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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 109 records · Page 6
All sourcesNASA NTRSDOE OSTI
NASA NTRS2022

Actuator and Motor Control End-to-End V&V on the Mars 2020 Rover

The Mars 2020 Perseverance rover is the most advanced robotic exploration system ever sent to another planet. To support the complex scientific and mobility needs of the mission, the rover utilizes 33 actuators, three multi-degree-of-freedom force-torque sensors, fifteen single or dual-speed resolvers, two solenoid valves, and twelve contact switches. The control for these actuators and sensors is achieved by several levels of flight software, coordinated between two computers with varying bandwidth control loops. Furthermore, the actuators and sensors were integrated into multiple larger robotic mechanisms that were delivered by different organizations at various points in the Integration and Test (I&T) timeline. All of this created a very complex Verification and Validation (V&V) scenario involving multiple subsystems and teams, several hardware and software testbeds with varying levels of fidelity, and significant systems engineering to ensure the overall I&T schedule could be maintained while ensuring system hardware safety.This paper details the integrated V&V effort across multiple teams and venues to provide full coverage of all necessary functionality, performance, and fault protection. First, it provides an overview of how the V&V campaign was subdivided among teams and venues and provides descriptions of the various hardware configurations used to support the testing. The Mars 2020 implementation of the plan incorporates many of the lessons learned from Mars Science Laboratory’s test campaign, and these value-added modifications are discussed here. Also included in this section is the system-level environmental testing approach used for mechanisms. Second, the paper describes the phased approach used by the teams to support new hardware and software deliveries to testbed and Systems I&T. In this approach the test campaign was built upon higher-level mechanism needs for performance, functionality, and safety at specific times in the campaign. Finally, the paper discusses lessons learned from the V&V campaign that should be applied to future large-scale motion control testing efforts.

Borne, Davis↗
NASA NTRS1990

Control Circuit For Two Stepping Motors

Control circuit operates two independent stepping motors, one at a time. Provides following operating features: After selected motor stepped to chosen position, power turned off to reduce dissipation; Includes two up/down counters that remember at which one of eight steps each motor set. For selected motor, step indicated by illumination of one of eight light-emitting diodes (LED's) in ring; Selected motor advanced one step at time or repeatedly at rate controlled; Motor current - 30 mA at 90 degree positions, 60 mA at 45 degree positions - indicated by high or low intensity of LED that serves as motor-current monitor; Power-on reset feature provides trouble-free starts; To maintain synchronism between control circuit and motors, stepping of counters inhibited when motor power turned off.

Ratliff, Roger↗
NASA NTRS2000

Precision stop control for motors

An improved stop control system and method are provided for a motor having a drive mechanism in which the motor is coupled to a motor controller that controls the speed and position of the drive mechanism using a first signal indicative of a commanded position of the drive mechanism, a second signal indicative of the actual speed of the drive mechanism and a third signal indicative of the actual position of the drive mechanism. The improved system/method uses a first circuit that receives the first and third signal and generates an error signal indicative of a difference therebetween. A second circuit receives the error signal and compares same with a threshold position error. The result of this comparison is used to selectively supply the second signal (i.e., speed) to the motor controller at least whenever the error signal is less than the threshold position error so that the motor controller can use the second signal in conjunction with the third signal to stop the motor.

Howard, David E.↗
NASA NTRS1975

A flight simulator control system using electric torque motors

Control systems are required in flight simulators to provide representative stick and rudder pedal characteristics. A system has been developed that uses electric dc torque motors instead of the more common hydraulic actuators. The torque motor system overcomes certain disadvantages of hydraulic systems, such as high cost, high power consumption, noise, oil leaks, and safety problems. A description of the torque motor system is presented, including both electrical and mechanical design as well as performance characteristics. The system develops forces sufficiently high for most simulations, and is physically small and light enough to be used in most motion-base cockpits.

Musick, R. O.↗
NASA NTRS1989

Closed-Loop Motor-Speed Control

Electronic motor-speed control circuit designed to operate in electrically noisy environment. Includes optoelectronic pick-up device, placed inside motor housing to provide speed feedback signal. Automatically maintains speed motor at commanded value. Measures speed of motor in terms of frequency of pulses of infrared light chopped by fan blades of motor. Difference between measured and commanded speeds serves as control signal for external amplifier driving motor. Major advantage of circuit is low cost.

Smith, Matthew A.↗
NASA NTRS1983

Motor power control circuit for ac induction motors

A motor power control of the type which functions by controlling the power factor wherein one of the parameters of power factor current on time is determined by the on time of a triac through which current is supplied to the motor. By means of a positive feedback circuit, a wider range of control is effected.

Nola, F. J.↗
NASA NTRS1984

Power control for ac motor

A motor controller employing a triac through which power is supplied to a motor is described. The open circuit voltage appearing across the triac controls the operation of a timing circuit. This timing circuit triggers on the triac at a time following turn off which varies inversely as a function of the amplitude of the open circuit voltage of the triac.

Dabney, R. W.↗
NASA NTRS1984

Controlling An Inverter-Driven Three-Phase Motor

Control system for three-phase permanent-magnet motor driven by linecommutated inverter uses signals generated by integrating back emf of each phase of motor. High-pass filter network eliminates low-frequency components from control loop while maintaining desired power factor.

Dolland, C.↗
NASA NTRS1986

Controlling a Four-Quadrant Brushless Three-Phase dc Motor

Control circuit commutates windings of brushless, three-phase, permanent-magnet motor operating from power supply. With single analog command voltage, controller makes motor accelerate, drive steadily, or brake regeneratively, in clockwise or counterclockwise direction. Controller well suited for use with energy-storage flywheels, actuators for aircraft-control surfaces, cranes, industrial robots, and other electromechanical systems requiring bidirectional control or sudden stopping and reversal.

Nola, F. J.↗
NASA NTRS1984

Remote control for motor vehicle

A remote controller is disclosed for controlling the throttle, brake and steering mechanism of a conventional motor vehicle, with the remote controller being particularly advantageous for use by severely handicapped individuals. The controller includes a remote manipulator which controls a plurality of actuators through interfacing electronics. The remote manipulator is a two-axis joystick which controls a pair of linear actuators and a rotary actuator, with the actuators being powered by electric motors to effect throttle, brake and steering control of a motor vehicle adapted to include the controller. The controller enables the driver to control the adapted vehicle from anywhere in the vehicle with one hand with minimal control force and range of motion. In addition, even though a conventional vehicle is adapted for use with the remote controller, the vehicle may still be operated in the normal manner.

Johnson, Dale R.↗
NASA NTRS1981

Electric vehicle motors and controllers

Improved and advanced components being developed include electronically commutated permanent magnet motors of both drum and disk configuration, an unconventional brush commutated motor, and ac induction motors and various controllers. Test results on developmental motors, controllers, and combinations thereof indicate that efficiencies of 90% and higher for individual components, and 80% to 90% for motor/controller combinations can be obtained at rated power. The simplicity of the developmental motors and the potential for ultimately low cost electronics indicate that one or more of these approaches to electric vehicle propulsion may eventually displace presently used controllers and brush commutated dc motors.

Secunde, R. R.↗
NASA NTRS1991

A universal computer control system for motors

A control system for a multi-motor system such as a space telerobot, having a remote computational node and a local computational node interconnected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus, and including at least one command processor. The command processor communicates over the bus with a plurality of joint controller cards. A plurality of direct current torque motors, of the type used in telerobot joints and telerobot hand-held controllers, are connected to the controller cards and responds to digital control signals from the command processor. Essential motor operating parameters are sensed by analog sensing circuits and the sensed analog signals are converted to digital signals for storage at the controller cards where such signals can be read during an address read/write cycle of the command processing processor.

Szakaly, Zoltan F.↗