SEARCH · Search NASA

Results for “POSITION SERVO”

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 145 records · Page 8

All sources NASA NTRS DOE OSTI

NASA NTRS1965

Digital techniques used in the steering apparatus of the GPO steerable aerial at Goonhilly Downs

A discription of the logic design for the digital control equipment is followed by further descriptions of items of particular interest. The means of applying off-sets to the demanded aerial position for over-coming possible inaccuracy of the predicted orbit; and to demand accuratly determined velocities manually; means of conversion from pure binary form to provide displays in terms of angles, and the derivation of analogue voltages for the for the servo-amplifiers are discussed in detail. A critical analysis of the equipment in the light of operational experience concludes the paper.

TRACKING STATION↗

NASA NTRS1974

A balloon-borne cryogenically cooled filter radiometer

The development of a cryogenically cooled filter radiometer for use with high altitude balloons is discussed. The radiometer has features which include the options for remote operation of two filter wheels each containing six filters at helium temperature and a cryogenic rotary chopper which may be run at 200 cycles per second or positioned open or closed, and a remotely operable chopped blackbody calibration source. The radiometer contains a ten inch diameter liquid nitrogen cooled Cassegrain telescope with nine individually filtered field stops in the focal plane. The telescope is mounted on a two-axis servo operated gimbal which is used to make sky scans under the control of an onboard programmer.

Debell, A. G.↗

NASA NTRS1994

Development of a Rotating Human Research Facility

A unique facility has been developed at the NASA Ames Research Center to provide scientists with unusual research opportunities at greater than Earth's gravity. In addition to its use for basic research, this facility will help provide answers to many of the questions posed by proponents of rotating human space vehicles. This paper describes the design and planned use of this facility, the Spaceflight Environmental Simulator. Using an existing 52-foot diameter cylindrical rotating platform design centrifuge, the revised facility design includes the provision of two human habitats for long duration studies of the effects of hypergravity. Up to four humans (per habitat) will be able to live at up to 2 G for as long as one month without stopping the centrifuge. Each habitat, constructed of lightweight honeycomb sandwich panels, is nominally 9 ft high x 11 ft wide x 25 1/2 ft long. A radial positioning system provides for positioning each habitat at a distance of 15 to 21 feet from the centrifuge's axis of rotation to the midpoint of the habitat's interior floor. As centrifugal acceleration changes with rotation rate, a habitat floor-mounted accelerometer signal provides automatic servo controlled adjustment of each habitat's angle of inclination to provide an environment for the habitat's crew and cargo in which the resultant gravity vector is normal to the habitat floor at all times. Design of the habitats and modifications to the centrifuge are complete, and are currently under construction. Design philosophy and operational rationale are presented along with complete descriptions of the facility and its systems.

Mulenburg, Gerald M.↗

NASA NTRS1980

Design and use of a servo-controlled high pressure window bomb in spectroscopic studies of solid propellant combustion

The feasibility of using a high pressure window bomb as a laboratory scale model of actual motor conditions. The design and operation of a modified high pressure window bomb is discussed. An optical servocontrol mechanism has been designed to hold the burning surface of a propellant strand at a fixed position within the bomb chamber. This mechanism permits the recording of visible and infrared emission spectra from various propellants. Preliminary visible emission spectra of a nonmetalized and metalized propellant are compared with spectra recorded using the modified bomb.

Goetz, F.↗

NASA NTRS2018

Adaptive Load Control of Flexible Aircraft Wings Using Fiber Optic Sensing

Over the past century aircraft wing design has transformed from the morphing wing used on the Wright Flyer to rigid wings with little to no shape-tailoring abilities. Modern day wings are designed to fly at a single trim condition and optimized to have a maximum aerodynamic efficiency at only this condition. Shape morphing wings on the other hand have the potential to undergo geometric changes allowing them to adapt to their mission profiles. Several flight demonstrations have been conducted over the decades using morphing-wing technologies. Active wing-twist control was demonstrated on the X-53 Active Aeroelastic Wing (AAW) research project by utilizing multiple leading- and trailing-edge control surfaces. Passive morphing technology has been demonstrated on the Rockwell RPRV-870 Highly Maneuverable Aircraft Technology (HiMAT) aircraft. In the current study, the wings of a small unmanned aerial system (sUAS) were modified to have segmented control surfaces (SCS). The modifications include segmenting the original wing control surfaces (one flap and one aileron per wing) into 44 individual sections, each section having its own independent servo control motor. The wings were also instrumented with a network of over 1800 fiber-optic strain sensors (on four sensing fibers distributed over the top and bottom surfaces of the wing) monitoring the strain response of the wing to aerodynamic loading. The SCS positions were manipulated in real time to modify the spanwise lift distribution of the wings on the sUAS. The change in the structural response of the wings caused by load redistribution was quantified by measuring the bending strains on the upper and lower wing surfaces using an on-board compact fiber-optic strain sensing (cFOSS) system. A feedback controller was developed to control the SCS positions using strain-based shape estimations from the Displacement Transfer Function (DTF). Post-processing of the strain data allowed for the transverse displacement distributions and load distributions to be compared for the conventional and segmented control surface cases using displacements and loads algorithms developed by Richards and Ko at AFRC (refs. 5-10). While the current study focused on the shifting of the spanwise aerodynamic loads as quantified by displacements, future applications for loads or displacement control might include active gust alleviation and flutter suppression.

Pena, Francisco↗

NASA NTRS1975

Thresholds for the perception of angular acceleration as indicated by the oculogyral illusion

A motorized chair (with precise servo controls) accelerated the observer in a clockwise (CW) or counterclockwise (CCW) direction at rates that ranged in logarithmic progression from 0.02 to 6.00 deg/sq sec. The target, a narrow collimated line of light, was contained within a goggle device worn by the observer and therefore fixed in relative position to him. The illusion, appearing as rightward or leftward movement of the visual target in the direction of acceleration, was determined by a double staircase procedure among 300 normal and 4 labyrinthine-defective observers. None of the latter perceived the illusion. The majority of normal observers revealed no substantial directional difference (CW vs. CCW threshold). Threshold frequency distributions ranged in rate (deg/sq sec) from 0.020 to 0.950; the threshold of response in more than half the normal observers was less than 0.10, in over three-fourths was less than 0.20, in over 90% less than 0.30, and 100% less than 1.00.

Miller, E. F., II↗

NASA NTRS1994

Evaluation of the prototype dual-axis wall attitude measurement sensor

A prototype dual-axis electrolytic tilt sensor package for angular position measurements was built and evaluated in a laboratory environment. The objective was to investigate the use of this package for making wind tunnel wall attitude measurements for the National Transonic Facility (NTF) at NASA Langley Research Center (LaRC). The instrumentation may replace an existing, more costly, and less rugged servo accelerometer package (angle-of-attack package) currently in use. The dual-axis electrolytic tilt sensor package contains two commercial electrolytic tilt sensors thermally insulated with NTF foam, all housed within a stainless steel package. The package is actively heated and maintained at 160 F using foil heating elements. The laboratory evaluation consisted of a series of tests to characterize the linearity, repeatability, cross-axis interaction, lead wire effect, step response, thermal time constant, and rectification errors. Tests revealed that the total RMS errors for the x-axis sensor is 0.084 degree, and 0.182 degree for the y-axis sensor. The RMS errors are greater than the 0.01 degree specification required for NTF wall attitude measurements. It is therefore not a viable replacement for the angle-of-attack package in the NTF application. However, with some physical modifications, it can be used as an inexpensive 5-degree range dual-axis inclinometer with overall accuracy approaching 0.01 degree under less harsh environments. Also, the data obtained from the tests can be valuable for wind tunnel applications of most types of electrolytic tilt sensors.

Wong, Douglas T.↗

NASA NTRS1989

Simulation of shuttle flight control system structural interaction with RMS deployed payloads

A simulation of the system made up of the Orbiter, Remote Manipulator System (RMS), and payload grappled by the RMS was completed. The simulation was used to study the stability of this overall system when its attitude is under control of the Orbiter's on-orbit Flight Control System (FCS). The simulation was also used to study the dynamics of the system when the RMS and its associated command software are in active control of the relative Orbiter to payload position and orientation. The simulation models all of the following elements: RMS boom bending (represented by two cubic bending models); RMS boom torsion; RMS joint gearbox compliance (represented by a non-linear wind-up model); flexibility at the RMS to Orbiter interface; flexibility at the RMS to payload interface; joint motor dynamics; joint servo-loop dynamics; RMS on-board computer command logic; data transfer delays between the RMS sensor and the RMS on-board computer and between the RMS on-board computer and RMS joint servos; on-orbit flight control nonlinear control logic; and the Reaction Control System (both Primary and Vernier) jet forces and moments.

Turnball, Joe↗

NASA NTRS1987

A universal six-joint robot controller

A general purpose six-axis robotic manipulator controller was designed and implemented to serve as a research tool for the investigation of the practical and theoretical aspects of various control strategies in robotics. A 80286-based Intel System 310 running the Xenix operating servo software as well as the higher level software (e.g., kinematics and path planning) were employed. A Multibus compatible interface board was designed and constructed to handle I/O signals from the robot manipulator's joint motors. From the design point of view, the universal controller is capable of driving robot manipulators equipped with D.C. joint motors and position optical encoders. To test its functionality, the controller is connected to the joint motor D.C. power amplifier of a PUMA 560 arm bypassing completely the manufacturer-supplied Unimation controller. A controller algorithm consisting of local PD control laws was written and installed into the Xenix operating system. Additional software drivers were implemented to allow application programs access to the interface board. All software was written in the C language.

Bihn, D. G.↗

NASA NTRS1999

Got an Attitude Problem?

Through a Small Business Innovation Research grant from NASA's Goddard Space Flight Center, Servo Corporation of America, Inc. built its Mini-Dual Sensor to provide attitude control for Earth-orbiting unmanned satellites. The sensor is an Earth horizon sensor that provides higher accuracy through the use of pyroelectric arrays and a patented radiance compensation scheme.This sensor gathers data with two pairs of lithium tantalate pyroelectric arrays that are positioned 90 degrees apart in the imaging plane. The Mini-Dual Earth Sensor is a high-accuracy sensor that could be used for attitude determination in future space missions.

Source record↗

NASA NTRS1989

Method and apparatus for radiometer star sensing

A method and apparatus for determining the orientation of the optical axis of radiometer instruments mounted on a satellite involves a star sensing technique. The technique makes use of a servo system to orient the scan mirror of the radiometer into the path of a sufficiently bright star such that motion of the satellite will cause the star's light to impinge on the scan mirror and then the visible light detectors of the radiometer. The light impinging on the detectors is converted to an electronic signal whereby, knowing the position of the star relative to appropriate earth coordinates and the time of transition of the star image through the detector array, the orientation of the optical axis of the instrument relative to earth coordinates can be accurately determined.

Wilcox, Jack E.↗

NASA NTRS1973

A flight simulator for advanced aircraft - Servo design to realization.

Discussion of computer-aided design results obtained for a moving-base, three-man flight simulator. From a control viewpoint, the structure is discussed in terms of disturbance torques, damping ratios, natural frequencies, load acceleration, and smoothness. The use of inertia to achieve well-behaved structural transfer functions and smooth or high fidelity load accelerations is demonstrated. Transfer functions in the complex frequency domain, as well as time-dependent solutions to the system, are derived. The relative merits of using position and/or velocity as primary feedback, for a limited travel acceleration device, are discussed. Root locus plots, which were utilized in the control-system design, Bode plots, and time-dependent plots are drawn. In addition, the theoretical ratio of velocity to commanded input Bode plot is compared to the experimental results, and the dramatic effect on the load smoothness plot caused by selecting velocity over position as primary feedback is shown.

King, R. F.↗

NASA NTRS2009

Diamond Machining of an Off-Axis Biconic Aspherical Mirror

Two diamond-machining methods have been developed as part of an effort to design and fabricate an off-axis, biconic ellipsoidal, concave aluminum mirror for an infrared spectrometer at the Kitt Peak National Observatory. Beyond this initial application, the methods can be expected to enable satisfaction of requirements for future instrument mirrors having increasingly complex (including asymmetrical), precise shapes that, heretofore, could not readily be fabricated by diamond machining or, in some cases, could not be fabricated at all. In the initial application, the mirror is prescribed, in terms of Cartesian coordinates x and y, by aperture dimensions of 94 by 76 mm, placements of -2 mm off axis in x and 227 mm off axis in y, an x radius of curvature of 377 mm, a y radius of curvature of 407 mm, an x conic constant of 0.078, and a y conic constant of 0.127. The aspect ratio of the mirror blank is about 6. One common, "diamond machining" process uses single-point diamond turning (SPDT). However, it is impossible to generate the required off-axis, biconic ellipsoidal shape by conventional SPDT because (1) rotational symmetry is an essential element of conventional SPDT and (2) the present off-axis biconic mirror shape lacks rotational symmetry. Following conventional practice, it would be necessary to make this mirror from a glass blank by computer-controlled polishing, which costs more than diamond machining and yields a mirror that is more difficult to mount to a metal bench. One of the two present diamond machining methods involves the use of an SPDT machine equipped with a fast tool servo (FTS). The SPDT machine is programmed to follow the rotationally symmetric asphere that best fits the desired off-axis, biconic ellipsoidal surface. The FTS is actuated in synchronism with the rotation of the SPDT machine to generate the difference between the desired surface and the best-fit rotationally symmetric asphere. In order to minimize the required stroke of the FTS, the blanks were positioned at a large off-axis distance and angle, and the axis of the FTS was not parallel to the axis of the spindle of the SPDT machine. The spindle was rotated at a speed of 120 rpm, and the maximum FTS speed was 8.2 mm/s.

Ohl, Raymond G.↗

NASA NTRS2024

Shape Servoing of Deformable Objects Using Model Estimation and Barrier Lyapunov Function

An adaptive shape servoing control method is presented in this article to manipulate a deformable object into a desired shape in 3-D. A finite-point-based representation of the deformable object is used and the deformation Jacobian matrix is approximated using Fourier series basis functions. The unknown parameters of the deformation Jacobian are learned by using the velocity applied to a control point on the object and corresponding change of positions of the points describing the entire object. An integral concurrent learning (ICL)-based parameter update law is designed along with a constrained controller to satisfy the state constraints on the motion of the control point using Barrier Lyapunov function analysis. ICL-based parameter update law uses data history of velocity and corresponding positions of the points along with their current values. An efficient algorithm to update the history stack using singular value maximization is proposed based on the structure of the regressor matrix. Simulations using a physical simulator and experiments using a robot platform are performed to validate the performance of the proposed controller on two different deformable objects.

Vrithik Raj Guthikonda↗

NASA NTRS1981

Autonomous navigation system

An inertial navigation system utilizing a servo-controlled two degree of freedom pendulum to obtain specific force components in the locally level coordinate system is described. The pendulum includes a leveling gyroscope and an azimuth gyroscope supported on a two gimbal system. The specific force components in the locally level coordinate system are converted to components in the geographical coordinate system by means of a single Euler transformation. The standard navigation equations are solved to determine longitudinal and lateral velocities. Finally, vehicle position is determined by a further integration.

Merhav, S. J.↗

NASA NTRS1994

A trajectory preprocessor for antenna pointing

A trajectory-preprocessing algorithm has been devised which matches antenna angular position, velocity, and acceleration to those of a target. This eliminates vibrations of the antenna structure caused by discontinuities in velocity and acceleration commands, and improves antenna-pointing performance by constraining antenna motion to a linear regime. The algorithm permits faster acquisition times and preserves antenna-tracking capability in situations where there would otherwise be an unacceptably sudden change in antenna velocity or acceleration. A simulation of DSS 13 shows that this preprocessor would reduce servo error to 1 mdeg during acquisition of a low-Earth-orbiting satellite.

Tyler, S. R.↗

NASA NTRS1978

The application of hydraulics in the 2,000 kW wind turbine generator

A 2000 kW turbine generator using hydraulic power in two of its control systems is being built under the management of NASA Lewis Research Center. The hydraulic systems providing the control torques and forces for the yaw and blade pitch control systems are discussed. The yaw-drive-system hydraulic supply provides the power for positioning the nacelle so that the rotary axis is kept in line with the direction of the prevailing wind, as well as pressure to the yaw and high speed shaft brakes. The pitch-change-mechanism hydraulic system provides the actuation to the pitch change mechanism and permits feathering of the blades during an emergency situation. It operates in conjunction with the overall windmill computer system, with the feather control permitting slewing control flow to pass from the servo valve to the actuators without restriction.

Onufreiczuk, S.↗

NASA NTRS1990

Two Axis Pointing System (TAPS) attitude acquisition, determination, and control

The Two Axis Pointing System (TAPS) is a 2 axis gimbal system designed to provide fine pointing of Space Transportation System (STS) borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update. The theory of the TAPS attitude determination and error computation for the Broad Band X-ray Telescope (BBXRT) are described. The attitude acquisition is based upon a 2 star geometric solution. The acquisition theory and quaternion algebra are presented. The attitude control combines classical position, integral and derivative (PID) control with techniques to compensate for coulomb friction (bias torque) and the cable harness crossing the gimbals (spring torque). Also presented is a technique for an adaptive bias torque compensation which adjusts to an ever changing frictional torque environment. The control stability margins are detailed, with the predicted pointing performance, based upon simulation studies. The TAPS user interface, which provides high level operations commands to facilitate science observations, is outlined.

Azzolini, John D.↗