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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

Electronic Control Of Slow Rotations

Digital/analog circuit controls both angular position and speed of rotation of motor shaft with high precision. Locks angular position of motor to phase of rotation-command clock signal at binary submultiple of master clock signal. Circuit or modified version used to control precisely position and velocity of robotic manipulator, to control translation mechanism of crystal-growing furnace, to position hands of mechanical clock, or to control angular position and rate of rotation in any of large variety of rotating mechanisms.

Howard, David E.↗

Two-time scale stabilization of a flexible arm with output feedback

An approach is presented to designing a control system with output feedback for a lightweight flexible arm. A two-time-scale dynamic model is obtained which allows the adoption of a composite control strategy. First a slow control can be designed for the slow (rigid) subsystem, and then a fast stabilizing control for the fast (flexible) subsystem. The problem of the lack of full state measurements connected with the fast control design is solved. An output-feedback, low-order dynamic compensator whose optimal gains are computed by a convergent numerical algorithm is designed. A more robust design can be achieved if a loop transfer recovery procedure is introduced. The design procedure is tested by means of nonlinear simulation, and the results are discussed.

Siciliano, Bruno↗

Reactor for producing large particles of materials from gases

A method and apparatus is disclosed for producing large particles of material from gas, or gases, containing the material (e.g., silicon from silane) in a free-space reactor comprised of a tube (20) and controlled furnace (25). A hot gas is introduced in the center of the reactant gas through a nozzle (23) to heat a quantity of the reactant gas, or gases, to produce a controlled concentration of seed particles (24) which are entrained in the flow of reactant gas, or gases. The temperature profile (FIG. 4) of the furnace is controlled for such a slow, controlled rate of reaction that virtually all of the material released condenses on seed particles and new particles are not nucleated in the furnace. A separate reactor comprised of a tube (33) and furnace (30) may be used to form a seed aerosol which, after passing through a cooling section (34) is introduced in the main reactor tube (34) which includes a mixer (36) to mix the seed aerosol in a controlled concentration with the reactant gas or gases.

Flagan, Richard C.↗

Nonlinear Maneuver Autopilot

Trajectory-control laws based on singular-perturbation theory and nonlinear dynamical modeling. Nonlinear maneuver autopilot commands flight-test trajectories of F-15 airplane. Underlying theory of controller enables separation of variables processed in fast and slow control loops, reducing amount of computation required.

Menon, P. K. A.↗

Control of large wind turbine generators connected to utility networks

This is an investigation of the control requirements for variable pitch wind turbine generators connected to electric power systems. The requirements include operation in very small as well as very large power systems. Control systems are developed for wind turbines with synchronous, induction, and doubly fed generators. Simulation results are presented. It is shown how wind turbines and power system controls can be integrated. A clear distinction is made between fast control of turbine torque, which is a peculiarity of wind turbines, and slow control of electric power, which is a traditional power system requirement.

Hinrichsen, E. N.↗

Slow Release Of Reagent Chemicals From Gel Matrices

Procedure developed for slow release of reagent chemicals into solutions. Simple and inexpensive and not subject to failure of equipment. Use of toothpaste-type tube or pump dispenser conceivably provides more controlled technique for storage and dispensation of gel matrix. Possible uses include controlled, slow release of reagents in chemical reactions, crystal growth, space-flight experiments, and preformed gel medications from packets.

Debnam, William J.↗

Quantifying Leak Rates and Vacuum Impact on Granular Soil Column Pneumatic Seal

Introduction: All In-Situ Resource Utilization (ISRU) regolith reactor systems that aim to extract gases or vapors must maintain a seal along the flow path of the regolith from the inlet hopper to where extracted gases or vapors are generated. Using a column of regolith at the inlet has been proposed as an alternative to systems using series of mechanical valves to reduce mass and complexity. Preliminary investigations into the use of regolith itself as a barrier to escaping fluids have been conducted, which this research seeks to expand upon. Different vertical regolith simulant plug diameters and heights were tested under vacuum with dry nitrogen to observe leak rates and approximate steady state pressure gradient equilibria. The effect of absolute ambient pressure was also studied by repeating tests at incremental pressures ranging from 10e-5 Torr up to 1 atm to corroborate ambient bench tests from previous work. The impact of regolith dynamics was addressed to emulate continuous-feed regolith reaction processes by measuring leak rates through continuously draining simulant columns. OB-1 lunar highlands regolith simulant was used. Experimental Setup: Regolith simulant columns were constructed using a motorized butterfly valve separating upper acrylic tubes of various diameters from a larger, lower aluminum pipe plenum (See Figure 1). The butterfly valve was cracked open such that gas could freely pass through whereas regolith would bridge and stay suspended as a cohesive plug above in the acrylic portion. These assemblies were loaded into a vacuum chamber, and a compressed dry nitrogen line was routed into the lower plenum. Pressure transducers measured the absolute pressure of the lower plenum, which was compared to absolute chamber pressure to monitor the pressure gradient across the regolith simulant. A precision mass flow controller enabled fine control of plenum pressure. The plenum pressure was quasi-statically increased to set points informed by previous work [1] before shutting off the gas supply to allow the now pressurized gas volume to dissipate through the simulant into the chamber in what was referred to as a ‘leak test.’ In a separate set of tests, the pressure was allowed to quasi-statically build until visual disturbances in the soil were observed via remote camera feeds. Initial leak rate tests were repeated on the disturbed soil to observe changes in leak rates between initial as-poured and post-bubbling soil conditions. This test schedule was applied to simulant columns of three different diameters (approximately 2, 4, and 6 inches) as well as two different heights (around 8 and 16 inches) and was repeated at least three times for each configuration. Plenums were also pressurized while the butterfly valves were opened slightly further to facilitate slow, controlled, constant flowrate draining of the simulant to observe the impact that continuous-feed systems might have on leak rate through the regolith column. Finally, the regolith columns were reset and refilled and static leak rate tests were repeated approximately every decade in ambient pressure from 10e-5 Torr up to ambient conditions to observe the impact of transitioning out of the molecular flow regime on regolith column seal performance. Analysis: Trends with respect to each factor examined were constructed and reported alongside commentary on the most likely responsible physical phenomena. Confidence intervals were applied to the predictive findings of the data by quantifying instrumentation error and accounting for probabilistic impacts of curve fitting the generic exponential function onto pressure decay data. The leak rate is assumed directly proportional to the exponential term coefficient, while the steady-state static pressure gradient is assumed to be the asymptotic limit of each curve fit. Finally, a generic model developed by Ogino et al. [2] and later tuned for ambient testing was re-tuned using vacuum data to estimate leak rates on the lunar surface. Results: Pressure decay rates decreased up to 27-fold under vacuum when compared to ambient pressure, as shown in Figure 2. Simulant column diameter was found to exponentially correlate to both regolith column leak rate and steady-state equilibrium pressure delta. Height was found to be linearly related to leak rate –doubling the regolith column height consistently yielded around a 40% reduction in leak rate. Dynamic regolith draining was found to slightly increase leak rate, although to a lower degree than expected. Conclusion: Because of the transition into molecular gas flow through regolith, vacuum testing is required to properly estimate performance. Regolith columns should be designed as narrow as possible to avoid bridging and minimize leak rate, and as tall as is feasible to both further reduce leak rate and to help prevent bubbling, which has been shown to degrade the quality of the regolith seal. Disrupted soil was found to exhibit higher leak rates than pristine, as-poured soil, indicating the need to consider the impact of recovery from depressurization events. Regolith columns appear equally feasible for both dosed and continuous-feed reactors.

ISRU↗

Control/structure interaction methods for space station power systems

The Structural Dynamics Research Corporation and the NASA Lewis Research Center have been working together to develop tools and methods for the analysis of control/structure interaction problems related to the space station power systems. Flexible modes of the solar arrays below 0.1 Hz, suggest that even for relatively slow control systems, the potential for control/structure interaction exists. The emphasis of the effort has been to develop tools which couple NASTRAN's powerful capabilities in structural dynamics with EASY5's powerful capabilities in control systems analysis. One product is an interface software package called CO-ST-IN for COntrol-STructure-INteraction. CO-ST-IN acts to translate data between NASTRAN and EASY5, facilitating the analysis of complex coupled problems. Interfaces to SDRC I-DEAS and MATRIXx are also offered. Beside transferring standard modal information, CO-ST-IN implements a number of advanced methods. These include a modal ordering algorithm that helps eliminate uncontrollable or unobservable modes from the analysis, an implementation of the more accurate mode acceleration algorithm for recovery of element forces and stresses directly in EASY5 and an implementation of fixed interface modes in NASTRAN, which reduces the error in the closed-loop model due to the use of truncated mode sets.

Blelloch, Paul↗

Explosive Entrances

Explosive Technology, Inc. manufactured explosives first used by NASA to separate stages of the Gemini launch vehicle. When firemen need to get into a burning building or chop a hole to provide ventilation, axes can be devastatingly slow. Controlled explosives developed to separate manned upper stages of space rockets in case of mishap have been adapted to cutting emergency exits and demolishing unsafe buildings and bridges. Detonation cuts through thick steel girders or other materials more cleanly than torches or saws. This device can also cut emergency holes in airplanes and trains so surviving passengers can escape.

Source record↗

A slow response temperature controller

The circuit diagram for a temperature controller for use with very fast-acting (low thermal mass) furnace systems is presented and its features described. The operation of the slow response temperature controller is discussed.

Mullins, O.↗

Control of a slow moving space crane as an adaptive structure

Assuming that the space crane is an adaptive structure with length-adjustable bars and taking as controls the length-adjustments of these bars, the computation of the incremental controls corresponding to the motion of a payload along its minimum-energy trajectory is given in terms of the inverse-transpose of matrix B of the joint equilibrium equations Bs = p, where s lists the bar forces and p lists the nodal loads. The compensation of the controls for elastic deformations and support movements are shown. It is also shown that the computations may be done automatically and in real time by an attached processor once the characteristics of the crane's maneuver are keyed in.

Utku, S.↗

The manual control of vehicles undergoing slow transitions in dynamic characteristics

The manual control was studied of a vehicle with slowly time-varying dynamics to develop analytic and computer techniques necessary for the study of time-varying systems. The human operator is considered as he controls a time-varying plant in which the changes are neither abrupt nor so slow that the time variations are unimportant. An experiment in which pilots controlled the longitudinal mode of a simulated time-varying aircraft is described. The vehicle changed from a pure double integrator to a damped second order system, either instantaneously or smoothly over time intervals of 30, 75, or 120 seconds. The regulator task consisted of trying to null the error term resulting from injected random disturbances with bandwidths of 0.8, 1.4, and 2.0 radians per second. Each of the twelve experimental conditons was replicated ten times. It is shown that the pilot's performance in the time-varying task is essentially equivalent to his performance in stationary tasks which correspond to various points in the transition. A rudimentary model for the pilot-vehicle-regulator is presented.

Moriarty, T. E.↗

Control of Systems With Slow Actuators Using Time Scale Separation

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

Stepanyan, Vehram↗

Control of a small working robot on a large flexible manipulator for suppressing vibrations: Development of a robust control law for flexible robot and it's stability analysis

Researchers developed a robust control law for slow motions for the accurate trajectory control of a flexible robot. The control law does not need larger velocity gains than position gains, which some researchers need to ensure the stability of a rigid robot. Initial experimentation for the Small Articulated Manipulator (SAM) shows that control laws that use smaller velocity gains are more robust to signal noise than the control laws that use larger velocity gains. Researchers analyzed the stability of the composite control law, the robust control for the slow motion, and the strain rate feedback for the fast control. The stability analysis was done by using a quadratic Liapunov function. Researchers found that the flexible motion of links could be controlled by relating the input force to the flexible signals which are sensed at the near tip of each link. The signals are contaminated by the time delayed input force. However, the effect of the time delayed input force can be reduced by giving a certain configuration to the SAM.

Soo, Han Lee↗