentry when no g protection was given, and remained at or below pre-bed rest values when g-suits were used; (2) pilots preferred the use of g-suits to muscular contraction for control of vision tunneling and grayout during reentry; (3) prolonged bed rest did not alter blood pressure or respiration rate during reentry, but the peak reentry acceleration level did; and (4) pilot performance was not affected by prolonged bed rest or simulated reentry.

Chambers, A.↗

NASA NTRS2006

Case Study: Test Results of a Tool and Method for In-Flight, Adaptive Control System Verification on a NASA F-15 Flight Research Aircraft

Adaptive control technologies that incorporate learning algorithms have been proposed to enable autonomous flight control and to maintain vehicle performance in the face of unknown, changing, or poorly defined operating environments [1-2]. At the present time, however, it is unknown how adaptive algorithms can be routinely verified, validated, and certified for use in safety-critical applications. Rigorous methods for adaptive software verification end validation must be developed to ensure that. the control software functions as required and is highly safe and reliable. A large gap appears to exist between the point at which control system designers feel the verification process is complete, and when FAA certification officials agree it is complete. Certification of adaptive flight control software verification is complicated by the use of learning algorithms (e.g., neural networks) and degrees of system non-determinism. Of course, analytical efforts must be made in the verification process to place guarantees on learning algorithm stability, rate of convergence, and convergence accuracy. However, to satisfy FAA certification requirements, it must be demonstrated that the adaptive flight control system is also able to fail and still allow the aircraft to be flown safely or to land, while at the same time providing a means of crew notification of the (impending) failure. It was for this purpose that the NASA Ames Confidence Tool was developed [3]. This paper presents the Confidence Tool as a means of providing in-flight software assurance monitoring of an adaptive flight control system. The paper will present the data obtained from flight testing the tool on a specially modified F-15 aircraft designed to simulate loss of flight control faces.

Jacklin, Stephen A.↗

NASA NTRS2018

Advanced Stirling Convertor Control Unit Testing at NASA Glenn Research Center in the Radioisotope Power Systems System Integration Laboratory

Future NASA missions could include long-duration flyby, orbital, lander, or rover applications where generating power from sunlight may be limited. Radioisotope power systems (RPSs) provide a dependable power source for missions where inadequate sunlight or operational requirements make other power systems impractical. Over the past 16 years, NASA Glenn Research Center has been supporting the development of RPSs. The advanced Stirling radioisotope generator (ASRG) utilized a pair of advanced Stirling convertors (ASCs). Although flight development of the ASRG has been canceled, much of the technology and hardware continued development and testing to guide future activities. Specifically, a controller for the convertor(s) is an integral part of a Stirling-based RPS. For the ASRG design, the controller maintains stable operation of the convertors, regulates the alternating current produced by the linear alternator of the convertor, provides a specified direct-current output voltage for the spacecraft, and synchronizes the piston motion of the two convertors to minimize vibration as well as manage and maintain operation with a stable piston amplitude and hot-end temperature. It not only provides power to the spacecraft but also must regulate convertor operation to avoid damage to internal components and maintain safe thermal conditions after fueling. Lockheed Martin Coherent Technologies, Inc., has designed, developed, and tested an ASC control unit engineering development unit (ACU EDU) to support this effort. GRC used the ACU EDU as part of its nonnuclear representation of a RPS that also consists of a Dual advanced Stirling convertor simulator (DASCS), and associated support equipment to perform a test in the Radioisotope Power Systems System Integration Laboratory (RSIL). The RSIL was designed and built with flexibility to evaluate hardware utilizing RPS technology. The RSIL provides insight into the electrical interactions between as many as three radioisotope power generators, associated control strategies, and typical electric system loads. The first phase of testing included a DASCS that was developed by Johns Hopkins University Applied Physics Laboratory and simulates the operation and electrical behavior of a pair of ASCs in real time via a combination of hardware and software. Testing included the following spacecraft electrical energy storage configurations: capacitor, battery, and supercapacitor. Testing of the DASCS and ACU in each energy storage configuration included simulation of a typical mission profile and transient voltage and current data during load turnon and turnoff. Testing for these devices also included the initiation of several system faults such as short circuits, electrical bus overvoltage, undervoltage, and a "dead bus" recovery to restore normal power operations. The goal of this testing was to verify operation of the ACU(s) when connected to a spacecraft electrical bus. The results of these tests are presented here.

General↗

NASA NTRS1975

Status of a digital integrated propulsion/flight control system for the YF-12 airplane

The NASA Flight Research Center is engaged in a program with the YF-12 airplane to study the control of interactions between the airplane and the propulsion system. The existing analog air data computer, autothrottle, autopilot, and inlet control system are to be converted to digital systems by using a general purpose airborne computer and interface unit. First, the existing control laws will be programmed in the digital computer and flight tested. Then new control laws are to be derived from a dynamic propulsion model and a total force and moment aerodynamic model to integrate the systems. These control laws are to be verified in a real time simulation and flight tested.

Reukauf, P. J.↗

NASA NTRS1987

TSS subsatellite attitude dynamics and control laws verification programs

A dynamic model of the Tethered Satellite System (TSS) and of the relevant simulation program, developed in order to provide the dynamic analysis support for the design verification of the subsatellite attitude control, is presented. Special care was spent in the satellite attitude dynamic analysis and the model was specifically conceived to this aim. The way in which the simulation results can be utilized for the verification and testing of the attitude control is also presented.

Venditti, Floriano↗

NASA NTRS2022

Multi-Agent Control Approach to the Stability of Linear Deployable Systems

Collisions and undesired dynamic responses may occur during the expansion phase of deployable elements on a spacecraft. This problem is more pronounced in large and complex deployable elements where characterization of transient dynamics using testing and simulation can be challenging. This paper introduces a multi-agent control theory approach to address the problem of collisions and transient behavior in deployable lattice systems. We introduce the graph theoretic and relative error vector-based state-space structures to represent the geometry of a lattice-based deploy system. We show that under the assumption of almost-strict dissipativity, the closed-loop feedback gains of the relative error dynamics are the spring and damper constants in the structure. Moreover, we introduce the control perspective of shaping transient dynamics using eigenstructure assignment and balanced coordinate transformation.

Pablos, Juan L. de↗

NASA NTRS1973

A real-time digital program for estimating aircraft stability and control parameters from flight test data by using the maximum likelihood method

A computer program (Langley program C1123) has been developed for estimating aircraft stability and control parameters from flight test data. These parameters are estimated by the maximum likelihood estimation procedure implemented on a real-time digital simulation system, which uses the Control Data 6600 computer. This system allows the investigator to interact with the program in order to obtain satisfactory results. Part of this system, the control and display capabilities, is described for this program. This report also describes the computer program by presenting the program variables, subroutines, flow charts, listings, and operational features. Program usage is demonstrated with a test case using pseudo or simulated flight data.

Grove, R. D.↗

NASA NTRS2012

Shock Generation and Control Using DBD Plasma Actuators

This report is the final report of a NASA Phase I SBIR contract, with some revisions to remove company proprietary data. The Shock Boundary Layer Interaction (SBLI) phenomena in a supersonic inlet involve mutual interaction of oblique shocks with boundary layers, forcing the boundary layer to separate from the inlet wall. To improve the inlet efficiency, it is desired to prevent or delay shock-induced boundary layer separation. In this effort, Innovative Technology Applications Company (ITAC), LLC and the University of Notre Dame (UND) jointly investigated the use of dielectric-barrier-discharge (DBD) plasma actuators for control of SBLI in a supersonic inlet. The research investigated the potential for DBD plasma actuators to suppress flow separation caused by a shock in a turbulent boundary layer. The research involved both numerical and experimental investigations of plasma flow control for a few different SBLI configurations: (a) a 12 wedge flow test case at Mach 1.5 (numerical and experimental), (b) an impinging shock test case at Mach 1.5 using an airfoil as a shock generator (numerical and experimental), and (c) a Mach 2.0 nozzle flow case in a simulated 15 X 15 cm wind tunnel with a shock generator (numerical). Numerical studies were performed for all three test cases to examine the feasibility of plasma flow control concepts. These results were used to guide the wind tunnel experiments conducted on the Mach 1.5 12 degree wedge flow (case a) and the Mach 1.5 impinging shock test case (case b) which were at similar flow conditions as the corresponding numerical studies to obtain experimental evidence of plasma control effects for SBLI control. The experiments also generated data that were used in validating the numerical studies for the baseline cases (without plasma actuators). The experiments were conducted in a Mach 1.5 test section in the University of Notre Dame Hessert Laboratory. The simulation results from cases a and b indicated that multiple spanwise actuators in series and at a voltage of 75 kVp-p could fully suppress the flow separation downstream of the shock. The simulation results from case c showed that the streamwise plasma actuators are highly effective in creating pairs of counter-rotating vortices, much like the mechanical vortex generators, and could also potentially have beneficial effects for SBLI control. However, to achieve these effects, the positioning and the quantity of the DBD actuators used must be optimized. The wind tunnel experiments mapped the baseline flow with good agreement to the numerical simulations. The experimental results were conducted with spanwise actuators for cases a and b, but were limited by the inability to generate a sufficiently high voltage due to arcing in the wind-tunnel test-section. The static pressure in the tunnel was lower than the static pressure in an inlet at flight conditions, promoting arching and degrading the actuator performance.

Patel, Mehul P.↗

NASA NTRS1998

Atmospheric Probe Model: Construction and Wind Tunnel Tests

The material contained in this document represents a summary of the results of a low speed wind tunnel test program to determine the performance of an atmospheric probe at low speed. The probe configuration tested consists of a 2/3 scale model constructed from a combination of hard maple wood and aluminum stock. The model design includes approximately 130 surface static pressure taps. Additional hardware incorporated in the baseline model provides a mechanism for simulating external and internal trailing edge split flaps for probe flow control. Test matrix parameters include probe side slip angle, external/internal split flap deflection angle, and trip strip applications. Test output database includes surface pressure distributions on both inner and outer annular wings and probe center line velocity distributions from forward probe to aft probe locations.

Vogel, Jerald M.↗

NASA NTRS1978

Sixty years of aeronautical research, 1917-1977

The history of Langley Research Center and its contributions to solving problems related to flight over the past six decades is recounted. Technical innovations described include those related to air craft construction materials, jet and rocket propulsion, flight testing and simulation, wind tunnel tests, noise reduction, supersonic flight, air traffic control, structural analysis, computational aerodynamics, and fuel efficiency.

Anderton, D. A.↗

NASA NTRS1982

Space Construction Experiment Definition Study (SCEDS), part 2. Volume 2: Study results

The Space Construction Experiment (SCE) was defined for integration into the Space Shuttle. This included development of flight assignment data, revision and update of preliminary mission timelines and test plans, analysis of flight safety issues, and definition of ground operations scenarios. New requirements for the flight experiment and changes for a large space antenna feed mask test article were incorporated. The program plan and cost estimates were updated. Revised SCE structural dynamics characteristics were provided for simulation and analysis of experimental tests to define and verify control limits and interactions effects between the SCE and the Orbiter digital automatic pilot.

Source record↗