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At least 145 records · Page 8

Application of a passivity based control methodology for flexible joint robots to a simplified Space Shuttle RMS

A passivity approach for the control design of flexible joint robots is applied to the rate control of a three-link arm modeled after the shoulder yaw joint of the Space Shuttle Remote Manipulator System (RMS). The system model includes friction and elastic joint couplings modeled as nonlinear springs. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. A regulator approach with link state feedback is employed to define the desired motor state. Passivity theory is used to design a motor state-based controller to stabilize the error system formed by the feedforward. Simulation results show that greatly improved performance was obtained by using the proposed controller over the existing RMS controller.

Sicard, Pierre↗

Computational Study of Laminar Flow Control on a Subsonic Swept Wing Using Discrete Roughness Elements

A combination of parabolized stability equations and secondary instability theory has been applied to a low-speed swept airfoil model with a chord Reynolds number of 7.15 million, with the goals of (i) evaluating this methodology in the context of transition prediction for a known configuration for which roughness based crossflow transition control has been demonstrated under flight conditions and (ii) of analyzing the mechanism of transition delay via the introduction of discrete roughness elements (DRE). Roughness based transition control involves controlled seeding of suitable, subdominant crossflow modes, so as to weaken the growth of naturally occurring, linearly more unstable crossflow modes. Therefore, a synthesis of receptivity, linear and nonlinear growth of stationary crossflow disturbances, and the ensuing development of high frequency secondary instabilities is desirable to understand the experimentally observed transition behavior. With further validation, such higher fidelity prediction methodology could be utilized to assess the potential for crossflow transition control at even higher Reynolds numbers, where experimental data is currently unavailable.

Li, Fei↗

Stability of Magnetically-Suppressed Solutal Convection In Protein Crystal Growth

The effect of convection during the crystallization of proteins is not very well understood. In a gravitational field, convection is caused by crystal sedimentation and by solutal buoyancy induced flow and these can lead to crystal imperfections. While crystallization in microgravity can approach diffusion limited growth conditions (no convection), terrestrially strong magnetic fields can be used to control fluid flow and sedimentation effects. In this work, a theory is presented on the stability of solutal convection of a magnetized fluid in the presence of a magnetic field. The requirements for stability are developed and compared to experiments performed within the bore of a superconducting magnet. The theoretical predictions are in good agreement with the experiments and show solutal convection can be stabilized if the surrounding fluid has larger magnetic susceptibility and the magnetic field has a specific structure. Discussion on the application of the technique to protein crystallization is also provided.

Leslie, F. W.↗

Sufficient Conditions for the Stability of a Lur'e System With Two Nonzero Inputs Based on Lyapunovs Direct Method

The Lur'e problem is a famous problem in nonlinear control theory. The analysis of this system is usually restricted to Lur'e systems in which the external input is zero. One form of this problem involves the stability analysis of the Lur'e system with two nonzero inputs. The stability analysis of this type of system is traditionally performed based on L stability theory. The objective of this paper is to present sufficient conditions for the stability of this system based on Lyapunov's direct method. This is a conceptually simpler approach to the existing analysis based on L stability theory and it provides some additional information about the stability of the system.

Adetona, Olawale↗

Development of a perturbation generator for vortex stability studies

Theory predicts vortex instability when subjected to certain types of disturbances. It was desired to build a device which could introduce controlled velocity perturbations into a trailing line vortex in order to study the effects on stability. A perturbation generator was designed and manufactured which can be attached to the centerbody of an airfoil type vortex generator. Details of design tests and manufacturing of the perturbation generator are presented. The device produced controlled perturbation with frequencies in excess of 250 Hz. Preliminary testing and evaluation of the perturbation generator performance was conducted in a 4 inch cylindrical pipe. Observations of vortex shedding frequencies from a centerbody were measured. Further evaluation with the perturbation generator attached to the vortex generator in a 2 x 3 foot wind tunnel were also conducted. Hot-wire anemometry was used to confirm the perturbation generator's ability to introduce controlled frequency fluctuations. Comparison of the energy levels of the disturbances in the vortex core was made between locations 42 chord lengths and 15 chord lengths downstream.

Riester, J. E.↗

Symmetric linear systems - An application of algebraic systems theory

Dynamical systems which contain several identical subsystems occur in a variety of applications ranging from command and control systems and discretization of partial differential equations, to the stability augmentation of pairs of helicopters lifting a large mass. Linear models for such systems display certain obvious symmetries. In this paper, we discuss how these symmetries can be incorporated into a mathematical model that utilizes the modern theory of algebraic systems. Such systems are inherently related to the representation theory of algebras over fields. We will show that any control scheme which respects the dynamical structure either implicitly or explicitly uses the underlying algebra.

Hazewinkel, M.↗

Prediction and control of transition in hypersonic boundary layers

In this paper, the role of compressible linear stability theory in prediction of boundary layer transition at supersonic and hypersonic speeds is investigated. Computations for sharp cones, using the e exp N method with N = 10, show that the first oblique Tollmien-Schlichting mode is responsible for transition at adiabatic wall conditions for freestream Mach numbers up to 7. For cold walls, the two-dimensional second mode dominates the transition process at lower hypersonic Mach numbers due to the well-known destabilizing effect of cooling on the second mode. It is shown that pressure gradient and suction may be used to stabilize this mode. Some results on the real gas effects on hypersonic boundary-layer stability are presented.

Malik, Mujeeb R.↗

Use of piezoelectric actuators in active vibration control of rotating machinery

Theoretical and test results for the development of piezoelectric-actuator-based active vibration control (AVC) are presented. The evolution of this technology starts with an ideal model of the actuator and progresses to a more sophisticated model where the pushers force the squirrel cage ball bearing supports of a rotating shaft. The piezoelectric pushers consist of a stack of piezoelectric ceramic disks that are arranged on top of one another and connected in parallel electrically. This model consists of a prescribed displacement that is proportional to the input voltage and a spring that represents the stiffness of the stack of piezoelectric disks. System tests were carried out to stabilize the AVC system, verify its effectiveness in controlling vibration, and confirm the theory presented.

Lin, Reng Rong↗

PAYCOS: A new multidisciplinary analysis program for hypersonic vehicle design

The Payload Conceptual Sizing Code (PAYCOS), a new multidisciplinary computer program for use in the conceptual development phase of hypersonic lifting vehicles (HV's), is described. The program allows engineers to rapidly determine the feasibility of an HV concept and then improve upon the concept by means of optimization theory. The code contains analysis modules for aerodynamics, thermodynamics, mass properties, flight stability, controls, loads, structures, and packaging. Motivation for the code lies with the increased complexity of HV's over their body-of-revolution ballistic predecessors. With these new shapes, the need to rapidly screen out poor concepts and actively develop new and better concepts is an even more crucial part of the early design process. Preliminary results are given which demonstrate the optimization capabilities of the code.

Stubbe, J. R.↗

Neural Networks for Flight Control

Neural networks are being developed at NASA Ames Research Center to permit real-time adaptive control of time varying nonlinear systems, enhance the fault-tolerance of mission hardware, and permit online system reconfiguration. In general, the problem of controlling time varying nonlinear systems with unknown structures has not been solved. Adaptive neural control techniques show considerable promise and are being applied to technical challenges including automated docking of spacecraft, dynamic balancing of the space station centrifuge, online reconfiguration of damaged aircraft, and reducing cost of new air and spacecraft designs. Our experiences have shown that neural network algorithms solved certain problems that conventional control methods have been unable to effectively address. These include damage mitigation in nonlinear reconfiguration flight control, early performance estimation of new aircraft designs, compensation for damaged planetary mission hardware by using redundant manipulator capability, and space sensor platform stabilization. This presentation explored these developments in the context of neural network control theory. The discussion began with an overview of why neural control has proven attractive for NASA application domains. The more important issues in control system development were then discussed with references to significant technical advances in the literature. Examples of how these methods have been applied were given, followed by projections of emerging application needs and directions.

Jorgensen, Charles C.↗

Stability Metrics for Simulation and Flight-Software Assessment and Monitoring of Adaptive Control Assist Compensators

Due to a need for improved reliability and performance in aerospace systems, there is increased interest in the use of adaptive control or other nonlinear, time-varying control designs in aerospace vehicles. While such techniques are built on Lyapunov stability theory, they lack an accompanying set of metrics for the assessment of stability margins such as the classical gain and phase margins used in linear time-invariant systems. Such metrics must both be physically meaningful and permit the user to draw conclusions in a straightforward fashion. We present in this paper a roadmap to the development of metrics appropriate to nonlinear, time-varying systems. We also present two case studies in which frozen-time gain and phase margins incorrectly predict stability or instability. We then present a multi-resolution analysis approach that permits on-line real-time stability assessment of nonlinear systems.

Hodel, A. S.↗

Numerical Simulation of an Enclosed Laminar Jet Diffusion Flame in Microgravity Environment: Comparison with ELF Data

Enclosed diffusion flames are commonly found in practical combustion systems, such as the power-plant combustor, gas turbine combustor, and jet engine after-burner. In these systems, fuel is injected into a duct with a co-flowing or cross-flowing air stream. The diffusion flame is found at the surface where the fuel jet and oxygen meet, react, and consume each other. In combustors, this flame is anchored at the burner (i.e., fuel jet inlet) unless adverse conditions cause the flame to lift off or blow out. Investigations of burner stability study the lift off, reattachment, and blow out of the flame. Flame stability is strongly dependent on the fuel jet velocity. When the fuel jet velocity is sufficiently low, the diffusion flame anchors at the burner rim. When the fuel jet velocity is increased, the flame base gradually moves downstream. However, when the fuel jet velocity increases beyond a critical value, the flame base abruptly jumps downstream. When this "jump" occurs, the flame is said to have reached its lift-off condition and the critical fuel jet velocity is called the lift-off velocity. While lifted, the flame is not attached to the burner and it appears to float in mid-air. Flow conditions are such that the flame cannot be maintained at the burner rim despite the presence of both fuel and oxygen. When the fuel jet velocity is further increased, the flame will eventually extinguish at its blowout condition. In contrast, if the fuel jet velocity of a lifted flame is reduced, the flame base moves upstream and abruptly returns to anchor at the burner rim. The fuel jet velocity at reattachment can be much lower than that at lift off, illustrating the hysteresis effect present in flame stability. Although there have been numerous studies of flame stability, the controlling mechanisms are not well understood. This uncertainty is described by Pitts in his review of various competing theories of lift off and blow out in turbulent jet diffusion flames. There has been some research on the stability of laminar flames, but most studies have focused on turbulent flames. It is also well known that the airflow around the fuel jet can significantly alter the lift off, reattachment and blow out of the jet diffusion flame. Buoyant convection is sufficiently strong in 1-g flames that it can dominate the flow-field, even at the burner rim. In normal-gravity testing, it is very difficult to delineate the effects of the forced airflow from those of the buoyancy-induced flow. Comparison of normal-gravity and microgravity flames provides clear indication of the influence of forced and buoyant flows on the flame stability. The overall goal of the Enclosed Laminar Flames (ELF) investigation (STS-87/USMP-4 Space Shuttle mission, November to December 1997) is to improve our understanding of the effects of buoyant convection on the structure and stability of co-flow diffusion flame, e.g., see http://zeta.lerc.nasa.gov/expr/elf.htm. The ELF hardware meets the experiment hardware limit of the 35-liter interior volume of the glovebox working area, and the 180x220-mm dimensions of the main door. The ELF experiment module is a miniature, fan-driven wind tunnel, equipped with a gas supply system. A 1.5-mm diameter nozzle is located on the duct's flow axis. The cross section of the duct is nominally a 76-mm square with rounded corners. The forced air velocity can be varied from about 0.2 to 0.9 m/s. The fuel flow can be set as high as 3 std. cubic centimeter (cc) per second, which corresponds to a nozzle exit velocity of up to 1.70 m/s. The ELF hardware and experimental procedure are discussed in detail in Brooker et al. The 1-g test results are repeated in several experiments following the STS-87 Mission. The ELF study is also relevant to practical systems because the momentum-dominated behavior of turbulent flames can be achieved in laminar flames in microgravity. The specific objectives of this paper are to evaluate the use reduced model for simulation of flame lift-off and blowout.

Jia, Kezhong↗

Robust stabilization of the Space Station

A robust H-infinity control design methodology and its application to a Space Station Freedom (SSF) attitude and momentum control problem are presented. This approach incorporates nonlinear multi-parameter variations in the state-space formulation of H-infinity control theory. An application of this robust H-infinity control synthesis technique to the SSF control problem yields remarkable results in stability robustness with respect to moments of inertia variation of about 73 percent in one of the structured uncertainty directions. The performance and stability of this robust H-infinity controller for the SSF are compared to those of other controllers designed using a standard linear-quadratic-regulator synthesis technique.

Wie, Bong↗

A faster 'transition' to laminar flow

A discussion is given of the ongoing research related to laminar flow airfoils, nacelles, and wings where the laminar flow is maintained by a favorable pressure gradient, surface suction or a combination of the two. Design methologies for natural laminar flow airfoil sections and wings for both low and high speed applications are outlined. Tests of a 7-foot chord, 23-deg sweep laminar flow-control airfoil at high subsonic Mach numbers are described, along with the associated stability theory used to design the suction system. The state-of-the-art of stability theory is simply stated and a typical calculation illustrated. In addition, recent computer simulations of transition using the time dependent Navier-Stokes equations are briefly described. Advances in wind tunnel capabilities and instrumentation will be reviewed, followed by the presentation of a few results from both wind tunnels and flight. Finally, some suggestions for future work will complete the paper.

Bobbitt, P. J.↗

Isothermal dendritic growth - A proposed microgravity experiment

This paper describes an isothermal dendritic growth experiment (IDGE), a microgravity-oriented spaceborne scientific experiment designed to obtain 'convection-free' dendritic growth and thereby provide a test of dendritic growth theory. The apparatus includes a controlled thermostatic bath capable of providing + or - 2 mK stability, a photographic data collection system, a crystal growth chamber ensuring 'free' dendritic growth, and an optical RAM camera for crystal growth detection. The experiment will be carried on essentially automatically aboard the Materials Science Laboratory in the cargo bay of the Space Shuttle. The results of preliminary ground-based studies are presented.

Glicksman, M. E.↗

Algorithms for computing the multivariable stability margin

Stability margin for multiloop flight control systems has become a critical issue, especially in highly maneuverable aircraft designs where there are inherent strong cross-couplings between the various feedback control loops. To cope with this issue, we have developed computer algorithms based on non-differentiable optimization theory. These algorithms have been developed for computing the Multivariable Stability Margin (MSM). The MSM of a dynamical system is the size of the smallest structured perturbation in component dynamics that will destabilize the system. These algorithms have been coded and appear to be reliable. As illustrated by examples, they provide the basis for evaluating the robustness and performance of flight control systems.

Tekawy, Jonathan A.↗

A Signal Transmission Technique for Stability Analysis of Multivariable Non-Linear Control Systems

Among the difficulties associated with multivariable, non-linear control systems is the problem of assessing closed-loop stability. Of particular interest is the class of non-linear systems controlled with on/off actuators, such as spacecraft thrusters or electrical relays. With such systems, standard describing function techniques are typically too conservative, and time-domain simulation analysis is prohibitively extensive, This paper presents an open-loop analysis technique for this class of non-linear systems. The technique is centered around an innovative use of multivariable signal transmission theory to quantify the plant response to worst case control commands. The technique has been applied to assess stability of thruster controlled flexible space structures. Examples are provided for Space Shuttle attitude control with attached flexible payloads.

Jackson, Mark↗