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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.

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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS1976

Analytical study of the inside-out Gimbal dynamics. Volume 1: Analytical study of inside-out/coincident Gimbal dynamics

The performance capabilities and limitations of the instrument pointing system (IPS) are described. Suggestions of design modifications that result in overall improved IPS performance are included. Since the design and configuration of the IPS was modified a portion of the study was performed with the inside-out Gimbal configuration which was updated to the present coincident Gimbal system configuration. Due to the similarity of the two systems, the results obtained for the inside-out Gimbal also apply to the coincident Gimbal system.

Rybak, S. C.↗
NASA NTRS1986

Theoretical three-and four-axis gimbal robot wrists

In high-performance flight simulations, a four-axis gimbal system allows all possible rotations with acceptable gimbal angle rates while it avoids the so-callled 'gimbal lock' that occurs when gimbal rotational axes are colinear. In this paper, pertinent equations (including quaternions) are assembled for a hypothetical robot wrist, functionally equivalent to this four-axis gimbal system, and also for a true three-axis gimbal robot wrist. These equations are used to simulate the rotation of a robot hand by the robot wrist in response to operator rotational velocity commands to the robot hand. Near gimbal lock (wrist singularity), excessive rotational rates occur. Scaling the rates, which is necessary for the three-gimbal robot wrist to prevent rate limiting, introduces an undesirable time delay in the robot hand rotation with respect to the commanded rotation. However, the merit of the four-gimbal robot wrist is that the fourth gimbal angle keeps the robot wrist away from the singularity so that the robot hand moves exactly as commanded. It appears that in a 'worst-type' maneuver of the robot hand, the fourth gimbal angle can be defined so that none of the gimbal angle rates exceed about twice the commanded rates.

Barker, L. K.↗
NASA NTRS2000

Development of a Miniature, Two-Axis, Triple-Helmholtz-Driven Gimbal

This paper details the development of a Helmholtz-driven, 2-axis gimbal to position a flat mirror within 50 microradian (fine positioning) in a space environment. The gimbal is intended to travel on a deep space mission mounted on a miniature "rover" vehicle. The gimbal will perform both pointing and scanning functions. The goal for total mass of the gimbal was 25 grams. The primary challenge was to design and build a bearing system that would achieve the required accuracy in addition to supporting the relatively large mass of the mirror and the outer gimbal. The mechanism is subjected to 100-G loading without the aid of any additional caging mechanism. Additionally, it was desired to have the same level of accuracy during Earth-bound, 1-G testing. Due to the inherent lack of damping in a zero-G, vacuum environment; the ability of the gimbal to respond to very small amounts of input energy is paramount. Initial testing of the first prototype revealed exceedingly long damping times required even while exposed to the damping effects of air and 1-G friction. It is envisioned that fine positioning of the gimbal will be accomplished in very small steps to avoid large disturbances to the mirror. Various bearing designs, including materials, lubrication options and bearing geometry will be discussed. In addition various options for the Helmholtz coil design will be explored with specific test data given. Ground testing in the presence of 1-G was compounded by the local magnetic fields due to the "compass" effect on the gimbal. The test data will be presented and discussed. Additionally, rationale for estimating gimbal performance in a zero-G environment will be presented and discussed.

Sharif, Boz↗
NASA NTRS2024

MSFC-TVC | TB-03: Derivation of Thrust Vector Control (TVC) Actuator-Force / Gimbal-Torque Transformation Matrix

Thrust vector control (TVC) systems for rocket engine propulsion traditionally use a simple linear relationship to convert between actuator forces and torques about the engine gimbal’s center-of-rotation (COR). As shown in Equation (1), the torque about the gimbal COR is proportional to the applied actuator force and the TVC moment arm (MA)—the perpendicular distance between the TVC actuator’s line-of-action (LOA) and the engine gimbal’s COR. While this fundamental relationship remains valid and accurate in a two-dimensional (2D), one-degree-of-freedom (1-DOF) context—particularly in its non-linear formulation as described in the ER63 Technical Bulletin TB-02 (Derivation of Thrust Vector Control (TVC) Engine-Gimbal / Actuator Moment-Arm Geometry)—it becomes limited when extended to three-dimensional (3D), two-degree-of-freedom (2-DOF) analyses. In 3D, out-of-plane angular displacements can arise, causing the gimbaled engine plane-of-motion to become non-coplanar with the respective actuator plane-of-motion. Such misalignments occur due to the rod-end (RE) and/or tail-stock (TE) mounting geometry of individual TVC actuators. These geometric complexities lead to inaccuracies in calculating engine torques and corresponding actuator forces if only the traditional TVC MA relationship is employed. For higher gimbal angular displacements (e.g., greater than 5 degrees), these inaccuracies become more pronounced, necessitating a more robust mathematical framework. This document presents a comprehensive 3D (2-DOF) derivation of a transformation matrix that accurately converts between gimbaled engine torques and TVC actuator forces. By incorporating the necessary geometric and rotational considerations, this new approach corrects the limitations of the traditional TVC MA method. Subsequent sections compare the newly formulated approach to the traditional method, demonstrating its enhanced accuracy and reliability for a broad range of gimbaled engine conditions.

Thrust Vector Control↗
NASA NTRS1978

Steering laws for double-gimbal control-moment gyros

Derivation of CMG steering laws was considered. The type of CMG considered was a double gimbal one which has a constant magnitude momentum vector. The equations for the generation of torque of an inertially fixed CMG are presented. To realize a particular commanded torque, the gimbal rates of the CMG must be specified. These gimbal rates are shown to be functions of gimbal angle orientation and the commanded torque. The conventional cross-product steering law was derived by minimizing a function which was the square of the magnitude of the error between the commanded torque and the realizable torque of the gyro. This steering law was severely dependent upon the inner gimbal angle. When the inner gimbal reaches 90 degrees, the cross product law requires infinite outer gimbal rates to realize finite torque values.

Winder, S. W.↗
NASA NTRS1984

Torque command steering law for double-gimbaled control moment gyros applied to rotor energy storage

A steering law is presented which has all the features required for space applications, assuming the CMG outer gimbal freedom is unlimited. The reason is the idea of mounting all the outer gimbal axes of the CMGs parallel to each other. This allows the decomposition of the steering law problem into a linear one for the inner gimbal angle rates and a planar one for the outer gimbal angle rates. The inner gimbal angle rates are calculated first, since they are not affected by the outer gimbal angle rates. For the calculation of the outer rates, the inner rates are then known quantities. An outer gimbal angle distribution function (to avoid singularities internal to the total angular momentum envelope) generates distribution rates next, and finally the pseudoinverse method is used to insure that the desired total torque is delivered.

Kennel, H. F.↗
NASA NTRS1986

Centaur engine gimbal friction characteristics under simulated thrust load

An investigation was performed to determine the friction characteristics of the engine gimbal system of the Centaur upper stage rocket. Because the Centaur requires low-gain autopilots in order to meet all stability requirements for some configurations, control performance (response to transients and limit-cycle amplitudes) depends highly on these friction characteristics. Forces required to rotate the Centaur engine gimbal system were measured under a simulated thrust load of 66,723 N (15,000 lb) and in an altitude/thermal environment. A series of tests was performed at three test conditions; ambient temperature and pressure, ambient temperature and vacuum, and cryogenic temperature and vacuum. Gimbal rotation was controlled, and tests were performed in which rotation amplitude and frequency were varied by using triangular and sinusoidal waveforms. Test data revealed an elastic characteristic of the gimbal, independent of the input signal, which was evident prior to true gimbal sliding. The torque required to initiate gimbal sliding was found to decrease when both pressure and temperature decreased. Results from the low amplitude and low frequency data are currently being used in mathematically modeling the gimbal friction characteristics for Centaur autopilot performance studies.

Askew, J. W.↗
NASA NTRSDate not supplied

Gimbal Bearing Friction in the SLS Core Stage Thrust Vector Control System

The Space Launch System (SLS) Core Stage Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators that vector the four Shuttle heritage RS-25 engines about a Shuttle heritage gimbal block/bearing. The MSFC Controls community has long regarded gimbal friction to be a negligible effect on the overall control of gimbaled RS-25 engines. This is corroborated by Space Shuttle test and flight data that does not appear to show degraded effects, nor limit cycling at the end of the shuttle flight. For this reason, friction was not expected to be a driving factor of performance and control of the reused RS-25 engines aboard the SLS. However, after test data showed a large shift in frequency behavior and a highly damped step-response in the time series, there was further investigation into what could have caused this behavior. Heritage friction models used in previous gimbal and ball bearings were evaluated such as Coulomb, Dahl and LuGre, but the single degree of freedom friction models alone were not enough to explain the behavior and shifts seen in the test data. This paper presents the additional findings and modeling efforts regarding friction on the RS-25 engines. Using the Two Actuator Operational Simulation (TAOS), the difference from modeling separate friction degrees of freedom to coupled degrees of freedom was investigated to deduce the effects of one axis’s movement on the other. Next, due to the vibration environment, a modified LuGre model has been proposed that adds an additional term to decrease the friction coefficient at low engine velocity amplitudes. Lastly, the addition of the stiffness in each half of the gimbal bearing has increased modeling fidelity by also adding the effect on the gimbal bearing bending in compliance to both the friction torque on the surface of the gimbal bearing and the actuator force that is forcing the engine in a specified direction. Through these effects, the time and frequency domain behavior seen in test can be characterized accurately.

Friction↗
NASA NTRSDate not supplied

Gimbal Bearing Friction in the SLS Core Stage Thrust Vector Control System

The Space Launch System (SLS) Core Stage Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators that vector the four Shuttle heritage RS-25 engines about a Shuttle heritage gimbal block/bearing. The MSFC Controls community has long regarded gimbal friction to be a negligible effect on the overall control of gimbaled RS-25 engines. This is corroborated by Space Shuttle test and flight data that does not appear to show degraded effects, nor limit cycling at the end of the shuttle flight. For this reason, friction was not expected to be a driving factor of performance and control of the reused RS-25 engines aboard the SLS. However, after test data showed a large shift in frequency behavior and a highly damped step-response in the time series, there was further investigation into what could have caused this behavior. Heritage friction models used in previous gimbal and ball bearings were evaluated such as Coulomb, Dahl and LuGre, but the single degree of freedom friction models alone were not enough to explain the behavior and shifts seen in the test data. This paper presents the additional findings and modeling efforts regarding friction on the RS-25 engines. Using the Two Actuator Operational Simulation (TAOS), the difference from modeling separate friction degrees of freedom to coupled degrees of freedom was investigated to deduce the effects of one axis’s movement on the other. Next, due to the vibration environment, a modified LuGre model has been proposed that adds an additional term to decrease the friction coefficient at low engine velocity amplitudes. Lastly, the addition of the stiffness in each half of the gimbal bearing has increased modeling fidelity by also adding the effect on the gimbal bearing bending in compliance to both the friction torque on the surface of the gimbal bearing and the actuator force that is forcing the engine in a specified direction. Through these effects, the time and frequency domain behavior seen in test can be characterized accurately.

Friction↗
NASA NTRS1981

Steering law for parallel mounted double-gimbaled control moment gyros. Revision A

Mounting of double-gimbaled control moment gyros (CMG's) of unlimited outer gimbal angle freedom with all their outer gimbal axes parallel allows drastic simplification of the CMG steering law development hardware. The advantages of the parallel mounting for the CMG steering law development are such that a law could be developed which is applicable to any number of CMG's with arbitrary angular momentum. Parallel mounting of the CMG's in conjunction with the steering law can therefore be considered a CMG kit suitable for many missions of differing momentum requirements. It also means that increasing momentum demands during the design phase of a space vehicle can be easily met by the addition of one or more CMG's of the original momentum capacity rather than a redesign to a larger momentum capacity. Another advantage of the parallel mounting is that the failure of any CMG can be treated like any other, i.e., only one failure mode is possible. The CMG steering law distributes the CMG momentum vectors such that all inner gimbal angles are equal which reduces the rate requirements on the outer gimbal axes. The steering law also spreads the outer gimbals which ensures avoidance of singularities internal to the angular momentum envelope.

Kennel, H. F.↗
NASA NTRS1993

Magnetic Gimbal Proof-of-Concept Hardware performance results

The Magnetic Gimbal Proof-of-Concept Hardware activities, accomplishments, and test results are discussed. The Magnetic Gimbal Fabrication and Test (MGFT) program addressed the feasibility of using a magnetic gimbal to isolate an Electro-Optical (EO) sensor from the severe angular vibrations induced during the firing of divert and attitude control system (ACS) thrusters during space flight. The MGFT effort was performed in parallel with the fabrication and testing of a mechanically gimballed, flex pivot based isolation system by the Hughes Aircraft Missile Systems Group. Both servo systems supported identical EO sensor assembly mockups to facilitate direct comparison of performance. The results obtained from the MGFT effort indicate that the magnetic gimbal exhibits the ability to provide significant performance advantages over alternative mechanically gimballed techniques.

Stuart, Keith O.↗
NASA NTRS2009

Engine Gimbal Requirements for Ground Testing of J-2X

Based on the Apollo-era J-2 that powered the second and third stages of the Saturn V, the current J-2X is the liquid hydrogen and oxygen high-altitude rocket engine in development for both the Ares I Upper Stage and Ares V Earth Departure Stage. During my summer 2009 internship, J-2X was at a stage in its design maturity where verification testing needed to be considered for the benefit of adequate test facility preparation. My task was to focus on gimbal requirements and gimbal related hot-fire test plans. Facility capabilities were also of interest, specifically for hot-fire testing slated to occur at test stands A-1, A-2, and A-3 at Stennis Space Center(SSC) in Bay St. Louis, Mississippi. Gimbal requirements and stage interface conditions were investigated by applying a top-to-bottom systems engineering approach, which involved system level requirements, engine level requirements from both government and engine contractor perspectives, component level requirements, and the J-2X to Upper Stage and Earth Departure Stage interface control documents. Previous hydrogen and oxygen liquid rocket engine gimbal verification methods were researched for a glimpse at lessons learned. Discussion among the J-2X community affected by gimballing was organized to obtain input relative to proper verification of their respective component. Implementing suggestions such as gimbal pattern, angulated dwell time, altitude testing options, power level, and feed line orientation, I was able to match tests to test stands in the A Complex at SSC. Potential test capability gaps and risks were identified and pursued. The culmination of all these efforts was to coordinate with SSC to define additional facility requirements for both the A-3 altitude test stand that is currently under construction and the A-1 sea level test stand which is being renovated

Kovalcik, Julia↗
NASA NTRS1971

SERT 2 gimbal system

The gimbal system is described that was designed to mount the thruster and to reposition the thrust vector of a mercury ion bombardment thruster through the center of gravity of the SERT 2 assembly. The SERT 2 assembly was launched 3 February 1970. The gimbal ring, gimbal mounts, bearings, actuators, and environmental testing are described. Due to the accurate alinements provided, it was not necessary to use the gimbal for the intended function. However, the gimbals were operated successfully numerous times in space after 8 months of storage.

Zavesky, R. J.↗
NASA NTRS1986

Testing Gimbal Axes Before Complete Assembly

Early testing increases chances assembly will function well without expensive rework. Developed for antenna gimbals, test eliminates delay and costs ensued when fully assembled antenna fails because of excessive torque and friction in gimbal. Gimbal housing mounted above rotary table. Gimbal axis tested connected to torque transducer on table. With exception of special holder for gimbal housing, all of testing instruments commercially available items.

Babis, W.↗
NASA NTRS1995

Suspension system for gimbal supported scanning payloads

Gimballed scanning devices or instruments are the subject of this invention. Scanning is an important aspect of space science. To achieve a scan pattern some means must be provided which impart to the payload an oscillatory motion. Various forms of machines have been employed for controllably conferring on scanning instruments predetermined scan patterns. They include control moment gyroscopes, reaction wheels, torque motors, reaction control systems, and the like. But rotating unbalanced mass (RUM) devices are a new and efficient way to generate scans in gimballed payloads. RUM devices are superior to previous scanning apparatus, but they require power consuming and frequently complex auxiliary control systems to position and reposition the particular scan pattern relative to a target or a number of targets. Herein the control system is simplified. The most frequently employed method for achieving the various scan patterns is to gimbal the scanning device. Gimbals are suspended in such a way that they can be activated to generate the scan pattern. The suspension means described is for payloads supported in gimbals wherein the payload rotation is restricted by a flex pivot so that the payload oscillates, thereby moving in a scan pattern.

Polites, Michael E.↗
NASA NTRS1993

Optimal open-loop and feedback control using single gimbal control moment gyroscopes

Methods for control of spacecraft maneuvers through the use of single gimbal control moment gyroscopes are developed. The development employs an integrated model of the spacecraft dynamics with the control moment gyroscope dynamics. Smooth and continuous open-loop control profiles are obtained which minimize a weighted function of maneuver time, magnitude of control effort, and proximity to singular gimbal configurations. Closed-loop state feedback control laws are derived by invoking Lyapunov stability theory. The schemes are presented for implementing the commanded state feedback: gimbal rate control and gimbal acceleration control. The appropriate handling of singular gimbal configurations is also discussed.

Hoelscher, Brian R.↗
NASA NTRS1962

Performance Evaluation of Fixed- and Variable-Area Rocket Exhaust Diffusers Using Single and Clustered Nozzles with and Without Gimbaling

An investigation of exhaust diffusers used for altitude simulation in testing rocket engines was conducted with model diffusers and gaseous nitrogen as the working fluid. This investigation was conducted to eval­uate the effects on performance of gimbaling clustered nozzles in a single fixed-area exhaust diffuser. A two-nozzle cluster was gimbaled in all attitudes in four different exhaust-diffuser configurations: (1) a straight circular tube, (2) a straight figure-eight tube, (3) a circular tube with a second throat, and (4) a figure-eight tube with a second throat. Gimbaling clustered nozzles had little effect on the operating pressure ratio for either straight-tube or second-throat diffusers, but caused a large increase in the starting-pressure-ratio requirements in some straight-tube exhaust diffusers. The performance of two or four clustered nozzles with no gimbaling was compared with single-nozzle per­formance on the basis of the ratio of diffuser area to nozzle-throat area. The performance was found to be dependent on the diffuser- to nozzle-throat-area ratio and independent of both the number of primary nozzles and the nozzle-area ratio. A separate investigation was also conducted to evaluate the per­formance improvement obtainable with a variable-area exhaust diffuser. This type of diffuser achieved a 26-percent reduction in starting pressure ratio, a 40-percent reduction in operating pressure ratio, and a 50-percent reduction in the overall diffuser length over the values attainable with a fixed-area second-throat diffuser.

ROCKET↗
NASA NTRS1985

A Gimbal sizing analysis for an IPACS rotating assembly

All major components of an integrated power/attitude control system (IPACS) assembly were analyzed for testing, launch, and operational stresses. The conceptual design for the outer gimbal and mounting ring structures were developed and analyzed along with preliminary designs of the pivot and torquer assemblies. Results from the system response analysis and the thermal analysis are also presented. Gimballing of this rotating assembly should present few difficulties as the maximum gimballing rate is quite low. However, the inner gimbal assembly in its current configuration must be modified to develop the system from a laboratory concept to a realistic flight hardware status.

Burke, P. R.↗