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Results for “feedback linearization”

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 559 records · Page 31
All sourcesNASA NTRSDOE OSTI
NASA NTRS1986

Multi-variable control of the GE T700 engine using the LQG/LTR design methodology

The design of scalar and multi-variable feedback control systems for the GE T700 turboshaft engine coupled to a helicopter rotor system is examined. A series of linearized models are presented and analyzed. Robustness and performance specifications are posed in the frequency domain. The linear-quadratic-Gaussian with loop-transfer-recovery (LQG/LTR) methodology is used to obtain a sequence of three feedback designs. Even in the single-input/single-output case, comparison of the current control system with that derived from the LQG/LTR approach shows significant performance improvement. The multi-variable designs, evaluated using linear and nonlinear simulations, show even more potential for performance improvement.

Pfeil, W. H.↗
NASA NTRS1974

Multilevel control optimization using subsystem relative performance index sensitivity

A method is presented for the design of optimal feedback controllers for large multivariable systems with subsystem sensitivity constraints. The weighted sum of subsystem and/or operational mode relative performance index sensitivities is defined as the overall performance index. The method is developed for linear systems with quadratic performance criteria and either full or partial state feedback. An example concerning the design of a stability augmentation system for a VTOL aircraft in the transition mode demonstrates the effectiveness of the design method.

Leininger, G. G.↗
NASA NTRS2003

A statistical model of diurnal variation in human growth hormone

The diurnal pattern of growth hormone (GH) serum levels depends on the frequency and amplitude of GH secretory events, the kinetics of GH infusion into and clearance from the circulation, and the feedback of GH on its secretion. We present a two-dimensional linear differential equation model based on these physiological principles to describe GH diurnal patterns. The model characterizes the onset times of the secretory events, the secretory event amplitudes, as well as the infusion, clearance, and feedback half-lives of GH. We illustrate the model by using maximum likelihood methods to fit it to GH measurements collected in 12 normal, healthy women during 8 h of scheduled sleep and a 16-h circadian constant-routine protocol. We assess the importance of the model components by using parameter standard error estimates and Akaike's Information Criterion. During sleep, both the median infusion and clearance half-life estimates were 13.8 min, and the median number of secretory events was 2. During the constant routine, the median infusion half-life estimate was 12.6 min, the median clearance half-life estimate was 11.7 min, and the median number of secretory events was 5. The infusion and clearance half-life estimates and the number of secretory events are consistent with current published reports. Our model gave an excellent fit to each GH data series. Our analysis paradigm suggests an approach to decomposing GH diurnal patterns that can be used to characterize the physiological properties of this hormone under normal and pathological conditions.

Non-NASA Center↗
NASA NTRS1978

Analytical design of a high performance stability and control augmentation system for a hingeless rotor helicopter

A stability and control augmentation system (SCAS) was designed based on a set of comprehensive performance criteria. Linear optimal control theory was applied to determine appropriate feedback gains for the stability augmentation system (SAS). The helicopter was represented by six-degree-of-freedom rigid body equations of motion and constant factors were used as weightings for state and control variables. The ratio of these factors was employed as a parameter for SAS analysis and values of the feedback gains were selected on this basis to satisfy three of the performance criteria for full and partial state feedback systems. A least squares design method was then applied to determine control augmentation system (CAS) cross feed gains to satisfy the remaining seven performance criteria. The SCAS gains were then evaluated by nine degree-of-freedom equations which include flapping motion and conclusions drawn concerning the necessity of including the pitch/regressing and roll/regressing modes in SCAS analyses.

Miyajima, K.↗
NASA NTRS1978

Minimization of transmission cost in decentralized control systems

This paper considers the problem of stabilizing a linear time-invariant multivariable system by using local feedback controllers and some limited information exchange among local stations. The problem of achieving a given degree of stability with minimum transmission cost is solved.

Wang, S.-H.↗
NASA NTRS1979

Issues in the digital implementation of control compensators

Techniques developed for the finite-precision implementation of digital filters were used, adapted, and extended for digital feedback compensators, with particular emphasis on steady state, linear-quadratic-Gaussian compensators. Topics covered include: (1) the linear-quadratic-Gaussian problem; (2) compensator structures; (3) architectural issues: serialism, parallelism, and pipelining; (4) finite wordlength effects: quantization noise, quantizing the coefficients, and limit cycles; and (5) the optimization of structures.

Moroney, P.↗
NASA NTRS1980

Manipulation of large objects

Remote manipulator control experiments have been conducted to investigate the problems related to the 'controlled collision' aspect of manipulation. A six degrees of freedom pantograph arm with a six-dimensional force-torque balance sensor and microprocessor-driven real-time graphics display are employed in the experiments. Among other results, it is found that the use of computer force-torque feedback loop for 'stop at contact' provides a nearly linear relation between load transfer to jigs at 'stop at contact', rate of motion, and preset force-torque threshold values for stop under limited motion and load conditions.

Bejczy, A. K.↗
NASA NTRS1980

Design of a multivariable integrated control for a supersonic propulsion system

An inlet/engine/nozzle integrated control mode for the propulsion system of an advanced supersonic commercial aircraft was studied. Results show that integration of these control functions can result in both operational and performance benefits for the propulsion system. For example, this integrated control mode may make it possible to minimize the use of inlet bypass doors for shock position control. This may be of benefit to the aircraft as a result of minimizing: (1) bypass bleed drag effects; (2) perturbations to the aircraft resulting from the side thrust effect of the bypass bleeds; and (3) potential unstarts of the inlet. A conceptual integrated control mode was developed which makes use of many cross coupling paths between inlet and engine control variables and inlet and engine sensed variables. A multivariable control design technique based upon linear quadratic regulator theory was applied to designing the feedback gains for this control to allow a simulation evaluation of the benefits of the integrated control mode.

Beattie, E. C.↗
NASA NTRS1985

Parametric testing of a linearly driven Stirling cryogenic refrigerator

The parametric testing of a novel Stirling cycle cryogenic refrigerator which incorporates electromagnetic bearings, clearance seals and electronically controlled linear motion was studied. The last feature, which involves the use of two linear motors, position transducers and a highly accurate electronic feedback network, produces the system capability which forms the basis for the tests. The test results provide designers with an understanding of the basic operation of the Stirling cycle and give potential users some indication of the capabilities of this refrigerator under off design conditions.

Stolfi, F. R.↗
NASA NTRS1988

Control Augmented Structural Synthesis

A methodology for control augmented structural synthesis is proposed for a class of structures which can be modeled as an assemblage of frame and/or truss elements. It is assumed that both the plant (structure) and the active control system dynamics can be adequately represented with a linear model. The structural sizing variables, active control system feedback gains and nonstructural lumped masses are treated simultaneously as independent design variables. Design constraints are imposed on static and dynamic displacements, static stresses, actuator forces and natural frequencies to ensure acceptable system behavior. Multiple static and dynamic loading conditions are considered. Side constraints imposed on the design variables protect against the generation of unrealizable designs. While the proposed approach is fundamentally more general, here the methodology is developed and demonstrated for the case where: (1) the dynamic loading is harmonic and thus the steady state response is of primary interest; (2) direct output feedback is used for the control system model; and (3) the actuators and sensors are collocated.

Lust, Robert V.↗
NASA NTRS1987

Aerothermal modeling program. Phase 2, element A: Improved numerical methods for turbulent viscous recirculating flows

The objective of this effort is to develop improved numerical schemes for predicting combustor flow fields. Various candidate numerical schemes were evaluated, and promising schemes were selected for detailed assessment. The criteria for evaluation included accuracy, computational efficiency, stability, and ease of extension to multidimensions. The candidate schemes were assessed against a variety of simple one- and two-dimensional problems. These results led to the selection of the following schemes for further evaluation: flux spline schemes (linear and cubic) and controlled numerical diffusion with internal feedback (CONDIF). The incorporation of the flux spline scheme and direct solution strategy in a computer program for three-dimensional flows is in progress.

Karki, K. C.↗
NASA NTRS1988

A novel approach to the modelling and control of flexible robot arms

A general dynamic model of a two-link Euler-Bernoulli beam flexible robot arm is presented in the form of partial-differential-integral equations. Observations are made on important properties of the dynamic model. The resulting infinite-dimensional system is then input-output decoupled and partially linearized by a diffeomorphic state transformation and nonlinear state feedback. The local stability issue is addressed for a one-link flexible robot arm.

Ding, Xuru↗
NASA NTRS1989

An adaptive guidance law for single stage to low earth orbit

An adaptive guidance algorithm based on a cubic spline representation of the ascent profile and imposition of a dynamic pressure constraint is studied for a single stage to low earth orbit. The flight path is divided into initial and terminal phases. In the initial phase, fully adaptive, and in the terminal phase, semi-adaptive, guidance schemes are used. The cubic spline paqrameters are determined by gradient optimization for maximum payload to orbit. In the terminal phase, a linear quadratic regulator is used to derive the optimal feedback gains to keep the vehicle close to the nominal path. The computational aspects of the guidance algorithm are examined and criteria are developed to ensure stability and convergence.

Pamadi, Bandu N.↗
NASA NTRS1990

Learning-based position control of a closed-kinematic chain robot end-effector

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Nguyen, Charles C.↗
NASA NTRS1992

Force-reflection and shared compliant control in operating telemanipulators with time delay

The performance of an advanced telemanipulation system in the presence of a wide range of time delays between a master control station and a slave robot is quantified. The contemplated applications include multiple satellite links to LEO, geosynchronous operation, spacecraft local area networks, and general-purpose computer-based short-distance designs. The results of high-precision peg-in-hole tasks performed by six test operators indicate that task performance decreased linearly with introduced time delays for both kinesthetic force feedback (KFF) and shared compliant control (SCC). The rate of this decrease was substantially improved with SCC compared to KFF. Task performance at delays above 1 s was not possible using KFF. SCC enabled task performance for such delays, which are realistic values for ground-controlled remote manipulation of telerobots in space.

Kim, Won S.↗