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Very high Q digital filtering circuits for audio frequencies in the range of 1Hz to 15 KHz are implemented in simple CMOS hardware using a binary local reference clock frequency. The circuits have application to VLF navigation receivers and other narrow band audio range tracking problems.
The angle tracking problems in microwave landing system receivers along with a receiver design capable of optimal performance in the multipath environments found in air terminal areas were studied. Included were various theoretical and evaluative studies like: (1) signal model development; (2) derivation of optimal receiver structures; and (3) development and use of computer simulations for receiver algorithm evaluation. The development of an experimental receiver for flight testing is presented. An overview of the work and summary of principal results and conclusions are reported.
System performance aspects of the Ku band radar communication hardware and investigations into the Ku band/payload interfaces are discussed. The communications track problem caused by the excessive signal dynamic range at the servo input was investigated. The management/handover logic is discussed and a simplified description of the transmitter enable logic function is presented. Output noise produced by a voltage-controlled oscillator chip used in the SPA return-link channel 3 mid-bit detector is discussed. The deployed assembly (DA) and EA-2 critical design review data are evaluated. Cross coupling effects on antenna servo stability were examined. A series of meetings on the acceptance test specification for the deployed assembly is summarized.
The telemetry and tracking problems expected for Starprobe, a solar flyby with a perihelion of 4 solar radii, are discussed. The Starprobe is intended to obtain measurements of the solar quadrupole moment within an accuracy of 1/100,000,000, allowing more accurate modelling of the solar interior. Obstacles are perceived for Doppler velocity measurements due to RF signal amplitude and phase scintillations created by the solar corona. Model calculations are presented for the propagation effects in the maximum disturbance area, and an open loop two-way Doppler system is described. The system comprises X-band and S-band uplinks and downlinks to eliminate the plasma-induced phase scintillations, means of correcting unfolding errors caused by S-band amplitude scintillations, and a new method of estimating the Doppler frequency.
Feedback control laws are derived for a class of optimal finite time tracking problems with terminal constraints. Analytical solutions are obtained for the feedback gain and the closed-loop response trajectory. Such formulations are expressed in recursive forms so that a real-time computer implementation becomes feasible. Two examples are given to illustrate the validity and usefulness of the formulations.
The major activities and accomplishments of this first Spacelab mission using Orbiter vehicle 102. The significant configuration differences incorporated prior to STS-9 include the first use of the 3 substack fuel cells, the use of 5 cryo tanks sets and the addition of a galley and crew sleep stations. These differences combined with the Spacelab payload resulted in the heaviest landing weight yet flown. The problems that occurred are cited and a problem tracking list of all significant anomalies tht occurred during the mission is included. Scientific results of experiments conducted are highlighted.
It is known that the optimal control of a forced linear system may be reduced to that of tracking the system without forces. The solution of the tracking problem is available via the costate variables method. This procedure is computationally expensive for large order systems. It requires solution of matrix Riccati equation and two final value problems. An alternate approach is outlined for the direct computation of the optimal control. Instead of Riccati equation, a matrix Volterra integral must be solved. For this purpose two computational schemes are described, and an illustrative example is given. The results compare favorably with the classical solution. This alternative approach may be especially useful for the control of large space structure where large order models are required.
An autopilot can be used to provide precise control to meet the demanding requirements of flight research maneuvers with high-performance aircraft. This paper presents the development of control laws for a flight test maneuver autopilot for an F-15 aircraft. A linear quadratic regulator approach is used to develop the control laws within the context of flight test maneuver requirements by treating the maneuver as a finite time tracking problem with regulation of state rates. Results are presented to show the effectiveness of the controller in insuring acceptable aircraft performance during a maneuver.
Feedback control laws are derived for a class of optimal finite time tracking problems with terminal constraints. Analytical solutions are obtained for the feedback gain and the closed-loop response trajectory. Such formulations are expressed in recursive forms so that a real-time computer implementation becomes feasible. An example involving the feedback slewing of a flexible spacecraft is given to illustrate the validity and usefulness of the formulations.
A study undertaken to collect software error data of laboratory quality for use in the development of credible methods for predicting the reliability of software used in life-critical applications is summarized. The software error data reported were acquired through automated repetitive run testing of three independent implementations of a launch interceptor condition module of a radar tracking problem. The results are based on 100 test applications to accumulate a sufficient sample size for error rate estimation. The data collected is used to confirm the results of two Boeing studies reported in NASA-CR-165836 Software Reliability: Repetitive Run Experimentation and Modeling, and NASA-CR-172378 Software Reliability: Additional Investigations into Modeling With Replicated Experiments, respectively. That is, the results confirm the log-linear pattern of software error rates and reject the hypothesis of equal error rates per individual fault. This rejection casts doubt on the assumption that the program's failure rate is a constant multiple of the number of residual bugs; an assumption which underlies some of the current models of software reliability. data raises new questions concerning the phenomenon of interacting faults.
Long flexible-boom models were required to develop ground-vibration test methods for very-low-frequency space structures with applications to the proposed Space Station. Pultruded quasi-isotropic composite beams were selected as an option over extruded aluminum alloy structures because of the lower cost potential, the higher specific strength, the flexural properties, and the dynamic similarity considerations. The reinforcement material that was used was biaxial (0 deg/90 deg) fiberglass roving held in place with knitted polyester yarn such that equal fiber volume in 0 deg and 90 deg orientations provided nearly equal strength in both longitudinal and transverse directions. An isophthalic polyester resin system was used as the matrix. Continuous lengths up to 270 ft were easily pultruded with biaxial fabric. Tracking problems were encountered with similar unidirectional fabrics. Analyses of processing problems were conducted to determine causes for delamination, scaling, and sloughing. Ultrasonic C-scanning and scanning electron microscope examinations were conducted as well as mechanical testing to failure. Test results indicate that pultrusion processes can be used to produce quasi-isotropic composite structures.
The fast adaptive composite grid method (FAC) is an algorithm that uses various levels of uniform grids to provide adaptive resolution and fast solution of PDEs. An asynchronous version of FAC, called AFAC, that completely eliminates the bottleneck to parallelism is presented. This paper describes the advantage that this algorithm has in adaptive refinement for moving singularities on multiprocessor computers. This work is applicable to the parallel solution of two- and three-dimensional shock tracking problems.
Networking in Integrated Communication and Control Systems (ICCS) introduces randomly varying delays which degrade the system dynamic performance and are a source of potential instability. In Part I of this sequence of papers, a discrete-time, finite-dimensional model of the delayed control system for analysis and design of ICCS was developed where the sensor and controller have identical sampling rates. In Part II, two alternate approaches for ICCS design, namely, identical and nonidentical sampling rates for sensor and controller were proposed. This Part III presents extended modeling of ICCS for nonidentical sensor and controller sampling rates. This model is also suitable for analyzing tracking problems, i.e., control systems with time-dependent reference inputs.
A reduced-order method employing decomposition, based on time-scale separation, of the 4-D state space in a 2-D slow manifold and a family of 2-D fast manifolds is shown to provide an excellent approximation to the full-order minimum-fuel ascent trajectory. Near-optimal guidance is obtained by tracking the reduced-order trajectory. The tracking problem is solved as regulation problems on the family of fast manifolds, using the exact linearization methodology from nonlinear geometric control theory. The validity of the overall guidance approach is indicated by simulation.
A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.
We compare production rates of H20 derived from International Ultraviolet Explorer (IUE) spectra from multiple apparitions of 2 comets, 2P/Encke and 9P/Tempel 1, whose orbits are in near-resonance with that of the Earth. Since model-induced errors are primarily a function of observing geometry, the close geometrical matches afforded by the resonance condition results in the cancellation of such errors when taking ratios of production rates. Giving careful attention to the variation of model parameters with solar activity, we find marginal evidence of change in 2P/Encke: a 1-sigma pre-perihelion decrease averaging 4%/revolution over 4 apparitions from 1980-1994, and a 1-sigma post-perihelion increase of 16%/revolution for 2 successive apparitions in 1984 and 1987. We find for 9P/Tempel 1, however, a 7-sigma decrease of 29%/revolution over 3 apparitions from 1983-1994, even after correcting for a tracking problem which made the fluxes systematically low. We speculate on a possible association of the character of long-term brightness variations with physical properties of the nucleus, and discuss implications for future research.
A low-cost beamformer phased array antenna has been developed for expendable launch vehicles, rockets, and missiles. It utilizes a conformal array antenna of ring or individual radiators (design varies depending on application) that is designed to be fed by the recently developed hybrid electrical/mechanical (vendor-supplied) phased array beamformer. The combination of these new array antennas and the hybrid beamformer results in a conformal phased array antenna that has significantly higher gain than traditional omni antennas, and costs an order of magnitude or more less than traditional phased array designs. Existing omnidirectional antennas for sounding rockets, missiles, and expendable launch vehicles (ELVs) do not have sufficient gain to support the required communication data rates via the space network. Missiles and smaller ELVs are often stabilized in flight by a fast (i.e. 4 Hz) roll rate. This fast roll rate, combined with vehicle attitude changes, greatly increases the complexity of the high-gain antenna beam-tracking problem. Phased arrays for larger ELVs with roll control are prohibitively expensive. Prior techniques involved a traditional fully electronic phased array solution, combined with highly complex and very fast inertial measurement unit phased array beamformers. The functional operation of this phased array is substantially different from traditional phased arrays in that it uses a hybrid electrical/mechanical beamformer that creates the relative time delays for steering the antenna beam via a small physical movement of variable delay lines. This movement is controlled via an innovative antenna control unit that accesses an internal measurement unit for vehicle attitude information, computes a beam-pointing angle to the target, then points the beam via a stepper motor controller. The stepper motor on the beamformer controls the beamformer variable delay lines that apply the appropriate time delays to the individual array elements to properly steer the beam. The array of phased ring radiators is unique in that it provides improved gain for a small rocket or missile that uses spin stabilization for stability. The antenna pattern created is symmetric about the roll axis (like an omnidirectional wraparound), and is thus capable of providing continuous coverage that is compatible with very fast spinning rockets. For larger ELVs with roll control, a linear array of elements can be used for the 1D scanned beamformer and phased array, or a 2D scanned beamformer can be used with an NxN element array.
The class of all piecewise time-continuous controllers tracking a given hypersurface in the state space of a dynamical system can be split by the present transformation technique into two disjoint classes; while the first of these contains all controllers which track the hypersurface in finite time, the second contains all controllers that track the hypersurface asymptotically. On this basis, a reformulation is presented for optimal control problems involving state-variable inequality constraints. If the state constraint is regarded as 'soft', there may exist controllers which are asymptotic, two-sided, and able to yield the optimal value of the performance index.