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At least 145 records · Page 8

Identification of system, observer, and controller from closed-loop experimental data

This paper considers the identification problem of a system operating in closed-loop with an existing feedback controller. The closed-loop system is excited by a known excitation signal, and the resulting time histories of the closed-loop system response and the feedback signal are measured. From the time history data, the algorithm computes the Markov parameters of a closed-loop observer, from which the Markov parameters of the individual open-loop plant, observer, and controller are recovered. A state space model of the open-loop plant and the gain matrices for the controller and the observer are then realized. The results of the paper are demonstrated by an example using actual aircraft flutter test data.

Juang, Jer-Nan↗

Telefunctioning - An approach to telerobotic manipulations

This study introduces three concepts: telefunctioning, a control method for achieving telefunctioning, and an approach to the analysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates maneuvering of loads by creating a perpetual sense of the load dynamics for the operator. Telefunctioning is defined as a robotic manipulation method in which the dynamic behaviors of the slave robot and the master robot are functions of each other; these functions are the designer's choice and depend on the application. In a subclass of telefunctioning called telepresence, all of the relationships between the master and the slave are specified as unity so that all of the master and slave variables (e.g., position and velocity) are dynamically equal. To create telefunctioning, a minimum number of functions relating the robots' variables is identified. A control architecture which guarantees that the defined functions govern the dynamic behavior of the system is then developed. The stability of the closed-loop system (master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived.

Kazerooni, H.↗

Alleviation of whirl-flutter on a joined-wing tilt-rotor aircraft configuration using active controls

The feasibility of using active controls to delay the onset of whirl-flutter on a joined-wing tilt rotor aircraft was investigated. The CAMRAD/JA code was used to obtain a set of linear differential equations which describe the motion of the joined-wing tilt-rotor aircraft. The hub motions due to wing/body motion is a standard input to CAMRAD/JA and were obtained from a structural dynamics model of a representative joined-wing tilt-rotor aircraft. The CAMRAD/JA output, consisting of the open-loop system matrices, and the airframe free vibration motion were input to a separate program which performed the closed-loop, active control calculations. An eigenvalue analysis was performed to determine the flutter stability of both open- and closed-loop systems. Sensor models, based upon the feedback of pure state variables and based upon hub-mounted sensors, providing physically measurable accelerations, were evaluated. It was shown that the onset of tilt-rotor whirl-flutter could be delayed from 240 to above 270 knots by feeding back vertical and span-wise accelerations, measured at the rotor hub, to the longitudinal cyclic pitch. Time response calculations at a 270-knot cruise condition showed an active cyclic pitch control level of 0.009 deg, which equates to a very acceptable 9 pound active-control force applied at the rotor hub.

Vanaken, Johannes M.↗

Preliminary demonstration of a robust controller design method

Alternative computational procedures for obtaining a feedback control law which yields a control signal based on measurable quantitites are evaluated. The three methods evaluated are: (1) the standard linear quadratic regulator design model; (2) minimization of the norm of the feedback matrix, k via nonlinear programming subject to the constraint that the closed loop eigenvalues be in a specified domain in the complex plane; and (3) maximize the angles between the closed loop eigenvectors in combination with minimizing the norm of K also via the constrained nonlinear programming. The third or robust design method was chosen to yield a closed loop system whose eigenvalues are insensitive to small changes in the A and B matrices. The relationship between orthogonality of closed loop eigenvectors and the sensitivity of closed loop eigenvalues is described. Computer programs are described.

Anderson, L. R.↗

Solar Airplanes and Regenerative Fuel Cells

A solar electric aircraft with the potential to "fly forever" has captured NASA's interest, and the concept for such an aircraft was pursued under Aeronautics Environmental Research Aircraft and Sensor Technology (ERAST) project. Feasibility of this aircraft happens to depend on the successful development of solar power technologies critical to NASA's Exploration Initiatives; hence, there was widespread interest throughout NASA to bring these technologies to a flight demonstration. The most critical is an energy storage system to sustain mission power during night periods. For the solar airplane, whose flight capability is already limited by the diffuse nature of solar flux and subject to latitude and time of year constraints, the feasibility of long endurance flight depends on a storage density figure of merit better than 400-600 watt-hr per kilogram. This figure of merit is beyond the capability of present day storage technologies (other than nuclear) but may be achievable in the hydrogen-oxygen regenerative fuel cell (RFC). This potential has led NASA to undertake the practical development of a hydrogen-oxygen regenerative fuel cell, initially as solar energy storage for a high altitude UAV science platform but eventually to serve as the primary power source for NASAs lunar base and other planet surface installations. Potentially the highest storage capacity and lowest weight of any non-nuclear device, a flight-weight RFC aboard a solar-electric aircraft that is flown continuously through several successive day-night cycles will provide the most convincing demonstration that this technology's widespread potential has been realized. In 1998 NASA began development of a closed cycle hydrogen oxygen PEM RFC under the Aeronautics Environmental Research Aircraft and Sensor Technology (ERAST) project and continued its development, originally for a solar electric airplane flight, through FY2005 under the Low Emissions Alternative Power (LEAP) project. Construction of the closed loop system began in 2002 at the NASA Glenn Research Center in Cleveland, Ohio. System checkout was completed, and testing began, in July of 2003. The initial test sequences were done with only a fuel cell or electrolyzer in the test rig. Those tests were used to verify the test apparatus, procedures, and software. The first complete cycles of the fully closed loop, regenerative fuel cell system were successfully completed in the following September. Following some hardware upgrades to increase reactant recirculation flow, the test rig was operated at full power in December 2003 and again in January 2004. In March 2004 a newer generation of fuel cell and electrolyzer stacks was substituted for the original hardware and these stacks were successfully tested at full power under cyclic operation in June of 2004.

Bents, David J.↗

Control of large flexible systems via eigenvalue relocation

For the vibration control of large flexible systems, a control scheme by which the eigenvalues of the closed-loop systems are assigned to predetermined locations within the feasible region through velocity-only feedback is presented. Owing to the properties of second-order lambda-matrices and an efficient model decoupling technique, the control scheme makes it possible that selected modes are damped with the rest of the modes unchanged.

Denman, E. D.↗

Putting the Power of Configuration in the Hands of the Users

Goal was to reduce the overall cost of human space flight while maintaining the most demanding standards for safety and mission success. In support of this goal, a project team was chartered to replace 18 legacy Space Shuttle nonconformance processes and systems with one fully integrated system Problem Reporting and Corrective Action (PRACA) processes provide a closed-loop system for the identification, disposition, resolution, closure, and reporting of all Space Shuttle hardware/software problems PRACA processes are integrated throughout the Space Shuttle organizational processes and are critical to assuring a safe and successful program Primary Project Objectives Develop a fully integrated system that provides an automated workflow with electronic signatures Support multiple NASA programs and contracts with a single "system" architecture Define standard processes, implement best practices, and minimize process variations

Al-Shihabi, Mary-Jo↗

Evaluation of Honeywell Recoverable Computer System (RCS) in Presence of Electromagnetic Effects

The design and development of a Closed-Loop System to study and evaluate the performance of the Honeywell Recoverable Computer System (RCS) in electromagnetic environments (EME) is presented. The development of a Windows-based software package to handle the time critical communication of data and commands between the RCS and flight simulation code in real-time, while meeting the stringent hard deadlines is also presented. The performance results of the RCS while exercising flight control laws under ideal conditions as well as in the presence of electromagnetic fields is also discussed.

Malekpour, Mahyar↗

Dynamic posture analysis of Spacelab-1 crew members

Dynamic posture testing was conducted on the science crew of the Spacelab-1 mission on a single axis linear motion platform. Tests took place in pre- and post-flight sessions lasting approximately 20 min each. The pre-flight tests were widely spaced over the several months prior to the mission while the post-flight tests were conducted over the first, second, fourth, and sixth days after landing. Two of the crew members were also tested on the day of landing. Consistent with previous postural testing conducted on flight crews, these crew members were able to complete simple postural tasks to an acceptable level even in the first few hours after landing. Our tests were designed to induce dynamic postural responses using a variety of stimuli and from these responses, evaluate subtle changes in the postural control system which had occurred over the duration of the flight. Periodic sampling post-flight allowed us to observe the time course of readaptation to terrestrial life. Our observations of hip and shoulder position, when subjected to careful analysis, indicated modification of the postural response from pre- to post-flight and that demonstrable adjustments in the dynamic control of their postural systems were taking place in the first few days after flight. For transient stimuli where the platform on which they were asked to stand quickly moved a few centimeters fore or aft then stopped, ballistic or open loop 'programs' would closely characterize the response. During these responses the desired target position was not always achieved and of equal importance not always properly corrected some 15 seconds after the platform ceased to move. The persistent observation was that the subjects had a much stronger dependence on visual stabilization post-flight than pre-flight. This was best illustrated by a slow or only partial recovery to an upward posture after a transient base-of-support movement with eyes open. Postural responses to persistent wideband pseudorandom base-of-support translation were modeled as time invarient linear systems arrived at by Kalman adaptive filter techniques. Derived model parameters such as damping factor and fundamental frequency of the closed loop system showed significant modification between pre- and post-flight. This phenomenon is best characterized by movement of the poles toward increasing stability. While pre-flight data tended to show shoulders and hips moving in phase with each other, post-flight data showed a more disjoint behavior.(ABSTRACT TRUNCATED AT 400 WORDS).

Non-NASA Center↗

An application of high authority/low authority control and positivity

Control Dynamics Company (CDy), in conjunction with NASA Marshall Space Flight Center (MSFC), has supported the U.S. Air Force Wright Aeronautical Laboratory (AFWAL) in conducting an investigation of the implementation of several DOD controls techniques. These techniques are to provide vibration suppression and precise attitude control for flexible space structures. AFWAL issued a contract to Control Dynamics to perform this work under the Active Control Technique Evaluation for Spacecraft (ACES) Program. The High Authority Control/Low Authority Control (HAC/LAC) and Positivity controls techniques, which were cultivated under the DARPA Active Control of Space Structures (ACOSS) Program, were applied to a structural model of the NASA/MSFC Ground Test Facility ACES configuration. The control systems design were accomplished and linear post-analyses of the closed-loop systems are provided. The control system designs take into account effects of sampling and delay in the control computer. Nonlinear simulation runs were used to verify the control system designs and implementations in the facility control computers. Finally, test results are given to verify operations of the control systems in the test facility.

Seltzer, S. M.↗

Mathematical Modeling Of Life-Support Systems

Generic hierarchical model of life-support system developed to facilitate comparisons of options in design of system. Model represents combinations of interdependent subsystems supporting microbes, plants, fish, and land animals (including humans). Generic model enables rapid configuration of variety of specific life support component models for tradeoff studies culminating in single system design. Enables rapid evaluation of effects of substituting alternate technologies and even entire groups of technologies and subsystems. Used to synthesize and analyze life-support systems ranging from relatively simple, nonregenerative units like aquariums to complex closed-loop systems aboard submarines or spacecraft. Model, called Generic Modular Flow Schematic (GMFS), coded in such chemical-process-simulation languages as Aspen Plus and expressed as three-dimensional spreadsheet.

Seshan, Panchalam K.↗

Effect of control surface mass unbalance on the stability of a closed-loop active control system

The effects on stability of inertial forces arising from closed-loop activation of mass-unbalanced control surfaces are studied analytically using inertial energy approach, similar to the aerodynamic energy approach used for flutter suppression. The limitations of a single control surface like a leading-edge (LE) control or a trailing-edge (TE) control are demonstrated and compared to the superior combined LE-TE mass unbalanced system. It is shown that a spanwise section for sensor location can be determined which ensures minimum sensitivity to the mode shapes of the aircraft. It is shown that an LE control exhibits compatibility between inertial stabilization and aerodynamic stabilization, and that a TE control lacks such compatibility. The results of the present work should prove valuable, both for the purpose of flutter suppression using mass unbalanced control surfaces, or for the stabilization of structural modes of large space structures by means of inertial forces.

Nissim, E.↗

Method and apparatus for transfer function simulator for testing complex systems

A method and apparatus for testing the operation of a complex stabilization circuit in a closed loop system is presented. The method is comprised of a programmed analog or digital computing system for implementing the transfer function of a load thereby providing a predictable load. The digital computing system employs a table stored in a microprocessor in which precomputed values of the load transfer function are stored for values of input signal from the stabilization circuit over the range of interest. This technique may be used not only for isolating faults in the stabilization circuit, but also for analyzing a fault in a faulty load by so varying parameters of the computing system as to simulate operation of the actual load with the fault.

Kavaya, M. J.↗

Flying qualities and control system characteristics for superaugmented aircraft

Aircraft-alone dynamics and superaugmented control system fundamental regulatory properties including stability and regulatory responses of the basic closed-loop systems; fundamental high and low frequency margins and governing factors; and sensitivity to aircraft and controller parameters are addressed. Alternative FCS mechanizations, and mechanizational side effects are also discussed. An overview of flying qualities considerations encompasses general pilot operations as a controller in unattended, intermittent and trim, and full-attention regulatory or command control; effective vehicle primary and secondary response properties to pilot inputs and disturbances; pilot control architectural possibilities; and comparison of superaugmented and conventional aircraft path responses for different forms of pilot control. Results of a simple experimental investigation into pilot dynamic behavior in attitude control of superaugmented aircraft configurations with high frequency time laps and time delays are presented.

Myers, T. T.↗

Passive dynamic controllers for nonlinear mechanical systems

A methodology for model-independant controller design for controlling large angular motion of multi-body dynamic systems is outlined. The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system and at the same time suppress the vibration due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameter, even if the controlled system is nonlinear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach to a flexible six-degree-of-freedom manipulator.

Juang, Jer-Nan↗