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At least 865 records · Page 48

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NASA NTRS1987

Stability boundaries for command augmentation systems

The Stability Augmentation System (SAS) is a special case of the Command Augmentation System (CAS). Control saturation imposes bounds on achievable commands. The state equilibrium depends only on the open loop dynamics and control deflection. The control magnitude to achieve a desired command equilibrium is independent of the feedback gain. A feedback controller provides the desired response, maintains the system equilibrium under disturbances, but it does not affect the equilibrium values of states and control. The saturation boundaries change with commands, but the location of the equilibrium points in the saturated region remains unchanged. Nonzero command vectors yield saturation boundaries that are asymmetric with respect to the state equilibrium. Except for the saddle point case with MCE control law, the stability boundaries change with commands. For the cases of saddle point and unstable nodes, the region of stability decreases with increasing command magnitudes.

Shrivastava, P. C.↗

NASA NTRS1989

Integrated control-system design via generalized LQG (GLQG) theory

Thirty years of control systems research has produced an enormous body of theoretical results in feedback synthesis. Yet such results see relatively little practical application, and there remains an unsettling gap between classical single-loop techniques (Nyquist, Bode, root locus, pole placement) and modern multivariable approaches (LQG and H infinity theory). Large scale, complex systems, such as high performance aircraft and flexible space structures, now demand efficient, reliable design of multivariable feedback controllers which optimally tradeoff performance against modeling accuracy, bandwidth, sensor noise, actuator power, and control law complexity. A methodology is described which encompasses numerous practical design constraints within a single unified formulation. The approach, which is based upon coupled systems or modified Riccati and Lyapunov equations, encompasses time-domain linear-quadratic-Gaussian theory and frequency-domain H theory, as well as classical objectives such as gain and phase margin via the Nyquist circle criterion. In addition, this approach encompasses the optimal projection approach to reduced-order controller design. The current status of the overall theory will be reviewed including both continuous-time and discrete-time (sampled-data) formulations.

Bernstein, Dennis S.↗

NASA NTRS1987

Analytical design of intelligent machines

The problem of designing 'intelligent machines' to operate in uncertain environments with minimum supervision or interaction with a human operator is examined. The structure of an 'intelligent machine' is defined to be the structure of a Hierarchically Intelligent Control System, composed of three levels hierarchically ordered according to the principle of 'increasing precision with decreasing intelligence', namely: the organizational level, performing general information processing tasks in association with a long-term memory; the coordination level, dealing with specific information processing tasks with a short-term memory; and the control level, which performs the execution of various tasks through hardware using feedback control methods. The behavior of such a machine may be managed by controls with special considerations and its 'intelligence' is directly related to the derivation of a compatible measure that associates the intelligence of the higher levels with the concept of entropy, which is a sufficient analytic measure that unifies the treatment of all the levels of an 'intelligent machine' as the mathematical problem of finding the right sequence of internal decisions and controls for a system structured in the order of intelligence and inverse order of precision such that it minimizes its total entropy. A case study on the automatic maintenance of a nuclear plant illustrates the proposed approach.

Saridis, George N.↗

NASA NTRS2015

Sun Safe Mode Controller Design for LADEE

This paper presents the development of sun safe controllers which are designed to keep the spacecraft power positive and thermally balanced in the event an anomaly is detected. Employed by NASA's Lunar Atmosphere and Dust Environment Explorer (LADEE), the controllers utilize the measured sun vector and the spacecraft body rates for feedback control. To improve the accuracy of sun vector estimation, the least square minimization approach is applied to process the sensor data, which is proven to be effective and accurate. To validate the controllers, the LADEE spacecraft model engaging the sun safe mode was first simulated and then compared with the actual LADEE orbital fight data. The results demonstrated the applicability of the proposed sun safe controllers.

Sun Safe Control↗

NASA NTRS1995

A Micromechanical INS/GPS System for Small Satellites

The cost and complexity of large satellite space missions continue to escalate. To reduce costs, more attention is being directed toward small lightweight satellites where future demand is expected to grow dramatically. Specifically, micromechanical inertial systems and microstrip global positioning system (GPS) antennas incorporating flip-chip bonding, application specific integrated circuits (ASIC) and MCM technologies will be required. Traditional microsatellite pointing systems do not employ active control. Many systems allow the satellite to point coarsely using gravity gradient, then attempt to maintain the image on the focal plane with fast-steering mirrors. Draper's approach is to actively control the line of sight pointing by utilizing on-board attitude determination with micromechanical inertial sensors and reaction wheel control actuators. Draper has developed commercial and tactical-grade micromechanical inertial sensors, The small size, low weight, and low cost of these gyroscopes and accelerometers enable systems previously impractical because of size and cost. Evolving micromechanical inertial sensors can be applied to closed-loop, active control of small satellites for micro-radian precision-pointing missions. An inertial reference feedback control loop can be used to determine attitude and line of sight jitter to provide error information to the controller for correction. At low frequencies, the error signal is provided by GPS. At higher frequencies, feedback is provided by the micromechanical gyros. This blending of sensors provides wide-band sensing from dc to operational frequencies. First order simulation has shown that the performance of existing micromechanical gyros, with integrated GPS, is feasible for a pointing mission of 10 micro-radians of jitter stability and approximately 1 milli-radian absolute error, for a satellite with 1 meter antenna separation. Improved performance micromechanical sensors currently under development will be suitable for a range of micro-nano-satellite applications.

Barbour, N.↗

NASA NTRS1975

Frequency modulated cutaneous orientation feedback from artificial arms

A model of the human arm, emphasizing the neuromuscular mechanisms of feedback control, has been constructed. The various parameters and functions of physiological receptors in the feedback section have been classified into an automated category that can be incorporated in the prosthesis servo loop, and into a sensory category that should be communicated to the operator if control and dynamic performance are to be optimized. A scheme for simultaneous display of two such sensory parameters, i.e., fingertip pressure and elbow position, has been developed, implemented and evaluated. The neurophysiological mechanism of such displays, and the feasibility of sensory transformation, is discussed in this paper.

Solomonow, M.↗

DOE OSTI2020

Extremum seeking for optimal control problems with unknown time-varying systems and unknown objective functions

We consider the problem of optimal feedback control of an unknown, noisy, time-varying, dynamic system that is initialized repeatedly. Examples include a robotic manipulator which must perform the same motion, such as assisting a human, repeatedly and accelerating cavities in particle accelerators which are turned on for a fraction of a second with given initial conditions and vary slowly due to temperature fluctuations. In this paper, we present an approach that applies to systems of practical interest. The method presented here is model independent; does not require knowledge of the objective function; is robust to measurement noise; is applicable for any set of initial conditions; is applicable to simultaneously controlling an arbitrary number of parameters; and may be implemented with a broad range of continuous or discontinuous functions such as sine or square waves. For systems with convex cost functions we prove that our algorithm will produce controllers that approach the minimal cost. For linear systems we reproduce the cost minimizing linear quadratic regulator optimal controller that could have been designed analytically had the system and cost function been known. We demonstrate the effectiveness of the algorithm with simulation studies of noisy and time-varying systems.

42 ENGINEERING↗

NASA NTRS1981

A method for obtaining reduced-order control laws for high-order systems using optimization techniques

A method of synthesizing reduced-order optimal feedback control laws for a high-order system is developed. A nonlinear programming algorithm is employed to search for the control law design variables that minimize a performance index defined by a weighted sum of mean-square steady-state responses and control inputs. An analogy with the linear quadractic Gaussian solution is utilized to select a set of design variables and their initial values. To improve the stability margins of the system, an input-noise adjustment procedure is used in the design algorithm. The method is applied to the synthesis of an active flutter-suppression control law for a wind tunnel model of an aeroelastic wing. The reduced-order controller is compared with the corresponding full-order controller and found to provide nearly optimal performance. The performance of the present method appeared to be superior to that of two other control law order-reduction methods. It is concluded that by using the present algorithm, nearly optimal low-order control laws with good stability margins can be synthesized.

Mukhopadhyay, V.↗

NASA NTRS1992

A new approach to the digital redesign of continuous-time controllers

This paper presents a new method for digital redesign of both a continuous-time state-feedback control law and a cascaded analog controller. The concept of the Law of Mean from the integral calculus is utilized for the development of the equivalent digital controllers from the available analog controllers. A tuning parameter has been introduced into the digitally redesigned control gains so that the digitally controlled states will closely match the original continuous-time states. The proposed digital controllers give excellent performance.

Shieh, Leang-San↗

NASA NTRS1977

Decentrally stabilizable linear and bilinear large-scale systems

Two classes of large-scale systems are identified, which can always be stabilized by decentralized feedback control. For the class of systems composed of interconnected linear subsystems, we can choose local controllers for the subsystems to achieve stability of the overall system. The same linear feedback scheme can be used to stabilize a class of linear systems with bilinear interconnections. In this case, however, the scheme is used to establish a finite region of stability for the overall system. The stabilization algorithm is applied to the design of a control system for the Large-Space Telescope.

Siljak, D. D.↗

NASA NTRS1978

Control of wind turbine generators connected to power systems

A unique simulation model based on a Mode-O wind turbine is developed for simulating both speed and power control. An analytical representation for a wind turbine that employs blade pitch angle feedback control is presented, and a mathematical model is formulated. For Mode-O serving as a practical case study, results of a computer simulation of the model as applied to the problems of synchronization and dynamic stability are provided. It is shown that the speed and output of a wind turbine can be satisfactorily controlled within reasonable limits by employing the existing blade pitch control system under specified conditions. For power control, an additional excitation control is required so that the terminal voltage, output power factor, and armature current can be held within narrow limits. As a result, the variation of torque angle is limited even if speed control is not implemented simultaneously with power control. Design features of the ERDA/NASA 100-kW Mode-O wind turbine are included.

Hwang, H. H.↗

NASA NTRS1982

Does man always close the loop in trying to pilot a large ship?

Control of a slowly responding complex dynamic system such as a large supertanker poses special problems for the human. Experienced ship's crew members maneuvered a simulated ship in real time. The simulation was performed using a graphics display run by a DPD 11/40 minicomputer. The maneuvers consisted of piloting a large ship along a narrow waterway. Preliminary results suggest that the human operates as a feedforward controller utilizing the preview information for 'gross changes' in heading, and as a feedback controller for correcting small deviations. The instruments displayed on the deck do not seem to be helpful in all situations. In fact, evidence seems to indicate that some of the displays might even interfere with the pilot's attempt to form a good internal model.

Arnott, D. R.↗

NASA NTRS1988

Singular perturbations and time scales in the design of digital flight control systems

The results are presented of application of the methodology of Singular Perturbations and Time Scales (SPATS) to the control of digital flight systems. A block diagonalization method is described to decouple a full order, two time (slow and fast) scale, discrete control system into reduced order slow and fast subsystems. Basic properties and numerical aspects of the method are discussed. A composite, closed-loop, suboptimal control system is constructed as the sum of the slow and fast optimal feedback controls. The application of this technique to an aircraft model shows close agreement between the exact solutions and the decoupled (or composite) solutions. The main advantage of the method is the considerable reduction in the overall computational requirements for the evaluation of optimal guidance and control laws. The significance of the results is that it can be used for real time, onboard simulation. A brief survey is also presented of digital flight systems.

Naidu, Desineni S.↗

NASA NTRS1988

Adaptive independent joint control of manipulators - Theory and experiment

The author presents a simple decentralized adaptive control scheme for multijoint robot manipulators based on the independent joint control concept. The proposed control scheme for each joint consists of a PID (proportional integral and differential) feedback controller and a position-velocity-acceleration feedforward controller, both with adjustable gains. The static and dynamic couplings that exist between the joint motions are compensated by the adaptive independent joint controllers while ensuring trajectory tracking. The proposed scheme is implemented on a MicroVAX II computer for motion control of the first three joints of a PUMA 560 arm. Experimental results are presented to demonstrate that trajectory tracking is achieved despite strongly coupled, highly nonlinear joint dynamics. The results confirm that the proposed decentralized adaptive control of manipulators is feasible, in spite of strong interactions between joint motions. The control scheme presented is computationally very fast and is amenable to parallel processing implementation within a distributed computing architecture, where each joint is controlled independently by a simple algorithm on a dedicated microprocessor.

Seraji, H.↗

NASA NTRS1989

Test and validation for robot arm control dynamics simulation

The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Yae, K. Harold↗

NASA NTRS1991

Control issues of microgravity vibration isolation

Active vibration isolation systems contemplated for microgravity space experiments may be designed to reach given performance requirements in a variety of ways. An analogy to passive isolation systems proves to be illustrative but lacks the flexibility as a design tool of a control systems approach and may lead to poor designs. For example, it is shown that a focus on equivalent stiffness in isolation system design leads to a controller that sacrifices robustness for performance. Control theory as applied to vibration isolation is reviewed and passive analogies are discussed. The loop shaping trade-off is introduced and used to design a single-degree-of-freedom fedback controller. An algebraic control design methodology is contrasted to loop shaping and critiqued. Multi-axis vibration isolation and the problems of decoupled single loop control are introduced through a two-degree-of-freedom example problem. It is shown that center of mass uncertainty may result in instability when decoupled single loop control is used. This results from the ill-conditioned nature of the feedback control design. The use of the Linear Quadratic Regulator synthesis procedure for vibration isolation controller design is discussed.

Knospe, C. R.↗

NASA NTRS2014

Design and Lessons Learned on the Development of a Cryogenic Pupil Select Mechanism (PSM)

Calibration and testing of the instruments on the Integrated Science Instrument Module (ISIM) of the James Webb Space Telescope (JWST) is being performed by the use of a cryogenic, full-field, optical simulator that was constructed for this purpose. The Pupil Select Mechanism (PSM) assembly is one of several mechanisms and optical elements that compose the Optical Telescope Element SIMulator, or OSIM. The PSM allows for several optical elements to be inserted into the optical plane of OSIM, introducing a variety of aberrations, distortions, obscurations, and other calibration states into the pupil plane. The following discussion focuses on the details of the design evolution, analysis, build, and test of this mechanism along with the challenges associated with creating a sub arc-minute positioning mechanism operating in an extreme cryogenic environment. In addition, difficult challenges in the control system design will be discussed including the incorporation of closed-loop feedback control into a system that was designed to operate in an open-loop fashion.

PSM Design↗

NASA NTRS2014

Design and Lessons Learned on the Development of a Cryogenic Pupil Select Mechanism Used in the Testing and Calibration of the Integrated Science Instrument Module (ISIM) on the James Webb Space Telescope (JWST)

Testing↗