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At least 109 records · Page 6

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NASA NTRS1987

Fixed order compensator design based on frequency shaped cost functionals

This paper treats the design of fixed order compensators using frequency shaped cost functionals. The formulation is done in an output feedback setting which exploits an observer canonical form to represent the compensator dynamics. The major advantages of the design approach are that the order of the compensator is fixed by the design process, and it is not necessary to realize the frequency shaping dynamics as an integral part of the compensator design. This avoids the two-step approach of full state feedback design followed by the design of an observer, which in the case of a full order observer requires a compensator of order n + nf where n is the order of the plant and nf is the order of the frequency shaping realization. The formulation also precludes the use of direct feedback of the plant output, thus reducing the effect of sensor noise and improving the robustness to high frequency unmodeled dynamics. A structural vibration model describing the fast dynamics of a lightweight flexible arm is used as an example to illustrate the design procedure.

Calise, Anthony J.↗

NASA NTRS1987

A linear quadratic Gaussian with loop transfer recovery proximity operations autopilot for spacecraft

An automatic control scheme for spacecraft proximity operations is presented. The controller is capable of holding the vehicle at a prescribed location relative to a target, or maneuvering it to a different relative position using straight line-of-sight translations. The autopilot uses a feedforward loop to initiate and terminate maneuvers, and for operations at nonequilibrium set-points. A multivariate feedback loop facilitates precise position and velocity control in the presence of sensor noise. The feedback loop is formulated using the Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) design procedure. Linear models of spacecraft dynamics, adapted from Clohessey-Wiltshire Equations, are augmented and loop shaping techniques are applied to design a target feedback loop. The loop transfer recovery procedure is used to recover the frequency domain properties of the target feedback loop. The resulting compensator is integrated into an autopilot which is tested in a high fidelity Space Shuttle Simulator. The autopilot performance is evaluated for a variety of proximity operations tasks envisioned for future Shuttle flights.

Chen, George T.↗

NASA NTRS1988

Threshold computations for detection of failures in SISO systems with transfer function errors

The author considers the problem of detecting failures in SISO systems using analytic redundancy concepts. Since the models used are subject to error, a method of determining the detection thresholds that account for these errors is sought. The methodology presented utilizes a straightforward application of Parseval's relation to develop a threshold computation that is performed online as a function of the input signal. The threshold is set at a quiescent value to account for sensor noise and is adjusted (upward) according to the activity of the input signal. An application to detection of actuator failures is presented.

Weiss, Jerold L.↗

NASA NTRS1989

A pointing system design concept for Space Station attached payloads

A study has been conducted to recommend a pointing system design and architecture that can accommodate the articulated pointing requirements levied on the Space Station Freedom Attached Payload Pointing System. A conceptual design of a control system is developed using classical rate and position control techniques. A high fidelity simulation testbed has been developed as the principal tool for the pointing performance evaluation. Techniques of model reduction are applied to reduce the model order to a manageable size for incorporation into the testbed. The disturbance rich space station environment has been modeled, and nonlinearities such as bearing friction, motor and sensor noise are also considered. Simulations were performed with representatie payloads at nominal pointing orientations. The results show that the tight instrument pointing requirements and the severe Space Station disturbance environment render a marginal performance for a conventional (direct drive and hardmount) gimbal pointing system, particularly for lightweight payloads. A gimbal system that incorporates a passive base isolator and reactionless actuation appears to provide a significant imporvement in pointing performance over the conventional pointing systems.

Wong, Edward↗

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 NTRS1990

The Bode integrals and wave front tilt control

This paper reviews four of Bode's (1940) integrals and what those integrals tell about feedback design in the frequency domain. The resulting design paradigm is known as the Bode ideal cutoff. The Bode ideal cutoff design can be done with pencil and paper and without requiring that the compensator be of a certain fixed order or even a rational function of frequency. The Bode ideal cutoff is applied to the preliminary feedback design of wave front tilt control by two mirrors on a space based interferometer. The design example illustrates how the Bode ideal cutoff takes into account bandwidth, sensor noise constraints, and uncertainties via stability margins, and then maximizes the feedback (loop gain or disturbance rejection) over a prescribed frequency band.

Kissel, Glen J.↗

NASA NTRS1990

High Tc superconducting materials and devices

The high Tc Y1Ba2Cu3O(7-x) ceramic materials, initially developed in 1987, are now being extensively investigated for a variety of engineering applications. The superconductor applications which are presently identified as of most interest to NASA-LaRC are low-noise, low thermal conductivity grounding links; large-area linear Meissner-effect bearings; and sensitive, low-noise sensors and leads. Devices designed for these applications require the development of a number of processing and fabrication technologies. Included among the technologies most specific to the present needs are tapecasting, melt texturing, magnetic field grain alignment, superconductor/polymer composite fabrication, thin film MOD (metal-organic decomposition) processing, screen printing of thick films, and photolithography of thin films. The overall objective of the program was to establish a high Tc superconductivity laboratory capability at NASA-LaRC and demonstrate this capability by fabricating superconducting 123 material via bulk and thin film processes. Specific objectives include: order equipment and set up laboratory; prepare 1 kg batches of 123 material via oxide raw material; construct tapecaster and tapecaster 123 material; fabricate 123 grounding link; fabricate 123 composite for Meissner linear bearing; develop 123 thin film processes (nitrates, acetates); establish Tc and Jc measurement capability; and set up a commercial use of space program in superconductivity at LaRC. In general, most of the objectives of the program were met. Finally, efforts to implement a commercial use of space program in superconductivity at LaRC were completed and at least two industrial companies have indicated their interest in participating.

Haertling, Gene H.↗

NASA NTRS1990

Estimation of UH-60 blade aerodynamic loads and rotor impedance using generalized strain pattern/Kalman filter approach

The purpose of the study is to develop and verify a methodology capable of predicting the vibration levels and estimating the aerodynamic loads and rotor impedance of a rotorcraft blade. Simulated flight test data is generated, blade airloads and elastic hub motions are estimated from the simulated data through the use of the Kalman filter/smoother, simulation upgrading and parameter identification are performed, and the ability to identify rotor impedance from a simulation by isolating the rotor model and providing a prescribed motion for the hub as rotor excitation is demonstrated. It is pointed out that the statistical estimation procedure utilized in the proposed methodology minimizes the impact of sensor noise, truncation error, and instrumentation bias on the results.

Bruhis, Ofer↗

NASA NTRS1989

Application of optical distributed sensing and computation to control of a large flexible spacecraft

Advances in real-time holography make possible the development of new distributed optical sensors and processors that may have application to the control of flexible structures. This paper presents the analytic evaluation of control system concepts utilizing this new technology on realistic spacecraft. The design of a distributed estimator based on this new optical sensing technique is targeted to vibration control of a complex spacecraft with multiple optical sensors, each of which views a portion of the spacecraft. A simulation of a complex truss structure that was flown in the Solar Array Flight Experiment is utilized to evaluate the performance of the estimator. It is shown that good performance can be obtained from a distributed estimator even in the presence of significant sensor noise.

Montgomery, R. C.↗

NASA NTRS1991

Linear quadratic servo control of a reusable rocket engine

A design method for a servo compensator is developed in the frequency domain using singular values. The method is applied to a reusable rocket engine. An intelligent control system for reusable rocket engines was proposed which includes a diagnostic system, a control system, and an intelligent coordinator which determines engine control strategies based on the identified failure modes. The method provides a means of generating various linear multivariable controllers capable of meeting performance and robustness specifications and accommodating failure modes identified by the diagnostic system. Command following with set point control is necessary for engine operation. A Kalman filter reconstructs the state while loop transfer recovery recovers the required degree of robustness while maintaining satisfactory rejection of sensor noise from the command error. The approach is applied to the design of a controller for a rocket engine satisfying performance constraints in the frequency domain. Simulation results demonstrate the performance of the linear design on a nonlinear engine model over all power levels during mainstage operation.

Musgrave, Jeffrey L.↗

NASA NTRS1991

Some practical universal noiseless coding techniques, part 3, module PSl14,K+

The algorithmic definitions, performance characterizations, and application notes for a high-performance adaptive noiseless coding module are provided. Subsets of these algorithms are currently under development in custom very large scale integration (VLSI) at three NASA centers. The generality of coding algorithms recently reported is extended. The module incorporates a powerful adaptive noiseless coder for Standard Data Sources (i.e., sources whose symbols can be represented by uncorrelated non-negative integers, where smaller integers are more likely than the larger ones). Coders can be specified to provide performance close to the data entropy over any desired dynamic range (of entropy) above 0.75 bit/sample. This is accomplished by adaptively choosing the best of many efficient variable-length coding options to use on each short block of data (e.g., 16 samples) All code options used for entropies above 1.5 bits/sample are 'Huffman Equivalent', but they require no table lookups to implement. The coding can be performed directly on data that have been preprocessed to exhibit the characteristics of a standard source. Alternatively, a built-in predictive preprocessor can be used where applicable. This built-in preprocessor includes the familiar 1-D predictor followed by a function that maps the prediction error sequences into the desired standard form. Additionally, an external prediction can be substituted if desired. A broad range of issues dealing with the interface between the coding module and the data systems it might serve are further addressed. These issues include: multidimensional prediction, archival access, sensor noise, rate control, code rate improvements outside the module, and the optimality of certain internal code options.

Rice, Robert F.↗

NASA NTRS1992

H-infinity synthesis using a bilinear pole shifting transform

An H-inifinity control law design is presented for a benchmark problem consisting of an undamped pair of spring-coupled masses with a sensor and actuator that are not collocated. This simple mechanical system captures many of the salient features of more complex aircraft and space structure vibration control problems. The H-infinity problem formulation enables the issue of stability robustness in the face of large mass and spring constant variation to be directly addressed. Constraints on closed-loop dominant pole locations and settling time are accommodated via a simple s-plane bilinear transform. The transform parameter can give direct control of closed-loop disturbance settling time and controller open-loop pole-zero locations. A four-state H-infinity minimum phase controller was found to meet the given specifications of each design. Detailed analysis on the tradeoffs of sensor noise vs control energy are also presented.

Chiang, R. Y.↗

NASA NTRS1992

Control of joint motion simulators for biomechanical research

The authors present a hierarchical adaptive algorithm for controlling upper extremity human joint motion simulators. A joint motion simulator is a computer-controlled, electromechanical system which permits the application of forces to the tendons of a human cadaver specimen in such a way that the cadaver joint under study achieves a desired motion in a physiologic manner. The proposed control scheme does not require knowledge of the cadaver specimen dynamic model, and solves on-line the indeterminate problem which arises because human joints typically possess more actuators than degrees of freedom. Computer simulation results are given for an elbow/forearm system and wrist/hand system under hierarchical control. The results demonstrate that any desired normal joint motion can be accurately tracked with the proposed algorithm. These simulation results indicate that the controller resolved the indeterminate problem redundancy in a physiologic manner, and show that the control scheme was robust to parameter uncertainty and to sensor noise.

Colbaugh, R.↗

NASA NTRS1992

Active figure maintenance control using an optical truss laser metrology system for a space-based far-IR segmented telescope

A two-stage active control approach was developed addressing the figure control problem for a spaceborne FIR telescope, the Precision Segmented Reflectors Focus Moderate Mission Telescope (FMMT). The first active control stage aligns the optical segments based on images; attention is here given to the second stage, active figure maintenance control system, which maintains the alignment of the optical elements between initializations to hold the mirror figure steady while obtaining data and fixes translational and rotational changes of the optical segments induced by long-term thermal drifts of the support structure. Errors are expected to be 10-100 microns at the nodes of the primary backup structure over the course of an orbit. An rms performance of 0.8 microns of wavefront error can be expected during the maintenance function based on specified nominal sensor noises, actuator accuracies, and system environments. A performance of less than 0.3 microns rms can be expected, based on advanced components.

Lau, Kenneth↗

NASA NTRS1993

An onboard star identification algorithm

The paper presents the autonomous Initial Stellar Acquisition (ISA) algorithm developed for the X-Ray Timing Explorer for prividing the attitude quaternion within the desired accuracy, based on the one-axis attitude knowledge (through the use of the Digital Sun Sensor, CCD Star Trackers, and the onboard star catalog, OSC). Mathematical analysis leads to an accurate measure of the performance of the algorithm as a function of various parameters, such as the probability of a tracked star being in the OSC, the sensor noise level, and the number of stars matched. It is shown that the simplicity, tractability, and robustness of the ISA algorithm, compared to a general three-axis attiude determination algorithm, make it a viable on-board solution.

Ha, Kong↗

NASA NTRS1996

Guidance and Control Design for High-Speed Rollout and Turnoff (ROTO)

A ROTO architecture, braking and steering control law and display designs for a research high speed Rollout and Turnoff (ROTO) system applicable to transport class aircraft are described herein. Minimum surface friction and FMS database requirements are also documented. The control law designs were developed with the aid of a non-real time simulation program incorporating airframe and gear dynamics as well as steering and braking guidance algorithms. An attainable objective of this ROTO system, as seen from the results of this study, is to assure that the studied aircraft can land with runway occupancy times less then 53 seconds. Runway occupancy time is measured from the time the aircraft crosses the runway threshold until its wing tip clears the near side of the runway. Turnoff ground speeds of 70 knots onto 30 degree exits are allowed with dry and wet surface conditions. Simulation time history and statistical data are documented herein. Parameters which were treated as variables in the simulation study include aircraft touchdown weight/speed/location, aircraft CG, runway friction, sensor noise and winds. After further design and development of the ROTO control system beyond the system developed earlier, aft CG MD-11 aircraft no longer require auto-asymmetric braking (steering) and fly-by-wire nose gear steering. However, the auto ROTO nose gear hysteresis must be less than 2 degrees. The 2 sigma dispersion certified for MD-11 CATIIIB is acceptable. Using this longitudinal dispersion, three ROTO exits are recommended at 3300, 4950 and 6750 feet past the runway threshold. The 3300 foot exit is required for MD-81 class aircraft. Designs documented in this report are valid for the assumptions/models used in this simulation. It is believed that the results will apply to the general class of transport aircraft; however further effort is required to validate this assumption for the general case.

Goldthorpe, S. H.↗

NASA NTRS1993

Performance of the FOS Detectors in a Variable External Magnetic Field

We present the results of an investigation of the in-orbit performance of the Digicon detectors in the Faint Object Spectrograph (FOS), conducted as part of the commissioning phase of the Hubble Space Telescope. This paper includes orbital results on detector background noise, sensor image stability, and photometric stability along with several typical FOS observations. New techniques for suppressing cosmic ray induced background and geomagnetic induced image motion in electron tube detectors are also discussed.

Fitch, J. E.↗

NASA NTRS1997

Tests of a Semi-Analytical Case 1 and Gelbstoff Case 2 SeaWiFS Algorithm with a Global Data Set

A semi-analytical algorithm was tested with a total of 733 points of either unpackaged or packaged-pigment data, with corresponding algorithm parameters for each data type. The 'unpackaged' type consisted of data sets that were generally consistent with the Case 1 CZCS algorithm and other well calibrated data sets. The 'packaged' type consisted of data sets apparently containing somewhat more packaged pigments, requiring modification of the absorption parameters of the model consistent with the CalCOFI study area. This resulted in two equally divided data sets. A more thorough scrutiny of these and other data sets using a semianalytical model requires improved knowledge of the phytoplankton and gelbstoff of the specific environment studied. Since the semi-analytical algorithm is dependent upon 4 spectral channels including the 412 nm channel, while most other algorithms are not, a means of testing data sets for consistency was sought. A numerical filter was developed to classify data sets into the above classes. The filter uses reflectance ratios, which can be determined from space. The sensitivity of such numerical filters to measurement resulting from atmospheric correction and sensor noise errors requires further study. The semi-analytical algorithm performed superbly on each of the data sets after classification, resulting in RMS1 errors of 0.107 and 0.121, respectively, for the unpackaged and packaged data-set classes, with little bias and slopes near 1.0. In combination, the RMS1 performance was 0.114. While these numbers appear rather sterling, one must bear in mind what mis-classification does to the results. Using an average or compromise parameterization on the modified global data set yielded an RMS1 error of 0.171, while using the unpackaged parameterization on the global evaluation data set yielded an RMS1 error of 0.284. So, without classification, the algorithm performs better globally using the average parameters than it does using the unpackaged parameters. Finally, the effects of even more extreme pigment packaging must be examined in order to improve algorithm performance at high latitudes. Note, however, that the North Sea and Mississippi River plume studies contributed data to the packaged and unpackaged classess, respectively, with little effect on algorithm performance. This suggests that gelbstoff-rich Case 2 waters do not seriously degrade performance of the semi-analytical algorithm.

Carder, Kendall L.↗