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The term adaptive structures refers to a structural control approach in which sensors, actuators, electronics, materials, structures, structural concepts, and system-performance-validation strategies are integrated to achieve specific objectives.
A space crane concept is presented which is based on erectable truss hardware to achieve high stiffness and low mass booms and articulating-truss joints which can be assembled on orbit. The hardware is characterized by linear load-deflection response and is structurally predictable. The crane can be reconfigured into different geometries to meet future assembly requirements. Articulating-truss joint concepts with significantly different geometries are analyzed and found to have similar static and dynamic performance, which indicates that criteria other than structural and kinematic performance can be used to select a joint. Passive damping and an open-loop preshaped command input technique greatly enhance the structural damping in the space crane and may preclude the need for an active vibrations suppression system.
Many future human space exploration missions will probably require large vehicles that must be assembled on orbit. Thus, a device that can move, position, and assemble large and massive spacecraft components on orbit becomes essential for these missions. A concept is described for such a device: a space crane concept that uses erectable truss hardware to achieve high-stiffness and low-mass booms and uses articulating truss joints that can be assembled on orbit. The hardware has been tested and shown to have linear load-deflection response and to be structurally predictable. The hardware also permits the crane to be reconfigured into different geometries to satisfy future assembly requirements. A number of articulating and rotary joint concepts have been sized and analyzed, and the results are discussed. Two strategies were proposed to suppress motion-induced vibration: placing viscous dampers in selected truss struts and preshaping motion commands. Preliminary analyses indicate that these techniques have the potential to greatly enhance structural damping.
Within the past 10 years, substantial research in Adaptive Structures is evident and continues its integration into various space experiments and missions. The rapid integration is attributable to solutions Adaptive Structures potentially provides to many anticipated space challenges in large precision space structures and commercial availability of reliable actuator materials. The emphasis of the paper is on space experiments related to Adaptive Structures within the past two years.
Effect of imperfections in the joints of an adaptive structure on its slow (no inertia forces) motion along a prescribed trajectory as a space crane is studied. Two mathematical models to predict the effect of joint imperfections are proposed. The two models are used to obtain estimates of the deviations of the node of the space crane to which the end-effector is attached, from its prescribed trajectory. An application of the models to a two-section space crane is given.
The application of adaptive structures to the structural design of space structures is examined with attention given to facilitating their construction in space and enhancing reliability. A modified approach based on traditional techniques is presented which incorporates the loads analysis by Wada (1979) and the application of adaptive structures to control structural motion. An analytical technique is described for the deployment/construction of the structure in which each step of the assembly sequence is analyzed. The use of adaptive structures is shown to permit the static adjustment of the structure after assembly in its operational environment. The concepts presented to incorporate adaptive structures in the deployment of large space structures are expected to improve the reliability and reduce the cost of the total systems.
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.
Future NASA missions will need large (20 to 100m) structural systems with precision position (few microns to submicron) requirements. Data are presented which indicate the technology deficiencies of previous programs and analyses in current state-of-the-art structural design approaches, analytical prediction capabilities, control of structure capabilities, and ground test technologies to meet the performance requirements of future large precision structural systems. Test results on laboratory truss structures that demonstrate static displacement control, active damping, and on-orbit system identification are described. It is shown that for large precision structures, adaptive structures provide not only a means to achieve the precision and characteristics required in space, but can also significantly alleviate the ground test requirements for flight-validating the hardware.
The facilities and procedures used at JPL to test adaptive structures such as the large deployable reflector (LDR) are described and preliminary results are reported. The applications of adaptive structures in future NASA missions are outlined, and the techniques which are employed to modify damping, stiffness, and isolation characteristics, as well as geometric changes, are listed. The development of adaptive structures is shown to be effective as a result of new actuators and sensors, and examples are listed for categories such as fiber optics, shape-memory materials, piezoelectrics, and electrorheological fluids. Some ground test results are described for laboratory truss structures and truss test beds, which are shown to be efficient and easy to assemble in space. Adaptive structures are shown to be important for precision space structures such as the LDR, and can alleviate ground test requirements.
Effect of imperfections in the joints of an adaptive structure on its slow (no inertia forces) motion along a prescribed trajectory as a space crane is studied. Two mathematical models to predict the effect of joint imperfections are proposed. The two models are used to obtain estimates of the deviations of the node of the space crane to which the end-effector is attached, from its prescribed trajectory. An application of the models to a two-section space crane is given.
It is assumed that the space crane is vibrating about a known configuration which is reached at the end of some maneuver. For this configuration, r actuator locations are to be determined in order to control the first q of the structural vibration modes of the system optimizing the energy dissipation rate. A modified version of the control stratagem of Chang (1980) is applied using the structural modes of the uncontrolled crane, followed by algorithms for the actuator placement problem.
As a precursor to the real-time control of fast moving adaptive structures used as space cranes, a formulation is given for the flexibility induced motion relative to the nominal motion (i.e., the motion that assumes no flexibility) and for obtaining the open loop time varying driving forces. An algorithm is proposed for the computation of the relative motion and driving forces. The governing equations are given in matrix form with explicit functional dependencies. A simulator is developed to implement the algorithm on a digital computer. In the formulations, the distributed mass of the crane is lumped by two schemes, vz., 'trapezoidal' lumping and 'Simpson's rule' lumping. The effects of the mass lumping schemes are shown by simulator runs.
It is shown that by allowing adjustments in space, designs that incorporate adaptive structures can reduce initial precision requirements and lower costs. Present and future spacecraft structures will need enhancements in performance, reliability, testability, and cost-effectiveness; unless a structural system meets these demands, it probably will never be implemented operationally. Attention is given to the ASTREX test facility at Edwards AFB that includes embedded piezoelectric, in-line piezoelectric actuator, and magnetostrictive active members whose testbed rapidly slews the spacecraft through large angles and then points it quickly and accurately.
The development of adaptive structural systems is reviewed and the potential of these systems in meeting some of the requirements for NASA future space missions is demonstrated. Particular attention is given to the characteristics of a viscous damper in the micron displacement regime; the optimal placement of active and passive members into a truss structure; a system identification test using the active members as excitation sources; a concept for deforming a lightweight composite honeycomb optical panel to correct for on-orbit distortions by using piezoelectric actuators attached to the back facesheet; and the results of an active member vibration control experiment in a reduced gravity environment.
The paper describes the adaptive learning system for space operations which assumes that structural testing can be conducted during deployment and assembly. Simulation results using the solar electric propulsion array and a novel remote sensor are presented; they involve faster scan television coverage of the motions of the array from four cameras on the corners of the Space Shuttle payload bay. The description of the simulation, the filtering algorithm for processing the TV data, the parameter extraction algorithm, and the simulation results are presented.
The use of recursive lattice filters for identification and adaptive control of large space structures is studied. Lattice filters were used to identify the structural dynamics model of the flexible structures. This identification model is then used for adaptive control. Before the identified model and control laws are integrated, the identified model is passed through a series of validation procedures and only when the model passes these validation procedures is control engaged. This type of validation scheme prevents instability when the overall loop is closed. Another important area of research, namely that of robust controller synthesis, was investigated using frequency domain multivariable controller synthesis methods. The method uses the Linear Quadratic Guassian/Loop Transfer Recovery (LQG/LTR) approach to ensure stability against unmodeled higher frequency modes and achieves the desired performance.
Averaging methods are applied to analyzing the transient response associated with adaptive control of large space structures. Using a dominant mode approximation to the plant, an analytical bound is found on the envelope of the adaptive response, characterizing many of the features of the response useful for control design (e.g., peak values, quadratic costs, settling times, etc.). An optimal adaptive design problem is formulated based on minimizing the product of the settling time and peak torque requirement. The resulting nonlinear constrained optimization problem is solved in closed form, and several properties of the optimal adaptive design are discussed.