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At least 73 records · Page 4

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NASA NTRS1979

Examination of the flap-lag stability of rigid articulated rotor blades

A critical examination of flap-lag stability of a centrally hinged, spring-restrained rigid blade in both hover and forward flight is presented. Several differences in the equations of motion for blade flap-lag stability in the existing literature are identified. A rigorous and systematic development of these equations for a rigid articulated blade in forward flight shows the existence of some linear aerodynamic coupling terms associated with blade steady-state flapping and lagging in the perturbation equations. The differences identified are shown to be associated with whether or not the lag hinge flaps with the blade. The implications of these differences on stability are examined, and it is shown that the pitch-lag coupling terms associated with a hinge arrangement in which the lag hinge flaps with the blade have a marked influence on flap-lag stability, depending on the system parameters.

Kaza, K. R. V.↗

NASA NTRS1980

Dual-spin spacecraft nutation control using articulated payloads

A technique is presented for achieving active control of nutation on a dual-spin spacecraft with an articulated payload through use of the payload's control system. Using the Orbiting Solar Observatory (OSO)-8 as an illustration, the closed-form solution to the nutation/control system dynamic interaction is presented. Control system design criteria are developed which establish the basic stability of the interaction. Design procedures are described to achieve the most effective nutation damping. Limitations on the amount of damping which can be achieved are characterized as functions of spacecraft and payload mass properties and servo-design parameters. The design techniques presented are verified through a series of on-orbit tests recently conducted on the OSO-8 spacecraft.

Slafer, L. I.↗

NASA NTRS1980

Attitude and articulation control solutions for Project Galileo

Design problems and the solutions adopted for them in the attitude and articulation control subsystem for the Galileo spacecraft are discussed as an illustration of the application of dual-spin control to an interplanetary spacecraft. Following a review of the baseline design of the Galileo system and mission, consideration is given to problems encountered in the areas of autonomous attitude determination, attitude control, spacecraft dynamics and software margins. Design issues raised by subsequent changes in spacecraft configuration are also indicated. It is pointed out that although difficulties associated with control system complexity in a dual-spin interplanetary spacecraft have been satisfactorily resolved for the Galileo mission, the future application of dual spin in interplanetary flight is in doubt.

Rasmussen, R. D.↗

NASA NTRS1981

Attitude and articulation control system testing for Project Galileo

A type of facility required to integrate and test a complex autonomous spacecraft subsystem is presented, using the attitude and articulation control subsystem (AACS) of Project Galileo as an example. The equipment created for testing the AACS at both the subsystem and spacecraft system levels is described, including a description of the support equipment (SE) architecture in its two main configurations, closed loop simulation techniques, the user interface to the SE, and plans for the use of the facility beyond the test period. This system is capable of providing a flight-like functional environment through the use of accurate real-time models and carefully chosen points of interaction, and flexible control capability and high visibility to the test operator.

Rasmussen, R. D.↗

NASA NTRS1981

Articulated primary mirror /APM/ for the Solar Optical Telescope /SOT/

Allowing the location of the primary vs secondary mirrors to be movable in space, the articulated primary mirror (APM) was designed as an inexpensive alternative, providing stable imagery, for the Solar Optical Telescope (SOT). Requirements of high resolution in the sub-arc-second region, and the ability to point the telescope through the Instrument Pointing System (IPS) were satisfied. Alignment sensors, contained within the subsystem, locate the points of coincidence of the foci of the primary and secondary optics (conic foci). These are utilized as inputs for subsystem actuators to correct via the digital controller algorithm.

Gowrinathan, S.↗

NASA NTRS1981

Wind-tunnel investigation of the effects of blade tip geometry on the interaction of torsional loads and performance for an articulated helicopter rotor

The Langley transonic dynamics tunnel was used to determine the degree of correlation between rotor performance and the dynamic twist generated by changes in blade tip geometry using an articulated rotor with four different tip geometries at advance ratios of 0.20, 0.30 and 0.35. Based on the data obtained, it is concluded that: (1) there appears to be no strong correlation between blade torsion loads and rotor performance prediction; (2) for a given rotor task at each advance ratio investigated, both the azimuthal variation of torsional moment and the mean torsional moment at 81% radius are configuration dependent; (3) reducing the nose down twist on the advancing blade appears to be more important to forward flight performance than increasing the nose down twist on the retreating blade; (4) the rotor inflow model used was important in predicting the performance of the adaptive rotor; and (5) neither rigid blade solidity effects, inflow environment, nor blade torsion loads can be used alone to accurately predict active rotor performance.

Yeager, W. T.↗

NASA NTRS1981

Voyager Saturn encounter attitude and articulation control experience

The Voyager attitude and articulation control system is designed for a three-axis stabilized spacecraft; it uses a biasable sun sensor and a Canopus Star Tracker (CST) for celestial control, as well as a dry inertial reference unit, comprised of three dual-axis dry gryos, for inertial control. A series of complex maneuvers was required during the first of two Voyager spacecraft encounters with Saturn (November 13, 1980); these maneuvers involved rotating the spacecraft simultaneously about two or three axes while maintaining accurate pointing of the scan platform. Titan and Saturn earth occulation experiments and a ring scattering experiment are described. Target motion compensation and the effects of celestial sensor interference are also considered. Failure of the CST, which required an extensive reevaluation of the star reference and attitude control mode strategy, is discussed. Results analyzed thus far show that the system performed with high accuracy, gathering data deeper into Saturn's atmosphere than on any previous planetary encounter.

Carlisle, G.↗

NASA NTRS1982

Development of the Galileo Attitude and Articulation Control Subsystem flight software

The ongoing design and implementation of the Project Galileo Attitude and Articulation Control Subsystem (AACS) flight software is outlined, as well as the more important problems that were experienced in the development of this software. The important characteristics of the Galileo spacecraft are described, as are the major requirements driving the software design. The important features of the design are stated and discussed, and a modes and tasks transition diagram is presented. The AACS software implementation is covered, and the algorithms active in each task are shown. Finally, some of the design and management techniques used in the course of the software development are discussed.

Krasner, S. M.↗

NASA NTRS1982

Voyager 2 Saturn encounter attitude and articulation control experience

A description is given of the Voyager Attitude and Articulation Control System (AACS). The complex series of maneuvers required for Voyager 2 during the near encounter period to obtain fields and particle data, track the limb of Saturn during the earth occultation period, and reflect the RF beam off the Saturnian ring system are discussed. It is noted that some of these maneuvers involved rotating the spacecraft simultaneously about multiple axes while maintaining accurate pointing of the scan platform, a first for interplanetary missions. Also described are two anomalies experienced by the AACS during the near encounter period. The first was the significant roll attitude error that occurred shortly after all axis inertial control and that continued to grow until celestial reacquisition. The second was that the scan platform slewing in the azimuth axis stopped midway through the near encounter. These anomalies are analyzed, and their effect on future missions is assessed.

Hill, M.↗

NASA NTRS1983

Development of the functional simulator for the Galileo attitude and articulation control system

A simulation program for verifying and checking the performance of the Galileo Spacecraft's Attitude and Articulation Control Subsystem's (AACS) flight software is discussed. The program, which is called Functional Simulator (FUNSIM), provides a simple method of interfacing user-supplied mathematical models coded in FORTRAN which describes spacecraft dynamics, sensors, and actuators; this is done with the AACS flight software, coded in HAL/S (High-level Advanced Language/Shuttle). It is thus able to simulate the AACS flight software accurately to the HAL/S statement level in the environment of a mainframe computer system. FUNSIM also has a command and data subsystem (CDS) simulator. It is noted that the input/output data and timing are simulated with the same precision as the flight microprocessor. FUNSIM uses a variable stepsize numerical integration algorithm complete with individual error bound control on the state variable to solve the equations of motion. The program has been designed to provide both line printer and matrix dot plotting of the variables requested in the run section and to provide error diagnostics.

Namiri, M. K.↗

NASA NTRS1984

Investigation of articulated panel dynamics

An articulated panel dynamics experiment to evaluate present analysis and ground test methods as well as damping effectiveness is proposed. The experiment uses an existing panel design which was extensively analyzed and tested. These data provide a firm basis for evaluating the adequacy of panel analysis and ground test methodology. The key issues for future large space structure panel designs are addressed: the critical launch transient and vibroacoustic loading; the deployment analysis adequacy including air and gravitational effects; and the orbital resonant frequencies and mode shapes of deployed panel assemblies. By using an existing mature design that was thoroughly tested, the effort can focus on correlation of actual flight results with existing predictions. A second panel assembly incorporating passive damping is proposed to provide a direct measure of damped panel benefits that can be obtained. These benefits include: reduced launch loads and responses; and highly damped deployed modes. Existing space-qualified viscoelastic epoxy, in combination with composite materials or an alternate more effective damping material, will be used.

Stahle, C. V., Jr.↗

NASA NTRS1983

Galileo attitude and articulation control subsystem closed loop testing

In order to ensure the reliable operation of the Attitude and Articulation Control Subsystem (AACS) which will guide the Galileo spacecraft on its two and one-half year journey to Jupiter, the AACS is being rigorously tested. The primary objectives of the test program are the verification of the AACS's form, fit, and function, especially with regard to subsystem external interfaces and the functional operation of the flight software. Attention is presently given to the Galileo Closed Loop Test System, which simulates the dynamic and 'visual' flight environment for AACS components in the laboratory.

Lembeck, M. F.↗

NASA NTRS1984

Functional evaluation of the Galileo attitude and articulation control subsystem using FUNSIM

The functional performance of the Galileo spacecraft's attitude and articulation control subsystem is evaluated. The tests are performed utilizing the simulation program developed on an IBM 370 system known as the Functional Simulation (FUNSIM). FUNSIM is an entirely software-based simulation which uses the actual flight software in HAL/S and simulated spacecraft dynamics in FORTRAN language. A description of how the test cases were selected to verify that the algorithms perform functionally correctly, and a summary of the problems encountered are included in the paper. The benefits of having an alternative test bed such as FUNSIM to the real-time simulation test beds which utilize the spacecraft hardware components in discovering the problems are described. A sample test case which shows that the desired tasks were performed functionally correctly is included in the paper. The commands in this test are selected to start the dual-spin spacecraft initially in launch mode and lead it all the way to inertial mode. Major attitude control algorithms such as rotor and platform attitude estimators, clock and core platform attitude estimators, clock and core platform controllers, and the command turn and burn are examined.

Namiri, M. K.↗

NASA NTRS1986

Subsystem testing of Galileo's attitude and articulation control fault protection

This paper discusses the fault protection tesing of the Attitude and Articulation Control Subsystem (AACS) of the Galileo spacecraft. The need for an autonomous fault protection system on an interplanetary spacecraft is discussed. Galileo requirements for the detection and response of specific hardware failures is discussed along with the fault protection software design and implementation. The test beds and test methods used for fault protection testing are described. The paper concludes with a presentation of the results of this testing with an emphasis on requirement and design changes that were made as a result of these tests.

Anderson, L. L.↗

NASA NTRS1985

The Galileo attitude and articulation control system - A radiation-hard, high precision, state-of-the-art control system

The Galileo mission and spacecraft, consisting of a Jupiter-orbiter and an atmospheric entry probe, are discussed. Components will include: magnetometers and plasma-wave antennas on a boom, high-gain antenna, probe vehicle, two different bus electronics packages, and a radioisotope thermoelectric generator. Instruments, investigators and objectives are tabulated for both probe science and orbiter science investigations. Requirements in the design of the attitude and articulation control system are very stringent because of the complex dynamics, flexible body effects, the need for autonomy, and the severe radiation environment in the Jupiter nighborhood. Galileo was intended to be ready for launch via Space Shuttle in May of 1986.

Stephenson, R. Rhoads↗

NASA NTRS1987

Articulated figure positioning by multiple constraints

A problem that arises in positioning an articulated figure is the solution of three-dimensional joint positions (kinematics) when goal positions, rather than joint angles, are given. If more than one such goal is to be achieved, the problem is often solved interactively by positioning or solving one component of the linkage, then adjusting another, then redoing the first, and so on. This iterative process is slow and tedious. The paper presents a method that automatically solves multiple simultaneous joint position goals. The user interface offers a six-degree-of-freedom input device to specify joint angles and goal positions interactively. Examples are used to demonstrate the power and efficiency of this method for key-position animation.

Badler, Norman I.↗

NASA NTRS1987

Flap-lag equations of motion of rigid, articulated rotor blades with three hinge sequences

A derivation of coupled flap-lag equations of motion for a rigid articulated rotor with hinge springs and viscous dampers is reported. Three different flapping-lag-pitch hinge sequences are considered and the Lagrange method is used to derive the equations. The effects of the complete six degrees-of-freedom aircraft motions are included and all the inertia dynamic terms are retained; no small-angle assumptions are used in the development. Comparisons of the results with those available in the literature are made. Sources of terms missing in previous analyses, especially those of the inertia dynamics, are identified.

Chen, Robert T. N.↗

NASA NTRS1988

Accurate positioning of long, flexible ARM's (Articulated Robotic Manipulator)

An articulated robotic manipulator (ARM) system is being designed for space applications. Work being done on a concept utilizing an infinitely stiff laser beam for position reference is summarized. The laser beam is projected along the segments of the ARM, and the position is sensed by the beam rider modules (BRM) mounted on the distal ends of the segments. The BRM concept is the heart of the system. It utilizes a combination of lateral displacements and rotational and distance measurement sensors. These determine the relative position of the two ends of the segments with respect to each other in six degrees of freedom. The BRM measurement devices contain microprocessor controlled data acquisition and active positioning components. An indirect adaptive controller is used to accurately control the position of the ARM.

Malachowski, Michael J.↗