Extended dynamical systems and stability theory
Extended dynamical system to describe operators in study of stability
OPERATOR↗
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Application of model based control to robotic manipulators
A robot that can duplicate humam motion capabilities in such activities as balancing, reaching, lifting, and moving has been built and tested. These capabilities are achieved through the use of real time Model-Based Control (MBC) techniques which have recently been demonstrated. MBC accounts for all manipulator inertial forces and provides stable manipulator motion control even at high speeds. To effectively demonstrate the unique capabilities of MBC, an experimental robotic manipulator was constructed, which stands upright, balancing on a two wheel base. The mathematical modeling of dynamics inherent in MBC permit the control system to perform functions that are impossible with conventional non-model based methods. These capabilities include: (1) Stable control at all speeds of operation; (2) Operations requiring dynamic stability such as balancing; (3) Detection and monitoring of applied forces without the use of load sensors; (4) Manipulator safing via detection of abnormal loads. The full potential of MBC has yet to be realized. The experiments performed for this research are only an indication of the potential applications. MBC has no inherent stability limitations and its range of applicability is limited only by the attainable sampling rate, modeling accuracy, and sensor resolution. Manipulators could be designed to operate at the highest speed mechanically attainable without being limited by control inadequacies. Manipulators capable of operating many times faster than current machines would certainly increase productivity for many tasks.
Petrosky, Lyman J.↗
Model based manipulator control
The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.
Petrosky, Lyman J.↗
Dynamic Stability Instrumentation System (DSIS): User Manual - Volume 3
The paper is an operating manual for the Dynamic Stability Instrumentation System in specific NASA Langley wind tunnels. The instrumentation system performs either a synchronous demodulation or a Fast Fourier Transform on dynamic balance strain gage signals, and ultimately computes aerodynamic coefficients. The dynamic balance converts sting motor rotation into pitch or yaw plane or roll axis oscillation, with timing information provided by a shaft encoder. Additional instruments control model attitude and balance temperature and monitor sting vibrations. Other instruments perform self-calibration and diagnostics. Procedures for conducting calibrations and wind-off and wind-on tests are listed.
Daniels, Taumi S.↗
Some effects of digital sampling on orbiter flight control system operation
An entry dynamic stability ground test of the OV102 Space Shuttle Orbiter revealed some small amplitude oscillatory output of the flight control system which could have constrained flight of the STS-1 mission. These limit-cycle-type outputs were attributed to a combination of rigid body motion of the Orbiter on its landing gear and some interesting effects of its digital flight control system. These effects included frequency aliasing and phenomena associated with digital quantitization of low amplitude sensor signals. The digital effects suggest significant improvements possible in future designs.
Murray, S. V.↗
Hard Contact With A Force-Reflecting Teleoperator
Force feedback adjusted to provide stability without sluggish and fatiguing operation. Paper reports on experiments with single-axis force-reflecting teleoperator that made contact with hard, immovable object. Experiments show that dynamics of human operator affect stability of response of control system.
Hannaford, Blake↗
Estimation of dynamic stability parameters from drop model flight tests
The overall remotely piloted drop model operation, descriptions, instrumentation, launch and recovery operations, piloting concept, and parameter identification methods are discussed. Static and dynamic stability derivatives were obtained for an angle attack range from -20 deg to 53 deg. It is indicated that the variations of the estimates with angle of attack are consistent for most of the static derivatives, and the effects of configuration modifications to the model were apparent in the static derivative estimates.
Chambers, J. R.↗
Performance limitations of bilateral force reflection imposed by operator dynamic characteristics
A linearized, single-axis model is presented for bilateral force reflection which facilitates investigation into the effects of manipulator, operator, and task dynamics, as well as time delay and gain scaling. Structural similarities are noted between this model and impedance control. Stability results based upon this model impose requirements upon operator dynamic characteristics as functions of system time delay and environmental stiffness. An experimental characterization reveals the limited capabilities of the human operator to meet these requirements. A procedure is presented for determining the force reflection gain scaling required to provide stability and acceptable operator workload. This procedure is applied to a system with dynamics typical of a space manipulator, and the required gain scaling is presented as a function of environmental stiffness.
Chapel, Jim D.↗
A multiloop generalization of the circle criterion for stability margin analysis
In order to provide a theoretical tool suited for characterizing the stability margins of multiloop feedback systems, multiloop input-output stability results generalizing the circle stability criterion are considered. Generalized conic sectors with 'centers' and 'radii' determined by linear dynamical operators are employed to specify the stability margins as a frequency dependent convex set of modeling errors (including nonlinearities, gain variations and phase variations) which the system must be able to tolerate in each feedback loop without instability. The resulting stability criterion gives sufficient conditions for closed loop stability in the presence of frequency dependent modeling errors, even when the modeling errors occur simultaneously in all loops. The stability conditions yield an easily interpreted scalar measure of the amount by which a multiloop system exceeds, or falls short of, its stability margin specifications.
Safonov, M. G.↗
A Manual Control Test for the Detection and Deterrence of Impaired Drivers
A brief manual control test and a decision strategy were developed, laboratory tested, and field validated which provide a means for detecting human operator impairment from alcohol or other drugs. The test requires the operator to stabilize progressively unstable controlled element dynamics. Control theory and experimental data verify that the human operator's control ability on this task is constrained by basic cybernetic characteristics, and that task performance is reliably affected by impairment effects on these characteristics. Assessment of human operator control ability is determined by a statistically based decision strategy. The operator is allowed several chances to exceed a preset pass criterion. Procedures are described for setting the pass criterion based on individual ability and a desired unimpaired failure rate. These procedures were field tested with apparatus installed in automobiles that were designed to discourage drunk drivers from operating their vehicles. This test program demonstrated that the control task and detection strategy could be applied in a practical setting to screen human operators for impairment in their basic cybernetic skills.
Stein, A. C.↗
Dynamic Modeling of Off-Nominal Operation in Advanced Life Support Systems
System failures, off-nominal operation, or unexpected interruptions in processing capability can cause unanticipated instabilities in Advanced Life Support (ALS) systems, even long after they are repaired. Much current modeling assumes ALS systems are static and linear, but ALS systems are actually dynamic and nonlinear, especially when failures and off nominal operation are considered. Modeling and simulation provide a way to study the stability and time behavior of nonlinear dynamic ALS systems under changed system configurations or operational scenarios. The dynamic behavior of a nonlinear system can be fully explored only by computer simulation over the full range of inputs and initial conditions. Previous simulations of BIO-Plex in SIMULINK, a toolbox of Matlab, were extended to model the off-nominal operation and long-term dynamics of partially closed physical/chemical and bioregenerative life support systems. System nonlinearity has many interesting potential consequences. Different equilibrium points may be reached for different initial conditions. The system stability can depend on the exact system inputs and initial conditions. The system may oscillate or even in rare cases behave chaotically. Temporary internal hardware failures or external perturbations in ALS systems can lead to dynamic instability and total ALS system failure. Appropriate control techniques can restore reliable operation and minimize the effects of dynamic instabilities due to anomalies or perturbations in a life support system.
Jones, Harry↗
Dynamics of a rigid-rotor controlled by a high- speed gyro as it slows/stops at high forward speed.
Gyro controlled rigid rotor dynamic stability studied for stoppable rotor operation, developing analytical expressions for determining stability boundary of constant and rotor speed gyros
Cardinale, S. V.↗
The generation of Liapunov functions for input-output stable systems
Liapunov functions generation for input-output stability of dynamical systems, using causal operator and state space realization
Willems, J. C.↗
Study of toluene stability for an Organic Rankine Cycle (ORC) space-based power system
The design, fabrication, assembly, and endurance operation of a dynamic test loop, built to evaluate the thermal stability of a proposed Organic Rankine Cycle (ORC) working fluid, is discussed. The test fluid, toluene, was circulated through a heater, simulated turbine, regenerator, condenser and pump to duplicate an actual ORC system. The maximum nominal fluid temperature, 750 F, was at the turbine simulator inlet. Samples of noncondensible gases and liquid toluene were taken periodically during the test. The samples were analyzed to identify the degradation products formed and the quantity of these products. From these data it was possible to determine the degradation rate of the working fluid and the generation rate of noncondensible gases. A further goal of this work was to relate the degradation observed in the dynamic operating loop to degradation obtained in isothermal capsule tests. This relationship was the basis for estimating the power loop degradation in the Space Station Organic Rankine Cycle system.
Havens, Vance↗
A multiloop generalization of the circle criterion for stability margin analysis
In order to provide a theoretical tool well suited for use in characterizing the stability margins (e.g., gain and phase margins) of multiloop feedback systems, multiloop input-output stability results generalizing the circle stability criterion are considered. Generalized conic sectors with 'centers' and 'radii' determined by linear dynamical operators are employed to enable an engineer to specify the stability margins which he desires as a frequency-dependent convex set of modeling errors (including nonlinearities, gain variations, and phase variations) which the system must be able to tolerate in each feedback loop without instability. The resulting stability criterion gives sufficient conditions for closed-loop stability in the presence of such frequency-dependent modeling errors, even when the modeling errors occur simultaneously in all loops.
Safonov, M. G.↗
A study of flight control requirements for advanced, winged, earth-to-orbit vehicles with far-aft center-of-gravity locations
Control requirements of Controlled Configured Design Approach vehicles with far-aft center of gravity locations are studied. The baseline system investigated is a fully reusable vertical takeoff/horizontal landing single stage-to-orbit vehicle with mission requirements similar to that of the space shuttle vehicle. Evaluations were made to determine dynamic stability boundaries, time responses, trim control, operational center-of-gravity limits, and flight control subsystem design requirements. Study tasks included a baseline vehicle analysis, an aft center of gravity study, a payload size study, and a technology assessment.
Hepler, A. K.↗
Problem reporting management system performance simulation
This paper proposes the Problem Reporting Management System (PRMS) model as an effective discrete simulation tool that determines the risks involved during the development phase of a Trouble Tracking Reporting Data Base replacement system. The model considers the type of equipment and networks which will be used in the replacement system as well as varying user loads, size of the database, and expected operational availability. The paper discusses the dynamics, stability, and application of the PRMS and addresses suggested concepts to enhance the service performance and enrich them.
Vannatta, David S.↗
Signal Processing Methods for Liquid Rocket Engine Combustion Stability Assessments
The J2X Gas Generator engine design specifications include dynamic, spontaneous, and broadband combustion stability requirements. These requirements are verified empirically based high frequency chamber pressure measurements and analyses. Dynamic stability is determined with the dynamic pressure response due to an artificial perturbation of the combustion chamber pressure (bomb testing), and spontaneous and broadband stability are determined from the dynamic pressure responses during steady operation starting at specified power levels. J2X Workhorse Gas Generator testing included bomb tests with multiple hardware configurations and operating conditions, including a configuration used explicitly for engine verification test series. This work covers signal processing techniques developed at Marshall Space Flight Center (MSFC) to help assess engine design stability requirements. Dynamic stability assessments were performed following both the CPIA 655 guidelines and a MSFC in-house developed statistical-based approach. The statistical approach was developed to better verify when the dynamic pressure amplitudes corresponding to a particular frequency returned back to pre-bomb characteristics. This was accomplished by first determining the statistical characteristics of the pre-bomb dynamic levels. The pre-bomb statistical characterization provided 95% coverage bounds; these bounds were used as a quantitative measure to determine when the post-bomb signal returned to pre-bomb conditions. The time for post-bomb levels to acceptably return to pre-bomb levels was compared to the dominant frequency-dependent time recommended by CPIA 655. Results for multiple test configurations, including stable and unstable configurations, were reviewed. Spontaneous stability was assessed using two processes: 1) characterization of the ratio of the peak response amplitudes to the excited chamber acoustic mode amplitudes and 2) characterization of the variability of the peak response's frequency over the test duration. This characterization process assists in evaluating the discreteness of a signal as well as the stability of the chamber response. Broadband stability was assessed using a running root-mean-square evaluation. These techniques were also employed, in a comparative analysis, on available Fastrac data, and these results are presented here.
Kenny, R. Jeremy↗