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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 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 NTRS1983

The peculiar radio galaxy 3C 433

Radio, optical and X-ray observations are presented of the peculiar radio galaxy 3C 433, a Seyfert 2 object with luminosity an order of magnitude greater than that expected from its complex, shell-type morphology. Observations conducted at 6 and 12 cm with the VLA and at 21 cm with the Westerbork telescope show a striking asymmetry between the northern and southern radio emissions, and an overall X-shaped morphology. Optical observations using the Video Camera and High Gain Video Spectrometer on the 4-m telescope and the Intensified Image Dissector Scanner on the 2.1-m telescope at Kitt Peak confirm the identification of the source with a pair of bright galaxies. Observations in the X-ray from the Einstein Observatory IPC reveal an unresolved source at the position of 3C 433, as well as two serendipitous X-ray sources. The observations may be used to explain the overall structure of the source either in terms of tidal torquing or precessing models of double galaxies; however, it is argued that the tidal torquing model requires fewer assumptions to account for the brightness asymmetry.

Van Breugel, W.↗
NASA NTRS1989

Characteristics and Preliminary Observations of the Influence of Electromyostimulation on the Size and Function of Human Skeletal Muscle During 30 Days of Simulated Microgravity

During 30 days (d) of bedrest, the practicality of using Elec- troMyoStimulation (EMS) as a deterrent to atrophy and strength loss of lower limb musculature was examined. An EMS system was developed that provided variable but quantifiable levels of EMS, and measured torque. The dominant log of three male subjects was stimulated twice daily in a 3-d on/1-d off cycle during bedrest. The non-dominant leg of each subject acted as a control. A stimulator, using a 0.3 ms monophasic 60 Hz pulse waveform, activated muscle tissue for 4 s. The output waveform from the stimulator was sequenced to the Knee Extensors (KE), Knee Flex- ors (KF), Ankle Extensors (AE), and Ankle Flexors (AF), and caused three isometric contractions of each muscle group per minute. Subject tolerance determined EMS Intensity. Each muscle group received four 5-min bouts of EMS each session with a 10 -min rest between bouts. EMS and torque levels for each muscle action were recorded directly an a computer. Overall average EMS Intensity was 197, 197, 195, and 188 mA for the KE, KF, AF, and AE, respectively. Overall average torque development for these muscle groups was 70, 16, 12, and 27 Nm, respectively. EMS intensity doubled during the study, and average torque increased 2.5 times. Average maximum torque throughout a session reached 54% of maximal voluntary for the KE and 29% for the KF. Reductions in leg volume, muscle compartment size, cross-sectional area of slow and fast-twitch fibers, strength, and aerobic enzyme activities, and increased log compliance were attenuated in the legs which received EMS during bedrest. These results indicate that similar EMS levels induce different torques among different muscle groups and that repeated exposure to EMS increases tolerance and torque development. Longer orien- tation periods, therefore, may enhance its effectiveness. Our preliminary data suggest that the efficacy of EMS as an effective countermeasure for muscle atrophy and strength loss during long duration space travel warrants further investigation.

Duvoisin, Marc R.↗
NASA NTRS1973

Effects of certain control-system nonlinearities on stability and pointing of an attached double-gimbal experiment package in presence of random crew-motion disturbances

The effects of two types of control-system nonlinearities, sensor deadband and actuator breakout torque, on the pointing capability of a Apollo Telescope Mount (ATM) double-gimbal experiment isolation and control system are investigated. A composite structural model of a flexible experiment package connected through frictionless double gimbals to a flexible carrier vehicle is used for this investigation. Contributions of the primary carrier control system to experiment pointing are neglected. Pointing errors onboard the experiment package due to random crew-motion input into the carrier vehicle are computed. A stability investigation is performed to verify control-system stability with nominal nonlinearities and gains. Indications are that there is no stability problem due to the nonlinearities. A nonlinearity sensitivity study is carried out to determine the effects on pointing accuracy. Its results indicate that nominal ATM control system nonlinearities limit the pointing accuracy to approximately 0.4 arc second in the presence of crew motion. Methods of reducing the error to less than 0.1 arc second are discussed.

Shaughnessy, J. D.↗
NASA NTRS1989

Design, fabrication and test of a prototype double gimbal control moment gyroscope for the NASA Space Station

Recognizing the need to develop future technologies in support of the Space Station, NASA's Advanced Development Program (ADP) placed as its goal the design and fabrication of a prototype 4750 Newton-meter-second (3500 ft-lb-sec) Control Moment Gyroscope (CMG). The CMG uses the principle of momentum exchange to impart control torques for counteracting vehicle disturbances. This paper addresses the selection of the double gimbal CMG over the single gimbal and describes the major subassemblies of the prototype design. Particular attention is given to the choice of the materials, fabrication and design details dictated by the man-rated mission requirement. Physical characteristics and the results of functional testing are presented to demonstrate the level of system performance obtained. Comparisons are made of the measured system responses against design goals and predictions generated by computer simulation.

Blondin, Joseph↗
NASA NTRS1992

An instrumented fastener for shear force measurements in joints

Results are presented of a preliminary investigation of instrumented fasteners for use as sensors to measure the shear loads transmitted by individual fasteners installed in double splice joints. Calibration and load verification tests were conducted for instrumented fasteners installed at three fastener torque levels. Calibration test results show that the shear strains obtained from the instrumented fasteners vary linearly with the applied load and that the instrumented fasteners can be effectively used to measure shear loads transmitted by individual fasteners installed in double splice joints. The load distribution between individual fasteners is found to be dependent on the location of the fastener in the joint and the fastener torque level.

Sawyer, James W.↗
NASA NTRS1994

An instrumented fastener for shear force measurements in joints

A preliminary investigation has been conducted on instrumented fasteners for use as sensors to measure the shear loads transmitted by individual fasteners installed in double-splice joints. Calibration and load verification tests were conducted for instrumented fasteners installed at three fastener torque levels. Results from calibration tests show that the shear strains obtained from the instrumented fasteners vary linearly with the applied load and that the instrumented fasteners can be effectively used to measure shear loads transmitted by individual fasteners installed in double-splice joints. Tests were also conducted with three instumented fasteners installed in a typical double-splice joint. The test results showed that the load distribution between individual fasteners is dependent on the location of the fastener in the joint and the fastener torque level.

Sawyer, J. W.↗
NASA NTRS1982

Experimental data on single-bolt joints in quasi isotropic graphite/polyimide laminates

Sixteen ply, quasi-isotropic laminates of Celanese Celion 6000/PMR-15 and Celion 6000/LARC-160 with a fiber orientation of (0/45/90/-45) sub 2S were evaluated. Tensile and open hole specimens were tested at room temperature to establish laminate tensile strength and net tensile strength at an unloaded bolt hole. Double lap joint specimens with a single 4.83-mm (0.19 in.) diameter bolt torqued to 1.7 N-m (15 lbf-in.) were tested in tension at temperatures of 116 K (-250F), 297 K (75F), and 589 K (600F). The joint ratios of w/d (specimen width to hole diameter) and e/d (edge distance to hole diameter) were varied from 4 to 6 and from 2 to 4, respectively. The effect of joint geometry and temperature on failure mode and joint stresses are shown. Joint stresses calculated at maximum load for each joint geometry and test temperature are reported. Joint strength in net tension, bearing, and shear out at 116 K (-250F), 297 K (75F), and 589 K (600F) are given for the Celion 6000/PMR-15 and Celion 6000/LARC-160 laminates.

Wichorek, G. R.↗
NASA NTRS2016

Simulation of an Electromechanical Spin Motor System of a Control Moment Gyroscope

A two-phase brushless DC motor (BDCM) with pulse-width modulated (PWM) voltage drive is simulated to control the flywheel speed of a control moment gyroscope (CMG). An overview of a double-gimballed control moment gyroscope (DGCMG) assembly is presented along with the CMG torque effects on the spacecraft. The operating principles of a two-phase brushless DC motor are presented and the system's electro-mechanical equations of motion are developed for the root-mean-square (RMS) currents and wheel speed. It is shown that the system is an extremely "stiff" set of first-order equations for which an implicit Euler integrator is required for a stable solution. An adaptive proportional voltage controller is presented which adjusts the PWM voltages depending on several control modes for speed, current, and torque. The simulation results illustrate the interaction between the electrical system and the load dynamics and how these influence the overall performance of the system. As will be shown, the CMG spin motor model can directly provide electrical power use and thermal power output to spacecraft subsystems for effective (average) calculations of CMG power consumption.

Inampudi, Ravi↗
NASA NTRS1971

Angular momentum desaturation for Skylab using gravity gradient torques

An angular momentum desaturation method for momentum exchange devices of orbiting spacecraft is described. The specific application of the method is to the Skylab which contains three double-gimbaled control moment gyros for precise attitude control and maneuvering. It is assumed that the attitude reference is inertially fixed and that two of the vehicle principal moments of inertia are much larger than the third. Gravity gradient torques and resultant angular momentum accumulation are developed for small deviations from the reference. The assumed moment-of-inertia distribution allows desaturation about all axes with only two attitude angles each for the two axes with large moments of inertia. The necessary desaturation maneuvers can be decoupled for a special set of orbital coordinates. All maneuvers are made during the night portion of the orbit, and the percentage utilized for desaturation is selectable. Expressions for the attitude angle commands are developed assuming infinite vehicle rates. The effect of finite rates introduces an efficiency into the desaturation. Expressions for this efficiency are developed and means for compensation are treated. Arbitrary misalignments between geometric vehicle axes and principal moment-of-inertia axes are permissible. An angle bias about the sun line minimizes the angular momentum accumulation about the sun line projection into the orbital plane. Adaptive desaturation maneuver limiting consistent with the available maneuver momentum is included.

Kennel, H. F.↗
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 NTRS1993

Optimal periodic control for spacecraft pointing and attitude determination

A new approach to autonomous magnetic roll/yaw control of polar-orbiting, nadir-pointing momentum bias spacecraft is considered as the baseline attitude control system for the next Tiros series. It is shown that the roll/yaw dynamics with magnetic control are periodically time varying. An optimal periodic control law is then developed. The control design features a state estimator that estimates attitude, attitude rate, and environmental torque disturbances from Earth sensor and sun sensor measurements; no gyros are needed. The state estimator doubles as a dynamic attitude determination and prediction function. In addition to improved performance, the optimal controller allows a much smaller momentum bias than would otherwise be necessary. Simulation results are given.

Pittelkau, Mark E.↗
NASA NTRS2000

Robust Inversion and Data Compression in Control Allocation

We present an off-line computational method for control allocation design. The control allocation function delta = F(z)tau = delta (sub 0) (z) mapping commanded body-frame torques to actuator commands is implicitly specified by trim condition delta (sub 0) (z) and by a robust pseudo-inverse problem double vertical line I - G(z) F(z) double vertical line less than epsilon (z) where G(z) is a system Jacobian evaluated at operating point z, z circumflex is an estimate of z, and epsilon (z) less than 1 is a specified error tolerance. The allocation function F(z) = sigma (sub i) psi (z) F (sub i) is computed using a heuristic technique for selecting wavelet basis functions psi and a constrained least-squares criterion for selecting the allocation matrices F (sub i). The method is applied to entry trajectory control allocation for a reusable launch vehicle (X-33).

Hodel, A. Scottedward↗
NASA NTRS2010

Space Station Control Moment Gyroscope Lessons Learned

Four 4760 Nms (3510 ft-lbf-s) Double Gimbal Control Moment Gyroscopes (DGCMG) with unlimited gimbal freedom about each axis were adopted by the International Space Station (ISS) Program as the non-propulsive solution for continuous attitude control. These CMGs with a life expectancy of approximately 10 years contain a flywheel spinning at 691 rad/s (6600 rpm) and can produce an output torque of 258 Nm (190 ft-lbf)1. One CMG unexpectedly failed after approximately 1.3 years and one developed anomalous behavior after approximately six years. Both units were returned to earth for failure investigation. This paper describes the Space Station Double Gimbal Control Moment Gyroscope design, on-orbit telemetry signatures and a summary of the results of both failure investigations. The lessons learned from these combined sources have lead to improvements in the design that will provide CMGs with greater reliability to assure the success of the Space Station. These lessons learned and design improvements are not only applicable to CMGs but can be applied to spacecraft mechanisms in general.

Gurrisi, Charles↗
NASA NTRS1994

Double-core evolution. 5: Three-dimensional effects in the merger of a red giant with a dwarf companion

The evolution of the common envelope phase of a binary system consisting of a 4.67 solar mass red giant and a 0.94 solar mass dwarf is studied using smoothed particle hydrodynamics. We demonstrate that the three-dimensional effects associated with the gravitational tidal torques lead to a rapid decay of the orbit on timescales approximately less than 1 yr. The relative orbit of the two cores in the common envelope is initally eccentric and tends to circularize as the orbital separation of the two cores decreases. The angular momentum lost from the orbital motion is distributed throughout the common envelope, and the double core does not evolve to a state of co-rotation for the evolutionary time followed. The energy dissipated from the relative orbit and deposited in the common envelope results in the ejection of approximately 13% of the mass of the envelope. The mass is ejected in all directions, but there is a preference for mass ejection in the orbital plane of the binary system. For example, approximately 80% of the ejected mass lies within 30 deg of the binary orbital plane. Because gravitational forces are long range, most of the energy and angular momentum is imparted to a small fraction of the common envelope resulting in an efficiency of the mass ejection process of approximately 15%. The core of the red giant executes significant displacement with respect to the center of mass of the system and contributes nearly equally to the total energy dissipation rate during the latter phases of the evolution. The degree of departure from synchronism of the initial binary system can be an important property of the system which can affect the outcome of the common envelope phase.

Terman, James L.↗
NASA NTRS1981

Preliminary design for a Zero Gravity Test Facility (ZGTF). Volume 1: Technical

The functional requirements and best conceptual design of a test facility that simulates weightless operating conditions for a high gain antenna systems (HGAS), that will broadcast to the Tracking Data Relay Satellites were defined. The typical HGAS defined is mounted on a low Earth orbiting satellite, and consists of an antenna with a double gimbal pointing system mounted on a 13 foot long mast. Typically, the gimbals are driven by pulse modulated dc motors or stepper motors. These drivers produce torques on the mast, with jitter that excites the satellite and may cause disturbances to sensitive experiments. The dynamic properties of the antenna support structure (mast), including flexible mode characteristics were defined. The torque profile induced on the spacecraft by motion of the high gain antenna was estimated. Gain and phase margins of the servo control loop of the gimbal drive electronics was also verified.

Germain, A.↗
NASA NTRS1975

A steering law for three double-gimbal control moment gyro systems

A steering law for three double-gimbal control moment gyro (CMG) systems is proposed. This steering law is applicable to systems with almost any configuration of CMGs and the CMG-out operation needs no special modification. Examples of three double gimbal CMG systems in an orthogonal configuration and in a parallel configuration are shown along with the results of digital simulations. Simulation results show that any command torque can always be met except when the system is in a singular state and that, whenever the system is in, or close to, a singularity, the steering law drives the system state out of the vicinity of the singularity.

Yoshikawa, T.↗
NASA NTRS1997

Premixed Flame-Vortex Interactions Imaged in Microgravity

A unique experiment makes it now possible to obtain detailed images in microgravity showing how an individual vortex causes the wrinkling, stretching, area increase, and eventual extinction of a premixed flame. The repeatable, controllable flame-vortex interaction represents the fundamental building block of turbulent combustion concepts. New information is provided that is central to turbulent flame models, including measurements of all components of flame stretch, strain, and vorticity. Simultaneous measurements of all components of these quantities are not possible in fully turbulent flames but are possible in the present axisymmetric, repeatable experiment. Advanced PIV diagnostics have been used at one-g and have been developed for microgravity. Numerical simulations of the interaction are being performed at NRL. It is found that microgravity conditions greatly augment the flame wrinkling process. Flame area and the amplitude of wrinkles at zero-g are typically twice that observed at one-g. It is inferred that turbulent flames in microgravity could have larger surface area and thus propagate significantly faster than those in one-g, which is a potential safety hazard. A new mechanism is identified by PIV images that shows how buoyancy retards flame wrinkling at one-g; buoyancy produces new vorticity (due to baroclinic torques) that oppose the wrinkling and the stretch imposed by the original vortex. Microgravity conditions remove this stabilizing mechanism and the amplitude of flame wrinkling typically is found to double. Microgravity also increases the flame speed by a factor of 1.8 to 2.2. Both methane and propane-air flames were studied at the NASA Lewis drop tower. Results indicate that it is important to add buoyancy to models of turbulent flames to simulate the correct flame wrinkling, stretch and burning velocity.

Driscoll, J. F.↗