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The Shuttle Infrared Telescope Facility (SIRTF) image motion compensation system is described in detail and performance is analyzed with respect to system noise inputs, environmental disturbances, and error sources such as bending and feedforward scale factor. It is concluded that the SIRTF accuracy and stability requirements can be met with this design.
A point mass model is developed for helicopter guidance on spiral trajectories. A fully coupled set of state equations is developed and perturbation equations suitable for 3-D and 4-D guidance are derived and shown to be amenable to conventional state variable feedback methods. Control variables are chosen to be the magnitude and orientation of the net rotor thrust. Using these variables reference controls for nonlevel accelerating trajectories are easily determined. The effects of constant wind are shown to require significant feedforward correction to some of the reference controls and to the time. Although not easily measured themselves, the controls variables chosen are shown to be easily related to the physical variables available in the cockpit.
The Shuttle Infrared Telescope Facility (SIRTF) is being designed as a 0.85 m cryogenically cooled telescope capable of a three order of magnitude improvement over currently available infrared instruments. The SIRTF requires that the image at the focal plane be stabilized to better than 0.25 arcsec with an absolute accuracy of 1.0 arcsec. Current pointing-mount performance simulations indicate that neither of these requirements can be met without additional stabilization. The SIRTF pointing and control system will utilize gyro outputs, star field position measurements from a focal plane fine guidance sensor, and a steerable secondary mirror to provide the necessary stabilization and pointing control. The charge coupled device fine guidance sensor tracks multiple stars simultaneously and, through the use of multistar processing algorithms in a high performance microcomputer, generates three-axis attitude errors and gyro-drift estimates to correct the pointing-mount gyros. A high-bandwidth feedforward loop, driven directly from the pointing-mount gyro package, controls the steering mirror in order to correct disturbances not compensated for by the pointing-mount control system. A prototype design for the SIRTF pointing and control system is described in detail. Performance analyses made using a digital simulation of the pointing and control system as well as experimental data obtained in laboratory and field test measurements are presented.
The terminal guidance problem for a fixed-trim re-entry body is formulated with the objective of synthesizing a closed-loop steering law. A transformation of variables and subsequent linearization of the motion, with the sight-line to the target as a reference, reduces the order of the state system for the guidance problem. The reduced order system, although nonlinear and time-varying, is simple enough to lend itself to synthesis of a class of guidance laws. A generalization of the feedforward device of classical control theory is successfully employed for compensation of roll autopilot lags. The proposed steering law exhibits superior miss-distance performance in a computational comparison with existing fixed-trim guidance laws.
A novel trajectory control system concept was implemented to provide manual control of a conventional jet aircraft. This concept, called Total Aircraft Flight Control System (TAFCOS), utilizes an inverse model of the aerodynamic and propulsion characteristics and employs feedforward control to provide the required acceleration command. The concept requires on-board digital computations which can easily be handled by a modern airborne computer. The system was studied in a piloted simulation of the carrier approach and landing task with primarily visual flight and guidance cues. The principal modes of vertical flight-path control investigated were vertical velocity command and vertical acceleration command. The study included manual carrier approaches with and without moderate ship motion and associated air disturbances, and tests of the effects of discrete gusts. Manual control of flight path through this new concept was shown to be feasible as an addition to an automatic control system and to have potential as an improved mode of control over conventional control for the carrier approach task.
Control of a slowly responding complex dynamic system such as a large supertanker poses special problems for the human. Experienced ship's crew members maneuvered a simulated ship in real time. The simulation was performed using a graphics display run by a DPD 11/40 minicomputer. The maneuvers consisted of piloting a large ship along a narrow waterway. Preliminary results suggest that the human operates as a feedforward controller utilizing the preview information for 'gross changes' in heading, and as a feedback controller for correcting small deviations. The instruments displayed on the deck do not seem to be helpful in all situations. In fact, evidence seems to indicate that some of the displays might even interfere with the pilot's attempt to form a good internal model.
A natural coordinate system for nonlinear systems of the form x = f(x) + g(x)u is discussed where x is a element of R(N), u is an element of R, and f and g are analytic, vector-valued functions on R(N). It is shown that in these coordinates the equation becomes a system with only feedback paths (no feedforwards), if feedback linearizability conditions are satisfied.
This research project proposed a modified unit commitment that schedules connection and disconnection of generating units in response to load. A modified generation control is also proposed that controls steam units under automatic generation control, fast responding diesels, gas turbines and hydro units under a feedforward control, and wind turbine array output under a closed loop array control. This modified generation control and unit commitment require prediction of trend wind power variation one hour ahead and the prediction of error in this trend wind power prediction one half hour ahead. An improved meter for predicting trend wind speed variation is developed. Methods for accurately simulating the wind array power from a limited number of wind speed prediction records was developed. Finally, two methods for predicting the error in the trend wind power prediction were developed. This research provides a foundation for testing and evaluating the modified unit commitment and generation control that was developed to maintain operating reliability at a greatly reduced overall production cost for utilities with wind generation capacity.
Interest in oblique-wing aircraft has surfaced periodically since the 1940's. This concept offers some substantial aerodynamic performance advantages but also has significant aerodynamic and inertial cross-coupling between the aircraft longitudinal and lateral-directional axes. This paper presents a technique for synthesizing a decoupling controller while providing the desired stability augmentation. The proposed synthesis procedure uses the concept of a real model-following control system. Feedforward gains are selected on the assumption that perfect model-following conditions are satisfied. The feedback gains are obtained by using eigensystem assignment, and the aircraft is stabilized by using partial state feedback. The effectiveness of the control laws developed in achieving the desired decoupling is illustrated by application to linearized equations of motion of an oblique-wing aircraft for a given flight condition.
A simple model is developed which describes the manner in which the human pilot may use visual field cues in controlling a vehicle in nap-of-the earth flight. The model is based upon the feedforward of information obtained from streamer patterns in the visual field to the inner-most loop of a multi-loop pilot/vehicle model. In this framework, the model is a logical extension of pursuit and preview models of the human operator which have appeared in the literature. Simulation and flight test data involving low-level helicopter flight tasks are applied to model development and validation.
A study is conducted of the effect of dither on the nonlinear element of a single-input single-outout feedback system. Nonlinearities are considered with memory (backlash, hysteresis), in the feedforward loop; a dither of a given amplitude is injected at the input of the nonlinearity. The nonlinearity is followed by a linear element with low-pass characteristic. The stability of the dithered system and an approximate equivalent system (in which the nonlinearity is a smooth function) are compared. Conditions on the input and on the dither frequency are obtained so that the approximate-system stability guarantees that of the given hysteretic system.
The design and performance simulation of the Space Infrared Telescope Facility pointing and control system are described. The system design is constrained by such considerations as image stability, maneuver capability, cryogen lifetime, and structural flexibility. The primary design driver is the requirement to rapidly execute small angle reorientations of the telescope's optical axis. The flexibility of the spacecraft was simulated using a simplified multibody model which provided an approximation of the primary bending modes. The rather conventional attitude control system design of PID type with a 0.5 Hz bandwidth was enhanced to meet the small angle maneuver requirements by the use of three techniques: (1) a feedforward loop to improve the time response; (2) torque shaping to minimize structural excitation; and (3) active image stabilization to remove residual pointing error and jitter. Simulation results indicate that the system has the desired performance and can be designed using techniques and hardware well within the state-of-the-art.
Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.
Interest in oblique-wing aircraft has surfaced periodically since the 1940's. This concept offers some substantial aerodynamic performance advantages but also has significant aerodynamic and inertial cross-coupling between the aircraft longitudinal and lateral-directional axes. This paper presents a technique for synthesizing a decoupling controller while providing the desired stability augmentation. The proposed synthesis procedure uses the concept of a real model-following control system. Feedforward gains are selected on the assumption that perfect model-following conditions are satisfied. The feedback gains are obtained by using eigensystem assignment, and the aircraft is stabilized by using partial state feedback. The effectiveness of the control laws developed in achieving the desired decoupling is illustrated by application to linearized equations of motion of an oblique-wing aircraft for a given flight condition.
Wind and wind shear components are estimated and used for controlling an externally-blown flap STOL aircraft and a B-727 during landing approach under the JAWS microburst profile. A combination of feedforward and feedback concepts is used. The objective is tracking of airspeed and glide slope. Both an asymptotic disturbance rejection scheme, which is equivalent to MIMO zero assignment, and a linear quadratic scheme prove to be successful. Higher angle-of-attack is used only after thrust saturation. Downdraft is found to be more difficult to counter for STOL aircraft than is horizontal wind shear. A third design formulation based on successive loop closure is also presented. A 'Wind Shear Penetration Index' is described, which offers a simple and quantitative evaluation of an aircraft's ability to safely penetrate a wind shear. This index is particularly useful if used with Doppler radars.
An automatic control scheme for spacecraft proximity operations is presented. The controller is capable of holding the vehicle at a prescribed location relative to a target, or maneuvering it to a different relative position using straight line-of-sight translations. The autopilot uses a feedforward loop to initiate and terminate maneuvers, and for operations at nonequilibrium set-points. A multivariate feedback loop facilitates precise position and velocity control in the presence of sensor noise. The feedback loop is formulated using the Linear Quadratic Gaussian (LQG) with Loop Transfer Recovery (LTR) design procedure. Linear models of spacecraft dynamics, adapted from Clohessey-Wiltshire Equations, are augmented and loop shaping techniques are applied to design a target feedback loop. The loop transfer recovery procedure is used to recover the frequency domain properties of the target feedback loop. The resulting compensator is integrated into an autopilot which is tested in a high fidelity Space Shuttle Simulator. The autopilot performance is evaluated for a variety of proximity operations tasks envisioned for future Shuttle flights.
Relationships between observers, Kalman Filters and dynamic compensators using feedforward control theory are investigated. In particular, the relationship, if any, between the dynamic compensator state and linear functions of a discrete plane state are investigated. It is shown that, in steady state, a dynamic compensator driven by the plant output can be expressed as the sum of two terms. The first term is a linear combination of the plant state. The second term depends on plant and measurement noise, and the plant control. Thus, the state of the dynamic compensator can be expressed as an estimator of the first term with additive error given by the second term. Conditions under which a dynamic compensator is a Kalman filter are presented, and reduced-order optimal estimaters are investigated.
A real time thermal imaging system with temperature resolution better than + or - 1 C and spatial resolution of better than 0.5 mm was developed and applied to the analysis of melt surface thermal field distributions in both Czochralski and liquid encapsulated Czochralski (LEC) growth configurations. The melt is viewed in near normal incidence by a high resolution charge coupled device camera to which is attached a very narrow bandpass filter. The resulting image is digitized and processed using a pipelined pixel processor operating at an effective 40 million operations per second thus permitting real time high frequency spatial and temporal filtering of the high temperature scene. A multi-pixel averaging algorithm was developed which permits localized, low noise sensing of temperature variations at any location in the hot zone as a function of time. This signial is used to implement initial elements of a feedforward growth control scheme which is aimed at reducing disturbances to the melt caused by the batch nature of the growth process. The effect of magnetic melt stabilization on radial melt temperature distributions was measured using this technique. Problems associated with residual internal reflections and non-optimized path geometry are discussed.