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A mathematical problem and a Spacecraft Control Laboratory Experiment (SCOLE) used to evaluate control laws for flexible spacecraft. NASA/IEEE design challenge

The problen of controlling large, flexible space systems has been evaluated using computer simulation. In several cases, ground experiments have also been used to validate system performance under more realistic conditions. There remains a need, however, to test additional control laws for flexible spacecraft and to directly compare competing design techniques. A program is discussed which has been initiated to make direct comparisons of control laws for, first, a mathematical problem, then and experimental test article being assembled under the cognizance of the Spacecraft Control Branch at the NASA Langley Research Center with the advice and counsel of the IEEE Subcommittee on Large Space Structures. The physical apparatus will consist of a softly supported dynamic model of an antenna attached to the Shuttle by a flexible beam. The control objective will include the task of directing the line-of-sight of the Shuttle antenna configuration toward a fixed target, under conditions of noisy data, control authority and random disturbances.

Taylor, Lawrence W., Jr.

Initial materials evaluation of the thermal control surfaces experiment (S0069)

The Thermal Control Surface Experiment (TCSE) was flown on the NASA Long Duration Exposure Facility (LDEF) with the basic objective of determining the effects of the near-earth orbital environment and the LDEF induced environment on spacecraft thermal control surfaces. The TCSE was a comprehensive experiment that combined in-space measurements with extensive post-flight analyses of thermal control surfaces to determine the effects of exposure to the low earth orbit space environment. The TCSE is the first space experiment to measure the optical properties of thermal control surfaces the way they are routinely measured in the laboratory. The specific mission objectives of the TCSE were to: (1) determine the effects of the natural and induced space environment on thermal control surfaces; (2) provide in-space performance data on thermal control surfaces; (3) provide in-space comparison to ground-based environmental testing of materials; and (4) develop and prove instrumentation to perform in-space optical testing of materials. Various aspects of the experiment are discussed.

Donald R. Wilkes

Experience in distributed parameter modeling of the Spacecraft Control Laboratory Experiment (SCOLE) structure

The Spacecraft Control Laboratory Experiment (SCOLE) configuration is used to compare exact and approximate solutions of the partial differential equations which define its structural dynamics. The need for a proof model for evaluating competing control laws demands that solutions be generated which not only exhibit accurate modal characteristics, but precise static deflections as well. Because precise pointing is required, the motion of the end bodies of the Shuttle-attached antenna must be known with great accuracy. Modal models are attractive because of their stable solutions but require hundreds of modes to obtain a static deflection accuracy of only one percent. Although proportional damping in bending agrees well with experimental results using the SCOLE experimental apparatus, modes which involve both torsion and bending differ significantly from proportional damping. A lumped mass model is used to generate exact static deflections, but only approximate modal characteristics. Asymptotic solutions to the distributed parameter system approximate very accurately the modal characteristics at high mode numbers. Ways are examined for refining the approximate solutions by applying a first-order variation and by employing singular perturbation techniques which are usually limited to ordinary differential equations. The most accurate solutions of the distributed parameter model of SCOLE are obtained by combining exact and asymptotic solutions.

Taylor, L. W.

Trend analysis of in-situ spectral reflectance data from the Thermal Control Surfaces Experiment (TCSE)

The Thermal Control Surfaces Experiment (TCSE) on the LDEF was a comprehensive experiment that combined in-space measurements with extensive pre- and post-flight analyses of thermal control surfaces to determine the effects of exposure to the low earth orbit (LEO) space environment. The TCSE is the first space experiment to directly measure in-situ total hemispherical reflectance of thermal control surfaces in the same way they are routinely measured in the laboratory. In-space optical measurements performed by the TCSE provide the unique opportunity for trend analysis of the performance of materials in the space environment. Such trend analysis of flight data offers the potential to develop an empirical life time prediction model for several thermal control surfaces. For material research, trend analysis of the TCSE flight data, particularly the spectral data, can provide insight into the damage mechanisms of space exposure. Trend analysis for the TCSE samples has been limited to those materials that were not significantly eroded by the atomic oxygen (AO) environment. The performance of several materials on the LDEF mission was dominated by AO effects. Trend analysis was performed on both the detailed spectral reflectance measurements (in-space, pre-flight, and post-flight) and on the integrated solar absorptance. Results of this analysis for the five selected TCSE materials are presented along with the spectral flight data. Possible degradation and effects mechanisms will be discussed to better understand and predict the behavior of these materials in the LEO space environment.

Wilkes, Donald R.

ATS-6 - Flight performance of the Advanced Thermal Control Flight Experiment

The Advanced Thermal Control Flight Experiment on ATS-6 was designed to demonstrate the thermal control capability of a thermal diode (one-way) heat pipe, a phase-change material for thermal storage, and a feedback-controlled heat pipe. Flight data for the different operational modes are compared to ground test data, and the performance of the components is evaluated on an individual basis and as an integrated temperature-control system.

Kirkpatrick, J. P.

Long term performance of the advanced thermal control flight experiment

The Advanced Thermal Control Flight Experiment (ATFE) is providing the first zero-g flight data for the performance of a thermal diode heat pipe and an electrical Feedback Controlled Heat Pipe (FCHP). The temperature stability derived from the melting and freezing of octadecane is also being evaluated in this experiment. Flight data for the different operational modes are compared to ground test data, and the performance of the individual components is analyzed. Also, the ATFE's long term behavior from launch through September 30, 1975, is evaluated. The temperature control capability of a thermal diode, phase change material, and FCHP was demonstrated over more than 500 days of flight operation and each of these components should be considered in future applications. Both the diode and FCHP transport more than 20 W in the normal and passive modes during maximum conditions. Up to 30 W has been carried by the FCHP when the auxiliary heater is applied. The "OFF-conductance" of the diode has improved substantially in flight. A 1.4 W decrease in backflow has been realized by more complete blockage. The variable conductance behavior of the FCHP is essentially unchanged with time and relative to ground tests. Degradation of the radiator and reservoir surfaces have resulted in a partial loss of control by the FCHP during normal mode operation; however, manual control at an elevated set point has demonstrated the FCHP's ability to provide regulated temperature control to within + or - 2 C. The same pipe when operated as a passive VCHP controlled at 35 + or - 10 C with the same test conditions.

Brennan, P. J.

A mathematical problem and a Spacecraft Control Laboratory Experiment (SCOLE) used to evaluate control laws for flexible spacecraft. NASA/IEEE design challenge

Discussed here is a NASA program which was initiated to make direct comparisons of control laws for a mathematical problem. An experimental test item is being assembled under the cognizance of the Spacecraft Control Branch at Langley Research Center. The physical apparatus will consist of a softly supported dynamic model of an antenna attached to the Space Shuttle by a flexible beam. The control objective will include the task of directing the line of sight of the Shuttle/antenna configuration toward a fixed target, under conditions of noisy data, limited control authority, and random disturbances.

Taylor, Lawrence W., Jr.

The continuing materials analysis of the thermal control surfaces experiment (S0069)

The long term effects of the natural and induced space environment on spacecraft surfaces are critically important to future spacecraft - including Space Station Freedom. The damaging constituents of this environment include thermal vacuum, solar ultraviolet radiation, atomic oxygen, particulate radiation, and the spacecraft induced environment. The behavior of materials and coatings in the space environment continues to be a limiting technology for spacecraft and experiments. The Thermal Control Surfaces Experiment (TCSE) was flown on the National Aeronautics and Space Administration (NASA) Long Duration Exposure Facility (LDEF) to study these environmental effects on surfaces-particularly on thermal control surfaces. The TCSE was a comprehensive experiment that combined in-space measurements with extensive pre- and post-flight analyses of thermal control surfaces to determine the effects of exposure to the low Earth orbit space environment. The TCSE is the first space experiment to directly measure the total hemispherical reflectance of thermal control surfaces in the same way they are routinely measured in the laboratory. The trend analyses of selected coatings performed as part of the continuing post-flight analysis of the TCSE are described. A brief description of the TCSE and its mission on LDEF are presented. There are several publications available that describe the TCSE, it's mission on LDEF, and initial results in greater detail. These are listed in the TCSE Bibliography.

Wilkes, Donald R.

Advanced Thermal Control Flight Experiment.

The advanced Thermal Control Flight Experiment on the Applications Technology Satellite (ATS-F) will evaluate, for the first time in a space environment, the performance of a feedback-controlled variable conductance heat pipe and a heat pipe thermal diode. In addition, the temperature control aspects of a phase-change material (PCM) will be demonstrated. The methanol/stainless steel feedback-controlled heat pipe uses helium control gas that is stored in a wicked reservoir. This reservoir is electrically heated through a solid state controller that senses the temperature of the heat source directly. The ammonia/stainless steel diode heat pipe uses excess liquid to block heat transfer in the reverse direction. The PCM is octadecane. Design tradeoffs, fabrication problems, and performance during qualification and flight acceptance tests are discussed.

Kirkpatrick, J. P.

Thermal control surfaces experiment: Initial flight data analysis

The behavior of materials in the space environment continues to be a limiting technology for spacecraft and experiments. The thermal control surfaces experiment (TCSE) aboard the Long Duration Exposure Facility (LDEF) is the most comprehensive experiment flown to study the effects of the space environment on thermal control surfaces. Selected thermal control surfaces were exposed to the LDEF orbital environment and the effects of this exposure were measured. The TCSE combined in-space orbital measurements with pre and post-flight analyses of flight materials to determine the effects of long term space exposure. The TCSE experiment objective, method, and measurements are described along with the results of the initial materials analysis. The TCSE flight system and its excellent performance on the LDEF mission is described. A few operational anomalies were encountered and are discussed.

Wilkes, Donald R.

Thermal control surfaces experiment (S0069) initial materials evaluation

The behavior of materials in the space environment and our understanding of this behavior continues to be a limiting technology for spacecraft and experiments. The Thermal Control Surfaces Experiment (TCSE) aboard the Long Duration Exposure Facility (LDEF) is the most comprehensive experiment flown to study the effects of the space environment on thermal control surfaces. Selected thermal control surfaces were exposed to the LDEF orbital environment and the effects of this exposure measured. The TCSE combined in-space optical measurements with pre- and post-flight analyses of flight materials to determine the effects of long term space exposure. Many of the samples underwent significant changes in appearance as well as optical and mechanical properties.

Wilkes, Donald R.

A practical approach for minimum time control of the Spacecraft Control Laboratory Experiment (SCOLE), appendix A

The Space COntrol Laboratory Experiment (SCOLE) is a challenge for control engineering applications. This is a result of the system dynamics, the available measurement information, the actuator capabilities and finally the specified performance requirements set. Results on the use of Model Reference Adaptive Control were reported. In view of the necessity for rapid response, this work deals with an optimal control formulation, with a minimum time requirement and constrained input. A mathematical statement of the problem is presented. The time optimal control formulation is presented and the reasons that make such an approach not promising are discussed. As a result, a pseudo time-optimal control algorithm is discussed. The proposed approach is tested to see if it satisfies the design specifications, and finally a discussion and suggestions for further research are provided.

Kaufman, H.

Thermal control surfaces experiment flight system performance

The Thermal Control Surfaces Experiment (TCSE) is the most complex system, other than the LDEF, retrieved after long term space exposure. The TCSE is a microcosm of complex electro-optical payloads being developed and flow by NASA and the DoD including SDI. The objective of TCSE was to determine the effects of the near-Earth orbital environment and the LDEF induced environment on spacecraft thermal control surfaces. The TCSE was a comprehensive experiment that combined in-space measurements with extensive post flight analyses of thermal control surfaces to determine the effects of exposure to the low earth orbit space environment. The TCSE was the first space experiment to measure the optical properties of thermal control surfaces the way they are routinely measured in a lab. The performance of the TCSE confirms that low cost, complex experiment packages can be developed that perform well in space.

Wilkes, Donald R.

Thermal control surfaces experiment flight system performance

The Thermal Control Surfaces Experiment (TCSE) is the most complex system retrieved after long term space exposure. The TCSE is a microcosm of complex electro-optical payloads being developed and flown. The objective of the TCSE on the LDEF was to determine the effects of the near-Earth orbital environment and the LDEF induced environment on spacecraft thermal control surfaces. The TCSE was a comprehensive experiment that combined in-space measurements with extensive post-flight analyses of thermal control surfaces to determine the effects of exposure to the low Earth orbit space environment. The TCSE was the first space experiment to measure the optical properties of thermal control surfaces the way they are routinely measured in the lab. The performance of the TCSE flight system on the LDEF was excellent.

Wilkes, Donald R.

Out-reach in-space technology experiments program: Control of flexible robot manipulators in zero gravity, experiment definition phase

The results obtained show that it is possible to control light-weight robots with flexible links in a manner that produces good response time and does not induce unacceptable link vibrations. However, deflections induced by gravity cause large static position errors with such a control system. For this reason, it is not possible to use this control system for controlling motion in the direction of gravity. The control system does, on the other hand, have potential for use in space. However, in-space experiments will be needed to verify its applicability to robots moving in three dimensions.

Phillips, Warren F.

Germination and elongation of flax in microgravity

This experiment was conducted as part of a risk mitigation payload aboard the Space Shuttle Atlantis on STS-101. The objectives were to test a newly developed water delivery system, and to determine the optimal combination of water volume and substrate for the imbibition and germination of flax (Linum usitatissimum) seeds in space. Two different combinations of germination paper were tested for their ability to absorb, distribute, and retain water in microgravity. A single layer of thick germination paper was compared with one layer of thin germination paper under a layer of thick paper. Paper strips were cut to fit snugly into seed cassettes, and seeds were glued to them with the micropyle ends pointing outward. Water was delivered in small increments that traveled through the paper via capillary action. Three water delivery volumes were tested, with the largest (480 microliters) outperforming the 400 microliters and 320 microliters volumes for percent germination (90.6%) and root growth (mean=4.1 mm) during the 34-hour spaceflight experiment. The ground control experiment yielded similar results, but with lower rates of germination (84.4%) and shorter root lengths (mean=2.8 mm). It is not clear if the roots emerged more quickly in microgravity and/or grew faster than the ground controls. The single layer of thick germination paper generally exhibited better overall growth than the two layered option. Significant seed position effects were observed in both the flight and ground control experiments. Overall, the design of the water delivery system, seed cassettes and the germination paper strip concept was validated as an effective method for promoting seed germination and root growth under microgravity conditions. c2003 COSPAR. Published by Elsevier Ltd. All rights reserved.

Non-NASA Center

Thermal control surfaces experiment (SOO69) flight systems performance

The thermal control surfaces experiment (TCSE) was the most complex hardware system aboard the Long Duration Exposure Facility (LDEF). The TCSE system consists of a scanning spectroreflectometer that measured test samples mounted on a rotatable carousel assembly. A microprocessor based data system controlled all aspects of TCSE system operation. Power was provided by four primary batteries. Flight measurement and housekeeping data were stored on a tape recorder for postflight analysis. The TCSE is a microcosm of complex electro-optical payloads being developed by NASA, DoD, and the aerospace community. The TCSE provides valuable data on the performance of these systems in space. The TCSE flight system and its excellent performance on the LDEF mission are described. A few operational anomalies were encountered and are discussed. Initial post-flight tests show that the TCSE system remains functional although some degradation in the optical measurements were observed. The results of these tests are also presented.

Wilkes, Donald R.

Development of electrical feedback controlled heat pipes and the advanced thermal control flight experiment

The development and characteristics of electrical feedback controlled heat pipes (FCHP) are discussed. An analytical model was produced to describe the performance of the FCHP under steady state and transient conditions. An advanced thermal control flight experiment was designed to demonstrate the performance of the thermal control component in a space environment. The thermal control equipment was evaluated on the ATS-F satellite to provide performance data for the components and to act as a thermal control system which can be used to provide temperature stability of spacecraft components in future applications.

Bienert, W. B.