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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 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1988

Implementation of adaptive proximate time-optimal controllers

Following a review of the Proximate Time-Optimal Servomechanism (PTOS) and the adaptive version of PTOS (APTOS), implementation techniques are described which make both algorithms practical for discrete-time control of second-order plants with real roots. The double integrator plant and the real pole plus an integrator plant are both used as examples. The effects of unmodeled dynamics on the algorithms are discussed and illustrated by simulation and experiment.

Workman, M. L.↗
NASA NTRS1989

Design and analysis of a flexible body instrument pointing system for the GOES Meteorological Satellites

A servomechanism control system design is presented for the Sounder instrument on board the next generation GOES (NOAA) Meteorological Satellites. The design is presented as a practical aerospace example of a challenging structural-control interaction problem which occurs in control systems with high bandwidth requirements. Structural modeling, compensation, and design techniques which are applicable to systems that contain similar problems are discussed.

Lightsey, E. Glenn↗
NASA NTRS1989

Design issues in 2-port network models of bilateral remote manipulation

A two-port impedance-network model of a single-degree-of-freedom remote manipulation system in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. The design of the network involves the selection of feedback gains for the servomechanisms that transmit motion and force information from one port of the two-port to the other in both directions. The proposed methodology allows this selection to be based on both stability requirements and specifications of desired port impedances, given models of the task and the human operator. The resulting design guidelines guarantee stability for any passive task object at the slave port and any passive human impedance at the master port.

Raju, G. Jagannath↗
NASA NTRS1990

Output Control Using Feedforward And Cascade Controllers

Report presents theoretical study of open-loop control elements in single-input, single-output linear system. Focus on output-control (servomechanism) problem, in which objective is to find control scheme that causes output to track certain command inputs and to reject certain disturbance inputs in steady state. Report closes with brief discussion of characteristics and relative merits of feedforward, cascade, and feedback controllers and combinations thereof.

Seraji, Homayoun↗
NASA NTRS1990

Nonlinear feedback method of robot control - A preliminary experimental study

The nonlinear feedback method of robot control has been experimentally implemented on two PUMA 560 robot arms. The feasibility of the proposed controller, which was shown viable through simulation results earlier, is stressed. The servomechanism operates in task space, and the nonlinear feedback takes care of the necessary transformations to compute the necessary joint currents. A discussion is presented of the implementation with details of the experiments performed. The performance of the controller is encouraging but was limited to 100-Hz sampling frequency and to derived velocity information at the time of the experimentation. The setup of the lab, the software aspects, results, and the control hardware architecture that has recently been implemented are discussed.

Tarn, T. J.↗
NASA NTRS1992

A 23.2:1 ratio, 300-watt, 26 N-m output torque, planetary roller-gear robotic transmission: Design and evaluation

The design philosophy and measurements performed on a new roller-gear transmission prototype for a robotic manipulator are described. The design incorporates smooth rollers in a planetary configuration integrated with conventional toothed gears. The rollers were designed to handle low torque with low backlash and friction while the complementary gears support higher torques and prevent accumulated creep or slip of the rollers. The introduction of gears with finite numbers of teeth to function in parallel with the rollers imposes severe limits on available designs. Solutions for two-planet row designs are discussed. A two-planet row, four-planet design was conceived, fabricated, and tested. Detailed calculations of cluster geometry, gear stresses, and gear geometry are given. Measurement data reported here include transmission linearity, static and dynamic friction, inertia, backlash, stiffness, and forward and reverse efficiency. Initial test results are reported describing performance of the transmission in a servomechanism with torque feedback.

Newman, Wyatt S.↗
NASA NTRS1992

ROMPS critical design review. Volume 1: Hardware

Topics concerning the Robot-Operated Material Processing in Space (ROMPS) Program are presented in viewgraph form and include the following: a systems overview; servocontrol and servomechanisms; testbed and simulation results; system V controller; robot module; furnace module; SCL experiment supervisor; SCL script sample processing control; SCL experiment supervisor fault handling; block diagrams; hitchhiker interfaces; battery systems; watchdog timers; mechanical/thermal systems; and fault conditions and recovery.

Dobbs, M. E.↗
NASA NTRS1988

A precision mechanical nerve stimulator

An electromechanical device, used to apply and monitor stimulating pulses to a mammalian motor nerve, has been successfully developed at NASA Langley Research Center. Two existing force transducers, a flight skin friction balance and a miniature skin friction balance which were designed for making aerodynamic drag measurements, were modified and incorporated to form this precision instrument. The nerve stimulator is a type one servomechanism capable of applying and monitoring stimulating pulses of 0 to 10 grams with a precision of better than +/- 0.05 grams. Additionally, the device can be independently used to apply stimulating pulses by displacing the nerve from 0 to 0.25 mm with a precision of better than +/- 0.001 mm while measuring the level of the load applied.

Tcheng, Ping↗
NASA NTRS1947

Observations on an Aileron-Flutter Instability Encountered on a 45 Degree Swept-Back Wing in Transonic and Supersonic Flight

In the course of a flight test of a supersonic research pilotless aircraft (the NACA RM-1), large-amplitude aileron oscillations, probably aileron compressibility flutter, were encountered in the transonic and supersonic speed ranges. The wing was oscillating at the same frequency as the aileron. The aircraft was equipped with 45 degree swept-back wings of symmetrical NASA 65-010 airfoil section. Completely mass-balanced ailerons with 20 degree beveled trailing edges were installed on the wings. The ailerons were free floating with no mechanical restraining force other than the friction of the aileron hinges and servomechanism bearings throughout the high-speed interval of flight.

Pitkin, Marvin↗
NASA NTRS1993

Design of power electronics for TVC EMA systems

The Composite Development Division of the Propulsion Laboratory at Marshall Space Flight Center (MSFC) is currently developing a class of electromechanical actuators (EMA's) for use in space transportation applications such as thrust vector control (TVC) and propellant control valves (PCV). These high power servomechanisms will require rugged, reliable, and compact power electronic modules capable of modulating several hundred amperes of current at up to 270 volts. MSFC has selected the brushless dc motor for implementation in EMA's. This report presents the results of an investigation into the applicability of two new technologies, MOS-controlled thyristors (MCT's) and pulse density modulation (PDM), to the control of brushless dc motors in EMA systems. MCT's are new power semiconductor devices, which combine the high voltage and current capabilities of conventional thyristors and the low gate drive requirements of metal oxide semiconductor field effect transistors (MOSFET's). The commanded signals in a PDM system are synthesized using a series of sinusoidal pulses instead of a series of square pulses as in a pulse width modulation (PWM) system. A resonant dc link inverter is employed to generate the sinusoidal pulses in the PDM system. This inverter permits zero-voltage switching of all semiconductors which reduces switching losses and switching stresses. The objectives of this project are to develop and validate an analytical model of the MCT device when used in high power motor control applications and to design, fabricate, and test a prototype electronic circuit employing both MCT and PDM technology for controlling a brushless dc motor.

Nelms, R. Mark↗
NASA NTRS1993

Design of a ZVS PWM inverter for a brushless DC motor in an EMA application

The Component Development Division of the Propulsion Laboratory at Marshall Space Flight Center (MSFC) is currently investigating the use of electromechanical actuators for use in space transportation applications such as Thrust Vector Control (TVC). These high power servomechanisms will require rugged, reliable, and compact power electronic modules capable of modulating several hundred amperes of current at up to 270 Vdc. This paper will discuss the design and implementation of a zero-voltage-switched PWM (Pulse Width Modulation) inverter which operates from a 270 Vdc source at currents up to 100 A.

Bell, J. Brett↗
NASA NTRS1994

Design of power electronics for TVC and EMA systems

The Component Development Division of the Propulsion Laboratory at Marshall Space Flight Center (MSFC) is currently developing a class of electromechanical actuators (EMA's) for use in space transportation applications such as thrust vector control (TVC) and propellant control valves (PCV). These high power servomechanisms will require rugged, reliable, and compact power electronic modules capable of modulating several hundred amperes of current at up to 270 volts. MSFC has selected the brushless dc motor for implementation in EMA's. A previous project performed by Auburn University examined the use of the resonant dc link (RDCL) inverter, pulse density modulation (PDM), and mos-controlled thyristors (MCT's) for speed control of a brushless dc motor. The speed of the brushless dc motor is proportional to the applied stator voltage. In a PDM system, the control system determines the number of resonant voltage pulses which must be applied to the stator to achieve a desired speed. The addition of a waveshaping circuit to the front end of a standard three-phase inverter yields a RDCL inverter; the resonant voltage pulses are produced through the action of this wave shaping circuit and the inverter. This project has focused on the implementation of a system which permits zero-voltage switching with the bus voltage clamped at the input voltage level. In the same manner as the RDCL inverter, the inverter selected for this implementation is a combination of waveshaping circuit and a standard three-phase inverter. In addition, this inverter allows a pulse-width modulated (PWM)-like control scheme instead of a PDM scheme. The operation of waveshaping circuit will be described through analysis and waveforms. Design relationships will also be presented.

Nelms, R. Mark↗
NASA NTRS1961

Study of an Active Control System for a Spinning Body

The mission requirements for some satellites require that they spin continuously and at the same time maintain a precise direction of the spin axis. An analog-computer study has been made of an attitude control system which is suitable for such a satellite. The control system provides the necessary attitude control through the use of a spinning wheel, which will provide precession torques, commanded by an automatic closed-loop servomechanism system. The sensors used in the control loop are rate gyroscopes for damping of any wobble motion and a sun seeker for attitude control. The results of the study show that the controller can eliminate the wobble motion of the satellite resulting from a rectangular pulse moment disturbance and then return the spin axis to the reference space axis. The motion is damped to half amplitude in less than one cycle of the wobble motion. The controller can also reduce the motion resulting from a step change in product of inertia both by causing the new principal axis to be steadily alined with the spin vector and by reducing the cone angle generated by the reference body axis. These methods will reduce the motion whether the satellite is a disk, sphere, or rod configuration.

Adams, J. J.↗
NASA NTRS1998

Dynamic Models of Instruments Using Rotating Unbalanced Masses

The motion of telescopes, satellites, and other flight bodies have been controlled by various means in the past. For example, gimbal mounted devices can use electric motors to produce pointing and scanning motions. Reaction wheels, control moment gyros, and propellant-charged reaction jets are other technologies that have also been used. Each of these methods has its advantages, but all actuator systems used in a flight environment face the challenges of minimizing weight, reducing energy consumption, and maximizing reliability. Recently, Polites invented and patented the Rotating Unbalanced Mass (RUM) device as a means for generation scanning motion on flight experiments. RUM devices together with traditional servomechanisms have been successfully used to generate various scanning motions: linear, raster, and circular. The basic principle can be described: A RUM rotating at constant angular velocity exerts a cyclic centrifugal force on the instrument or main body, thus producing a periodic scanning motion. A system of RUM devices exerts no reaction forces on the main body, requires very little energy to rotate the RUMS, and is simple to construct. These are significant advantages over electric motors, reaction wheels, and control moment gyroscopes. Although the RUM device very easily produces scanning motion, an auxiliary control system has been required to maintain the proper orientation, or pointing of the main body. It has been suggested that RUM devices can be used to control pointing dynamics, as well as generate the desired periodic scanning motion. The idea is that the RUM velocity will not be kept constant, but will vary over the period of one RUM rotation. The thought is that the changing angular velocity produces a centrifugal force having time-varying magnitude and direction. The scope of this ongoing research project is to study the pointing control concept, and recommend a direction of study for advanced pointing control using only RUM devices. This report is subdivided into three sections. Three dynamic models and one proposed control principle are described first. Then, the results of model analyses and some experiments are discussed. Finally, suggestions for future work are presented.

Hung, John Y.↗
NASA NTRS1999

Reconfigurable Flight Control Designs With Application to the X-33 Vehicle

Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the right body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

Burken, John J.↗
NASA NTRS2005

Making a Reliable Actuator Faster and More Affordable

Before any rocket is allowed to fly and be used for a manned mission, it is first test-fired on a static test stand to verify its flight readiness. NASA s Stennis Space Center provides testing of Space Shuttle Main Engines, rocket propulsion systems, and related components with several test facilities. It has been NASA s test-launch site since 1961. The testing stations age with time and repeated use; and with aging comes maintenance; and with maintenance comes expense. NASA has been seeking ways to lower the cost of maintaining the stations, and has aided in the development of an improved reliable linear actuator that arrives onsite quickly and costs less money than other actuators. In general terms, a linear actuator is a servomechanism that supplies a measured amount of energy for the operation of another mechanical system. Accuracy, reliability, and speed of the actuator are critical to performance of the entire system, and these actuators are critical components of the engine test stands. Partnership An actuator was developed as part of a Dual-Use Cooperative Agreement between BAFCO, Inc., of Warminister, Pennsylvania, and Stennis. BAFCO identified four suppliers that manufactured actuator components that met the rigorous testing standards imposed by the Space Agency and then modified these components for application on the rocket test stands. In partnership with BAFCO, the existing commercial products size and weight were reworked, reducing cost and delivery time. Previously, these parts would cost between $20,000 and $22,000, but with the new process, they now run between $11,000 and $13,000, a substantial savings, considering NASA has already purchased over 120 of the units. Delivery time of the cost-saving actuators has also been cut from over 20 to 22 weeks to within 8 to 10 weeks. The redesigned actuator is commercially available, and the company is successfully supplying them to customers other than NASA.

Source record↗
NASA NTRS2008

Aircraft Loss-of-Control Accident Prevention: Switching Control of the GTM Aircraft with Elevator Jam Failures

Switching control, servomechanism, and H2 control theory are used to provide a practical and easy-to-implement solution for the actuator jam problem. A jammed actuator not only causes a reduction of control authority, but also creates a persistent disturbance with uncertain amplitude. The longitudinal dynamics model of the NASA GTM UAV is employed to demonstrate that a single fixed reconfigured controller design based on the proposed approach is capable of accommodating an elevator jam failure with arbitrary jam position as long as the thrust control has enough control authority. This paper is a first step towards solving a more comprehensive in-flight loss-of-control accident prevention problem that involves multiple actuator failures, structure damages, unanticipated faults, and nonlinear upset regime recovery, etc.

Chang, Bor-Chin↗
NASA NTRS2008

Improved Airborne System for Sensing Wildfires

The Wildfire Airborne Sensing Program (WASP) is engaged in a continuing effort to develop an improved airborne instrumentation system for sensing wildfires. The system could also be used for other aerial-imaging applications, including mapping and military surveillance. Unlike prior airborne fire-detection instrumentation systems, the WASP system would not be based on custom-made multispectral line scanners and associated custom- made complex optomechanical servomechanisms, sensors, readout circuitry, and packaging. Instead, the WASP system would be based on commercial off-the-shelf (COTS) equipment that would include (1) three or four electronic cameras (one for each of three or four wavelength bands) instead of a multispectral line scanner; (2) all associated drive and readout electronics; (3) a camera-pointing gimbal; (4) an inertial measurement unit (IMU) and a Global Positioning System (GPS) receiver for measuring the position, velocity, and orientation of the aircraft; and (5) a data-acquisition subsystem. It would be necessary to custom-develop an integrated sensor optical-bench assembly, a sensor-management subsystem, and software. The use of mostly COTS equipment is intended to reduce development time and cost, relative to those of prior systems.

McKeown, Donald↗