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NASA NTRS1986

COFS 3: Multibody dynamics and control technology

COFS 3 is the third project within the Control of Flexible Structures (COFS) program. It deals with developing multibody dynamics and control technology for large space structures. It differs from COFS 1 and 2 in two respects. First, it addresses a more complex class of structure, and second it is basically a scale model ground test and analysis program while COFS 1 and 2 feature Shuttle flight experiments. The specific technology thrusts within COFS 3 are model sensitivities, test methods, analysis validation, systems identification, and vibration suppression. The COFS 3 project will develop the methods for using dynamically scaled models and analysis to predict the structural dynamics of large space structures. The project uses the space station as a focus because it is typical of the structures of interest and provides the first opportunity to obtain full-scale on-orbit dynamics data.

Letchworth, Robert↗

NASA NTRS1988

Control Of Flexible Structures-2 (COFS-2) flight control, structure and gimbal system interaction study

The second Control Of Flexible Structures Flight Experiment (COFS-2) includes a long mast as in the first flight experiment, but with the Langley 15-m hoop column antenna attached via a gimbal system to the top of the mast. The mast is to be mounted in the Space Shuttle cargo bay. The servo-driven gimbal system could be used to point the antenna relative to the mast. The dynamic interaction of the Shuttle Orbiter/COFS-2 system with the Orbiter on-orbit Flight Control System (FCS) and the gimbal pointing control system has been studied using analysis and simulation. The Orbiter pointing requirements have been assessed for their impact on allowable free drift time for COFS experiments. Three fixed antenna configurations were investigated. Also simulated was Orbiter attitude control behavior with active vernier jets during antenna slewing. The effect of experiment mast dampers was included. Control system stability and performance and loads on various portions of the COFS-2 structure were investigated. The study indicates possible undesirable interaction between the Orbiter FCS and the flexible, articulated COFS-2 mast/antenna system, even when restricted to vernier reaction jets.

Fay, Stanley↗

NASA NTRS1985

Control of Flexible Structures (COFS) Flight Experiment Program

The Control of Flexible Structures (COFS) Flight Experiment Program consists of a series of four Shuttle-attached experiments specifically designed to systematically evaluate algorithms and techniques for on-orbit systems identification and flexible body control of large flexible structures, and as such, develops the enabling technologies for future NASA missions such as the evolutionary Space Station and large orbital antennas. These flight experiments are conducted on 1-year centers starting in 1989. This paper presents a description of the test article for the first two flights (COFS-I) and a discussion of the strategy for conducting the various experiments. A guest investigator program provides the opportunity for the research community to participate in the structures/controls research associated with the multi-flight COFS Program.

Fontana, A.↗

NASA NTRS1986

COFS 1: Beam dynamics and control technology overview

The Control of Flexible Structures (COFS) 1 Project provides the invaluable opportunity to test, validate, and measure the effectiveness of theories, structural concepts, control systems, and flight certification processes for future missions through a research program focusing on multiple issues in large flexible structures, dynamics, and controls. The COFS 1 Project consists of a series of ground and flight activities building progressively from modeling and dynamic characterization of large space systems to the more complex issues of flexible-body control. The program objectives are to: determine the degree to which theory and ground testing can predict flight performance of next-generation low-frequency structures; evaluate structural fidelity of representative next-generation large deployable precision structure; assess math modeling requirements for large lightweight complex systems on which ground test results are questionable; determine degree to which scale model analysis and tests can be correlated to full-scale performance; evaluate system identification and state estimation algorithms on complex lightweight structures in the space environment; evaluate and verify controls/structures modeling capability; evaluate control laws and control systems; and evaluate damping effects in micro-g environment.

Allen, John L.↗

NASA NTRS1986

Distributed control for COFS 1

An overview is given of the work being done at NASA LaRC on developing the Control of Flexible Structures (COFS) 1 Flight Experiment Baseline Control Law. This control law currently evolving to a generic control system software package designed to supply many, but not all, guest investigators. A system simulator is also described. It is currently being developed for COFS-1 and will be used to develop the Baseline Control Law and to evaluate guest investigator control schemes. It will be available for use whether or not control schemes fall into the category of the Baseline Control Law. First, the hardware configuration for control experiments is described. This is followed by a description of the simulation software. Open-loop sinusoid excitation time histories are next presented both with and without a local controller for the Linear DC Motor (LDCM) actuators currently planned for the flight. The generic control law follows and algorithm processing requirements are cited for a nominal case of interest. Finally, a closed-loop simulation study is presented, and the state of the work is summarized in the concluding remarks.

Montgomery, R. C.↗

NASA NTRS1986

COFS 1 research overview

The Control of Flexible Structures (COFS) program is divided into three areas of research. These three areas are controls/structures analysis development, ground test experiments, and in-space experiments. The ground test experiments are intended to validate analyses and to confirm through hardware tests our technical readiness to successfully fly the Mast hardware. There is this close relation to the results of ground tests and analytical predictions that must be understood before flight experiments may be attempted. Details relative to each program area are given.

Horner, G. C.↗

NASA NTRS1986

COFS 1 Guest Investigator Program

The process for selecting guest investigators for participation in the Control of Flexible Structures (COFS)-1 program is described. Contracts and grants will be awarded in late CY87. A straw-man list of types of experiments and a distribution of the experiments has been defined to initiate definition of an experiments package which supports development and validation of control structures interaction technology. A schedule of guest investigator participation has been developed.

Fontana, Anthony↗

NASA NTRS1986

COFS 2: 3-D dynamics and controls technology

The Control of Flexible Structures (COFS) 2 project is a complex and ambitious undertaking which will address several critical technology areas. Among them are modeling, structural dynamics, controls, and ground testing issues which are not only germane to this effort, but to other large space structure programs being contemplated. This effort requires the early integration of controls and structural dynamics considerations in order to achieve mission success. Several technology advances must be achieved in the areas of system modelling, control synthesis and methodology, sensor/actuator development, and ground testing techniques for system evaluation and on-orbit performance prediction and verification. This project offers a unique opportunity for the integration of several disciplines to produce technology advances which will benefit many future programs. In addition, the opportunities available to participate in the various levels in the phase of this project, e.g., analytical development and modelling, ground testing, and flight testing, permit for the involvement of a significant number of interested researchers and organizations from government, universities and industry.

Pyle, Jon S.↗

NASA NTRS1986

Analysis and simulation of the MAST (COFS-1 flight hardware)

In-house analysis work in support of the Control of Flexible Structures (COFS) program is being performed at the NASA Langley Research Center. The work involves evaluation of the proposed design configuration, controller design as well as actuator dynamic modeling, and MAST/actuator dynamic simulation of excitation and damping. A complete finite element model of the MAST has been developed. This finite element model has been incorporated into an optimization procedure which minimizes total mass while maintaining modal coupling. Results show an increase in the total mass due to additional constraints (namely, the diagonal frequency constraint) imposed on the baseline design. A valid actuator dynamic model is presented and a complete test sequence of the proposed flight experiment is demonstrated. The actuator dynamic model is successfully used for damping and the stroke limitations for first mode excitation are demonstrated. Plans are to incorporate additional design variables and constraints into the optimization procedure (such as actuator location) and explore alternative formulations of the objective function. A different actuator dynamic model to include hardware limitations will be investigated.

Horta, Lucas G.↗

NASA NTRS1989

Decentralized control of the COFS-I Mast using linear dc motors

Consideration is given to a decentralized control design for vibration suppression in the COFS-I Mast using linear dc motors for actuators. The decentralized control design is based results from power systems using root locus techniques that are not well known. The approach is effective because the loop gain is low due to low actuator authority. The frequency-dependent nonlinearities of the actuator are taken into account. Because of the tendency of the transients to saturate the the stroke length of the actuator, its effectiveness is limited.

Lindner, Douglas K.↗

NASA NTRS1985

Control of Flexible Structures (COFS) Flight Experiment Background and Description

A fundamental problem in designing and delivering large space structures to orbit is to provide sufficient structural stiffness and static configuration precision to meet performance requirements. These requirements are directly related to control requirements and the degree of control system sophistication available to supplement the as-built structure. Background and rationale are presented for a research study in structures, structural dynamics, and controls using a relatively large, flexible beam as a focus. This experiment would address fundamental problems applicable to large, flexible space structures in general and would involve a combination of ground tests, flight behavior prediction, and instrumented orbital tests. Intended to be multidisciplinary but basic within each discipline, the experiment should provide improved understanding and confidence in making design trades between structural conservatism and control system sophistication for meeting static shape and dynamic response/stability requirements. Quantitative results should be obtained for use in improving the validity of ground tests for verifying flight performance analyses.

Hanks, B. R.↗

NASA NTRS1987

COFS 3 multibody dynamics and control technology

One of the results from the model definition study showed that the maximum scale factor for a replica model is .25. This is dictated by the fixed dimensions of the Large Spacecraft Lab. Replica scaling laws were applied to simplified theoretical models of joints and the joint/tube/joint system. The practical interpretation of the results for the specific Space Station configuration under study yielded a number of conclusions which are briefly discussed. Detailed suspension analyses were conducted to evaluate the ability of the suspended scale model to emulate the dynamic behavior of the free-free Space Station. The results indicated only a slight preference for smaller scales. A candidate erectable Space Station joint was fabricated at full scale, 1/4 scale and 1/3 scale in order to assess the comparability of the scaled joints to the full scale behavior. Another important question discussed is how well the inherent damping characteristics of the scaled joints compare to those of the full scale joint. The preliminary definition study yielded three separate scale factor recommendations for the scale model.

Letchworth, Robert↗

NASA NTRS1988

Experiences in applying optimization techniques to configurations for the Control Of Flexible Structures (COFS) Program

Optimization procedures are developed to systematically provide closely-spaced vibration frequencies. A general-purpose finite-element program for eigenvalue and sensitivity analyses is combined with formal mathematical programming techniques. Results are presented for three studies. The first study uses a simple model to obtain a design with two pairs of closely-spaced frequencies. Two formulations are developed: an objective function-based formulation and constraint-based formulation for the frequency spacing. It is found that conflicting goals are handled better by a constraint-based formulation. The second study uses a detailed model to obtain a design with one pair of closely-spaced frequencies while satisfying requirements on local member frequencies and manufacturing tolerances. Two formulations are developed. Both the constraint-based and the objective function-based formulations perform reasonably well and converge to the same results. However, no feasible design solution exists which satisfies all design requirements for the choices of design variables and the upper and lower design variable values used. More design freedom is needed to achieve a fully satisfactory design. The third study is part of a redesign activity in which a detailed model is used. The use of optimization in this activity allows investigation of numerous options (such as number of bays, material, minimum diagonal wall thicknesses) in a relatively short time. The procedure provides data for judgments on the effects of different options on the design.

Walsh, Joanne L.↗

NASA NTRS1989

Experiences in applying optimization techniques to configurations for the Control of Flexible Structures (COFS) program

Optimization procedures are developed to systematically provide closely-spaced vibration frequencies. A general purpose finite-element program for eigenvalue and sensitivity analyses is combined with formal mathematical programming techniques. Results are presented for three studies. The first study uses a simple model to obtain a design with two pairs of closely-spaced frequencies. Two formulations are developed: an objective function-based formulation and constraint-based formulation for the frequency spacing. It is found that conflicting goals are handled better by a constraint-based formulation. The second study uses a detailed model to obtain a design with one pair of closely-spaced frequencies while satisfying requirements on local member frequencies and manufacturing tolerances. Two formulations are developed. Both the constraint-based and the objective function-based formulations perform reasonably well and converge to the same results. However, no feasible design solution exists which satisfies all design requirements for the choices of design variables and the upper and lower design variable values used. More design freedom is needed to achieve a fully satisfactory design. The third study is part of a redesign activity in which a detailed model is used.

Walsh, Joanne L.↗

NASA NTRS2007

Application of Carbon Based Nano-Materials to Aeronautics and Space Lubrication

The tribology program at NASA Glenn Research Center in Cleveland, Ohio, is investigating carbon based nano-particles for their potential in advanced concept lubrication products. Service conditions range from high temperature atmospheric to low temperature vacuum. Some of the lubricants and surface coatings of tribological significance that we have evaluated include neat nano-particles, both grown in-situ and as bulk material deposited on the substrate, and nano-particles dispersed in oils which are all highly substrate interactive. We discuss results of testing these systems in a spiral orbit tribometer (SOT) and a unidirectional pin-on-disc (PoD) tribometer. A nano-onions/Krytox mixture evaluated as a lubricant for angular contact bearings in air caused a marked lowering of the coefficient of friction (CoF) (0.04 to 0.05) for the mixture with an eight-fold improvement in lifetime over that of the Krytox alone. In vacuum, no effect was observed from the nano-onions. Multi-walled nanotubes (MWNT) and graphitized MWNT were tested under sliding friction in both air and vacuum. The MWNT which were grown in-situ oriented normal to the sliding surface exhibited low CoF (0.04) and long wear lives. Bulk MWNT also generate low CoF (0.01 to 0.04, vacuum; and 0.06, air) and long wear life (>1 million orbits, vacuum; and >3.5 million, air). Dispersed graphitized MWNT were superior to MWNT and both were superior to aligned MWNT indicating that orientation is not an issue for solid lubrication. Single-walled nanotubes (SWNT) were modified by cutting into shorter segments and by fluorination. All SWNTs exhibited low CoF in air, with good wear lives. The SWNT with slight fluorination yielded an ultra-low CoF of 0.002 although the best wear life was attributed to the nascent SWNT.

Street, Kenneth W., Jr.↗

NASA NTRS1993

Meteorological analysis of the November 25 FIRE cirrus-2 case: A well-defined ridge-crest cirrus system over Oklahoma

On the morning of 25 Nov. 1991, a cirrus cloud system formed in a region extending eastward from the continental divide into central Oklahoma and southwestern Kansas. The system moved slowly eastward during the day and maintained a relatively constant scale and shape. From the satellite perspective, this cloud system had a number of morphological similarities to the 27-28 Oct. FIRE (First International Satellite Cloud Climatology Project Regional Experiment) Cirrus-1 case analyzed by Starr and Wylie. By comparison, the present case had much better rawinsonde coverage. The rawinsonde network was much more extensive and the cloud system was relatively slow moving and well-located with respect to the enhanced sounding network and the National Weather Service (NWS) Wind Profiler Network. In addition to the rawinsonde soundings (1200 and 1800 UTC on 25 Nov. and 0000 and 0600 UTC on 26 Nov.) and satellite observations, four aircraft sorties were flown in the northern portion of this cirrus cloud system from mid-morning to mid afternoon. These included microphysical-radiation profiling missions by the NCAR Sabreliner near Tulsa (about midway between COF and OUN) and the NCAR King Air near Ponca City (about 80 km upwind of Tulsa), a microphysical profiling mission by the UND Citation near Tulsa, and a NASA ER-2 overflight. Thus, very good data are available for this case although, unfortunately, the cloud system remained south of the FIRE Hub site at Coffeyville (COF) where extensive ground-based remote sensor was located. The northern edge of the cloud system was visible from COF during most of the day. Given the wealth of available in situ and remote sensing observations, the similarity to the FIRE Cirrus-1 focal case study, and the particularly good match in scale and location of the cloud system with the rawinsonde and profiler networks, analysis of this case may yield very useful results on the life-cycle of this cirrus cloud system. The quality of the meteorological description for this case was assessed based on our preliminary analysis of the rawinsonde observations.

Starr, David↗

NASA NTRS1987

Status of the Mast experiment

Many sophisticated mathematical control techniques for flexible structures have been devised. The basic problem is that most of them require a relatively accurate mathematical model of the system under control including the dynamics of both the structure and the control system components. Obtaining such a model for either subsystem traditionally has required great effort including a significant validation step based on test data. Because of the quantum increase in complexity over proven methods, promising techniques for the control of flexible structures must be validated in actual hardware experiments before committing to their use in actual spacecraft missions. The Mast experiment system serves as a focus for such validation. It is the first in a series of experiments under the Control of Flexible Structures (COFS) Program at the NASA Langley Research Center. The Mast experiment is a combination of ground tests, orbital flight test, and analysis of a deployable beam under the COFS program. It provides a vehicle for research in structures, structural dynamics, and control issues.

Hanks, Brantley R.↗

NASA NTRS1988

The LDCM actuator for vibration suppression

A linear dc motor (LDCM) has been proposed as an actuator for the COFS I mast and the COFS program ground test Mini-Mast. The basic principles of operation of the LDCM as an actuator for vibration suppression in large flexible structures are reviewed. Because of force and stroke limitations, control loops are required to stabilize the actuator, which results in a non-standard actuator-plant configuration. A simulation model that includes LDCM actuator control loops and a finite element model of the Mast is described, with simulation results showing the excitation capability of the actuator.

Ide, Eric N.↗