SEARCH · Search NASA

Results for “COMPENSATION”

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.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 1,423 records · Page 79

All sources NASA NTRS DOE OSTI

NASA NTRS1984

Fault-tolerant system considerations for a redundant strapdown inertial measurement unit

The development and evaluation of a fault-tolerant system for the Redundant Strapdown Inertial Measurement Unit (RSDIMU) being developed and evaluated by the NASA Langley Research Center was continued. The RSDIMU consists of four two-degree-of-freedom gyros and accelerometers mounted on the faces of a semi-octahedron which can be separated into two halves for damage protection. Compensated and uncompensated fault-tolerant system failure decision algorithms were compared. An algorithm to compensate for sensor noise effects in the fault-tolerant system thresholds was evaluated via simulation. The effects of sensor location and magnitude of the vehicle structural modes on system performance were assessed. A threshold generation algorithm, which incorporates noise compensation and filtered parity equation residuals for structural mode compensation, was evaluated. The effects of the fault-tolerant system on navigational accuracy were also considered. A sensor error parametric study was performed in an attempt to improve the soft failure detection capability without obtaining false alarms. Also examined was an FDI system strategy based on the pairwise comparison of sensor measurements. This strategy has the specific advantage of, in many instances, successfully detecting and isolating up to two simultaneously occurring failures.

Motyka, P.↗

NASA NTRS1986

Further development of the dynamic gas temperature measurement system. Volume 1: Technical efforts

A compensated dynamic gas temperature thermocouple measurement method was experimentally verified. Dynamic gas temperature signals from a flow passing through a chopped-wheel signal generator and an atmospheric pressure laboratory burner were measured by the dynamic temperature sensor and other fast-response sensors. Compensated data from dynamic temperature sensor thermoelements were compared with fast-response sensors. Results from the two experiments are presented as time-dependent waveforms and spectral plots. Comparisons between compensated dynamic temperature sensor spectra and a commercially available optical fiber thermometer compensated spectra were made for the atmospheric burner experiment. Increases in precision of the measurement method require optimization of several factors, and directions for further work are identified.

Elmore, D. L.↗

NASA NTRS1988

Approximation theory for LQG (Linear-Quadratic-Gaussian) optimal control of flexible structures

An approximation theory is presented for the LQG (Linear-Quadratic-Gaussian) optimal control problem for flexible structures whose distributed models have bounded input and output operators. The main purpose of the theory is to guide the design of finite dimensional compensators that approximate closely the optimal compensator. The optimal LQG problem separates into an optimal linear-quadratic regulator problem and an optimal state estimation problem. The solution of the former problem lies in the solution to an infinite dimensional Riccati operator equation. The approximation scheme approximates the infinite dimensional LQG problem with a sequence of finite dimensional LQG problems defined for a sequence of finite dimensional, usually finite element or modal, approximations of the distributed model of the structure. Two Riccati matrix equations determine the solution to each approximating problem. The finite dimensional equations for numerical approximation are developed, including formulas for converting matrix control and estimator gains to their functional representation to allow comparison of gains based on different orders of approximation. Convergence of the approximating control and estimator gains and of the corresponding finite dimensional compensators is studied. Also, convergence and stability of the closed-loop systems produced with the finite dimensional compensators are discussed. The convergence theory is based on the convergence of the solutions of the finite dimensional Riccati equations to the solutions of the infinite dimensional Riccati equations. A numerical example with a flexible beam, a rotating rigid body, and a lumped mass is given.

Gibson, J. S.↗

NASA NTRS1989

Integrated flight/propulsion control system design based on a centralized approach

An integrated flight/propulsion control system design is presented for the piloted longitudinal landing task with a modern, statically unstable, fighter aircraft. A centralized compensator based on the Linear Quadratic Gaussian/Loop Transfer Recovery methodology is first obtained to satisfy the feedback loop performance and robustness specificiations. This high-order centralized compensator is then partitioned into airframe and engine sub-controllers based on modal controllability/observability for the compensator modes. The order of the sub-controllers is then reduced using internally-balanced realization techniques and the sub-controllers are simplified by neglecting the insignificant feedbacks. These sub-controllers have the advantage that they can be implemented as separate controllers on the airframe and the engine while still retaining the important performance and stability characteristics of the full-order centralized compensator. Command prefilters are then designed for the closed-loop system with the simplified sub-controllers to obtain the desired system response to airframe and engine command inputs, and the overall system performance evaluation results are presented.

Garg, Sanjay↗

NASA NTRS1989

Integrated flight/propulsion control system design based on a centralized approach

Garg, Sanjay↗

NASA NTRS1990

H2, fixed architecture, control design for large scale systems

The H2, fixed architecture, control problem is a classic linear quadratic Gaussian (LQG) problem whose solution is constrained to be a linear time invariant compensator with a decentralized processing structure. The compensator can be made of p independent subcontrollers, each of which has a fixed order and connects selected sensors to selected actuators. The H2, fixed architecture, control problem allows the design of simplified feedback systems needed to control large scale systems. Its solution becomes more complicated, however, as more constraints are introduced. This work derives the necessary conditions for optimality for the problem and studies their properties. It is found that the filter and control problems couple when the architecture constraints are introduced, and that the different subcontrollers must be coordinated in order to achieve global system performance. The problem requires the simultaneous solution of highly coupled matrix equations. The use of homotopy is investigated as a numerical tool, and its convergence properties studied. It is found that the general constrained problem may have multiple stabilizing solutions, and that these solutions may be local minima or saddle points for the quadratic cost. The nature of the solution is not invariant when the parameters of the system are changed. Bifurcations occur, and a solution may continuously transform into a nonstabilizing compensator. Using a modified homotopy procedure, fixed architecture compensators are derived for models of large flexible structures to help understand the properties of the constrained solutions and compare them to the corresponding unconstrained ones.

Mercadal, Mathieu↗

NASA NTRS1990

Acceleration and torque feedback for robotic control - Experimental results

Gross motion control of robotic manipulators typically requires significant on-line computations to compensate for nonlinear dynamics due to gravity, Coriolis, centripetal, and friction nonlinearities. One controller proposed by Luo and Saridis avoids these computations by feeding back joint acceleration and torque. This study implements the controller on a Puma 600 robotic manipulator. Joint acceleration measurement is obtained by measuring linear accelerations of each joint, and deriving a computationally efficient transformation from the linear measurements to the angular accelerations. Torque feedback is obtained by using the previous torque sent to the joints. The implementation has stability problems on the Puma 600 due to the extremely high gains inherent in the feedback structure. Since these high gains excite frequency modes in the Puma 600, the algorithm is modified to decrease the gain inherent in the feedback structure. The resulting compensator is stable and insensitive to high frequency unmodeled dynamics. Moreover, a second compensator is proposed which uses acceleration and torque feedback, but still allows nonlinear terms to be fed forward. Thus, by feeding the increment in the easily calculated gravity terms forward, improved responses are obtained. Both proposed compensators are implemented, and the real time results are compared to those obtained with the computed torque algorithm.

Mclnroy, John E.↗

NASA NTRS1991

Experimental results using active control of traveling wave power flow

Active structural control experiments conducted on a 24-ft pinned-free beam derived feedback compensators on the basis of a traveling-wave approach. A compensator is thus obtained which eliminates resonant behavior by absorbing all impinging power. A causal solution is derived for this noncausal compensator which mimics its behavior in a given frequency range, using the Wiener-Hopf. This optimal Wiener-Hopf compensator's structure-damping performance is found to exceed any obtainable by means of rate feedback. Performance limitations encompassed the discovery of frequencies above which the sensor and actuator were no longer dual and an inadvertent coupling of the control hardware to unmodeled structure torsion modes.

Miller, David W.↗

NASA NTRS1992

A pattern synthesis technique for array feeds to improve radiation performance of large distorted reflector antennas

Technologies exist for construction of antennas with adaptive surfaces that can compensate for many of the larger distortions caused by thermal and gravitational forces. However, as the frequency and size of the reflectors increase, the subtle surface errors become significant and degrade the overall electromagnetic performance. Electronic compensation through an adaptive feed array offers a means for mitigation of surface distortion effects. A pattern synthesis approach for electromagnetic compensation of surface error is presented. The pattern synthesis approach uses a localized algorithm in which pattern corrections are directed toward specific portions of the pattern requiring improvement. The pattern synthesis technique uses radiation pattern data to perform the compensation.

Smith, William T.↗

NASA NTRS1992

Western Aphrodite Terra, tectonics, geology, and line-of-sight gravity

Aphrodite Terra is the largest area of high-standing topography on Venus, and isostatic considerations strongly suggest that this high topography is supported at least in part by thickened crust. Previous studies of line-of-sight gravity data from the Pioneer Venus Orbiter indicate rapidly changing apparent depths of compensation across Aphrodite Terra. Magellan imaging data provide the first detailed images of this region, and we are mapping the region along Pioneer Venus orbit 440 to investigate whether the changing apparent depths of compensation correlate with changes in surficial tectonics. Preliminary mapping of geological features on Magellan images along the path of Pioneer Venus orbit 440 do not indicate a first-order correlation among surface features and changes in the apparent depth of compensation of line-of-sight gravity data. The apparent depth of compensation appears to be most variable in regions dominated by tessera, but not all areas of tessera have distinct gravity signatures. There is a weak correlation among areas in which impact craters are relatively common and areas in which the observed and predicted gravity anomalies are poorly correlated.

Hays, John E.↗

NASA NTRS1993

Synthesis of robust controllers

At the 1990 American Controls Conference a benchmark problem was issued as a challenge for designing robust compensators. Many compensators were presented in response to the problem. In previous work Stochastic Robustness Analysis (SRA) was used to compare these compensators. In this work SRA metrics are used as guides to synthesize robust compensators, using the benchmark problem as an example.

Marrison, Chris↗

NASA NTRS1993

Robust controller design for flexible structures using normalized coprime factor plant descriptions

Stabilization is a fundamental requirement in the design of feedback compensators for flexible structures. The search for the largest neighborhood around a given design plant for which a single controller produces closed-loop stability can be formulated as an H(sub infinity) control problem. The use of normalized coprime factor plant descriptions, in which the plant perturbations are defined as additive modifications to the coprime factors, leads to a closed-form expression for the maximum neighborhood boundary allowing optimal and suboptimal H(sub infinity) compensators to be computed directly without the usual gamma iteration. A summary of the theory on robust stabilization using normalized coprime factor plant descriptions is presented, and the application of the theory to the computation of robustly stable compensators for the phase version of the Control-Structures Interaction (CSI) Evolutionary Model is described. Results from the application indicate that the suboptimal version of the theory has the potential of providing the bases for the computation of low-authority compensators that are robustly stable to expected variations in design model parameters and additive unmodeled dynamics.

Armstrong, Ernest S.↗

NASA NTRS1993

Robust crossfeed design for hovering rotorcraft

Control law design for rotorcraft fly-by-wire systems normally attempts to decouple angular responses using fixed-gain crossfeeds. This approach can lead to poor decoupling over the frequency range of pilot inputs and increase the load on the feedback loops. In order to improve the decoupling performance, dynamic crossfeeds may be adopted. Moreover, because of the large changes that occur in rotorcraft dynamics due to small changes about the nominal design condition, especially for near-hovering flight, the crossfeed design must be 'robust.' A new low-order matching method is presented here to design robost crossfeed compensators for multi-input, multi-output (MIMO) systems. The technique identifies degrees-of-freedom that can be decoupled using crossfeeds, given an anticipated set of parameter variations for the range of flight conditions of concern. Cross-coupling is then reduced for degrees-of-freedom that can use crossfeed compensation by minimizing off-axis response magnitude average and variance. Results are presented for the analysis of pitch, roll, yaw, and heave coupling of the UH-60 Black Hawk helicopter in near-hovering flight. Robust crossfeeds are designed that show significant improvement in decoupling performance and robustness over nominal, single design point, compensators. The design method and results are presented in an easily-used graphical format that lends significant physical insight to the design procedure. This plant pre-compensation technique is an appropriate preliminary step to the design of robust feedback control laws for rotorcraft.

Catapang, David R.↗

NASA NTRS1922

The Use of Multiplied Pressures for Automatic Altitude Adjustments

The efficient performance of an airplane requires that certain adjustments be made as the density of the air through which the airplane passes changes. The safety of the over-dimensioned aircraft engine depends upon careful manipulation of spark advance and throttle opening and a proper control of a variable pitch propeller, if the maximum performance of the supercharged engine is to be obtained. It is evident that there is a real need for satisfactory devices to make such adjustments automatically. Discussed here is a method of automatic compensation which deserves consideration in the design of such devices. Existing schemes for automatic compensation all depend upon some contrivance which functions primarily because of changes in atmospheric pressure. In these devices a leak in the supposedly tight chamber means utter failure. The elimination of this source of danger is one of the aims of the method of altitude compensation described here. The change suggested is to make the source of operation the difference between atmospheric pressure and some multiple of atmospheric pressure instead of the difference between the atmospheric pressure and that of the gas confined in a tight chamber. The design of a device based on this method of altitude compensation is given.

Sparrow, Stanwood S↗

NASA NTRS1993

Geophysical models of Western Aphrodite-Niobe region: Venus

The new topography and gravitational field data for Venus expressed in spherical harmonics of degree and order up to 50 allow us to analyze the crust-mantle boundary relief and stress state of the Venusian lithosphere. In these models, we consider models in which convection is confined beneath a thick, buoyant lithosphere. We divide the convection regime into an upper mantle and lower mantle component. The lateral scales are smaller than on Earth. In these models, relative to Earth, convection is reflected in higher order terms of the gravitational field. On Venus geoid height and topography are highly correlated, although the topography appears to be largely compensated. We hypothesize that Venus topography for those wavelengths that correlate well with the geoid is partly compensated at the crust-mantle boundary, while for the others compensation may be distributed over the whole mantle. In turn the strong sensitivity of the stresses to parameters of the models of the external layers of Venus together with geological mapping allows us to begin investigations of the tectonics and geodynamics of the planet. For stress calculations we use a new technique of space- and time-dependent Green's response functions using Venus models with rheologically stratified lithosphere and mantle and a ductile lower crust. In the basic model of Venus the mean crust is 50-70 km thick, the density contrast across the crust-mantle boundary is in the range from 0.3 to 0.4 g/cm(exp -3). The thickness of a weak mantle zone may be from 350 to 1000 km. Strong sensitivity of calculated stress to various parameters of the layered model of Venus together with geological mapping and analysis of surface tectonic patterns allow us to investigate the tectonics and geodynamics of the planet. The results are presented in the form of maps of compression-extension and maximum shear stresses in the lithosphere and maps of crust-mantle boundary relief, which can be presented as a function of time. We have modeled the region of Western Aphrodite and the Niobe plains to get reasonable depths of compensation. Crust mantle boundary relief is calculated for Western Aphrodite-Niobe relative to a mean crustal thickness of 50 km. The calculations include the consequences of simple crust models and more complicated models with a weak, ductile lower crust, a strong upper mantle and a weak lower mantle layer.

Marchenkov, K. I.↗

NASA NTRS1993

Response of the topography and gravity field on Venus to mantle upwelling beneath a chemical boundary layer

The long wavelength correlation of the gravity and topography and the large apparent depths of compensation (approximately 150-300 km) for large highland regions on Venus require significant differences between the interior structure of Earth and Venus. The morphology, geologic history, and large apparent depths of compensation for many highlands have been interpreted to indicate areas of mantle upwelling. A large apparent depth of compensation at a mantle upwelling is generally interpreted to indicate the base of the thermal boundary layer of convection. A boundary layer thickness of 150-300 km implies that the interior of Venus is presently much colder than Earth and thus tectonically less active. The recent Magellan mission has provided contradictory evidence regarding the present level of tectonic activity on Venus, prompting considerable debate. In this study, we investigate the possibility that a chemical boundary layer acts together with a thermal boundary layer to produce large apparent depths of compensation, or equivalently, large geoid-to-topography-ratios (GTR's). The crust of a planet forms through partial melting of mantle materials. Both the melt and the residuum are lower in density than unmelted (or undepleted) mantle. In the absence of vigorous plate tectonics, a thick layer of buoyant residuum, or depleted mantle, may collect beneath the lithosphere. In this scenario, the thermal lithosphere does not need to be thick and cold to match the GTR's. Cooling of the depleted layer may lead to overturn of the upper mantle and episodic resurfacing with time scales on the order of 300-500 MY, consistent with the resurfacing age of Venus.

Smrekar, Suzanne E.↗

NASA NTRS1994

Multiwire thermocouples: Frequency response

Experimental measurements are made with a novel two wire thermocouple. Signals from two wires of unequal diameters are recorded from the thermocouple suspended in constant flow with a periodic temperature fluctuation. It is demonstrated that the reconstructed signal from the two wire thermocouple requires no compensation for omega less than or equal to 2 omega(sub 1) where omega is the natural frequency of the smaller wire. A compensation factor is recommended for larger frequencies omega greater than 2 omega(sub 1). Theory and experimental measurements are compared with a novel three wire thermocouple. Signals from three wires of unequal diameters are recorded from the thermocouple suspended in constant flow with a periodic temperature fluctuation. It is demonstrated that the reconstructed signal from the three wire thermocouple requires no compensation for omega less than or equal to 5 omega(sub 1) where omega (sub 1) is the natural frequency of the smaller wire. The latter result represents a significant improvement compared to previous work with two wire thermocouples. A correction factor has also been derived to account for wires of arbitrary diameter. Measurements are recorded for multiwire thermocouples consisting of either two or three wires of unequal diameters. Signals from the multiwire probe are recorded for a reversing gas flow with a periodic temperature fluctuation. It is demonstrated that the reconstructed signal from the multiwire thermocouple requires no compensation provided omega/omega(sub 1) is less than 2.3 for two wires or omega/omega(sub 1) is less than 3.6 for three wires where omega(sub 1) is the natural frequency of the smaller wire based on the maximum gas velocity. The latter results were possible provided Fourier transformed data were used and knowledge of the gas velocity is available.

Forney, L. J.↗

NASA NTRS1994

On the cause of the annual cycle in tropical lower-stratospheric temperatures

An analysis of monthly mean, zonally averaged temperatures from the lower-stratospheric channel of the microwave sounding unit (MSU-4) shows that on the month-to-month time scale, there is nearly complete compensation between temperature changes in the tropics and in the extratropics. For the annual cycle the MSU-4 data show a similar compensation between temperatures in the tropics and those in high latitudes, with only a small residual variation in the global mean. The tropics are coldest in January and warmest in July, compensating for the warmer wintertime temperatues in the Northern Hemisphere compared to those in the Southern Hemisphere. These out-of phase temperature variations betwen the tropics and extratropics are interpreted as the signature of an annual cycle in the strength of the wave-driven, Lagrangian mean meridional circulation, which warms the high-latitude winter hemisphere and cools the tropics. The observed phase of the annual cycle in tropical lower-stratospheric temperatures is thus determined by the stronger orographic and thermal forcing of the wintertime planetary waves in the Northern Hemisphere, which drives a stronger Lagrangian mean meridional circulation. In the absence of fluctuations in the global mean diabatic heating, the compensation would be complete and the globally averaged temperature would be constant. The small annual cycle in the globally averaged temperature in the MSU-4 data is nearly in phase with the annual cycle in the tropics and is consistent with the annual cycle in diabatic heating by ozone.

Yulaeva, Elena↗