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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 NTRS2025

A Comparison of Bank Control and Direct Force Control for Aerocapture at Uranus

We compare bank angle control and direct force control for aerocapture at Uranus. We utilize the Fully Numerical Predictor-corrector Aerocapture Guidance for both configurations and discuss modifications to the direct force control corrector to handle multiple roots. Using the Genesis flight mechanics simulation, we analyze both nominal and dispersed three-degree-of-freedom trajectories with perfect navigation and control. We present Monte Carlo results and discuss differences between the performance of the two control approaches. We find that increased bank angle rate and acceleration limits do not increase the performance of the bank control configuration. We analyze a variation with tighter angle of attack bounds and find that the tuning and performance of the two configurations converges, because direct force control is less able to modulate drag.

Sergio A Sandoval↗
NASA NTRS2020

Comparison of Aerocapture Performance Using Bank Control and Direct Force Control with Two Human-Scale Vehicles at Mars

Recent studies of human-scale missions to Mars have included a wide trade space of vehicle configurations and control schemes. Some configurations fly at a low angle of attack with a low L/D,while others fly at a high angle of attack with a mid L/D. Some use bank angle control, while others use direct force control, where the angle of attack and sideslip angle are independently modulated. This paper compares the performance of three vehicle configurations: a low-L/D vehicle using direct force control, a low-L/D vehicle using bank control, and a mid-L/D vehicle using bank control. The reference mission is aerocapture at Mars into a highly elliptical, 1-sol orbit. The trajectories are integrated in three degrees of freedom. All three cases utilize numeric predictor-corrector guidances and emulate control system responses with rate and acceleration limits. The configurations are compared using a Monte Carlo analysis. The robustness of each configuration to increased dispersions is also compared.

Matz, Daniel A.↗
NASA NTRS2020

Development of a Numeric Predictor-Corrector Aerocapture Guidance for Direct Force Control

Direct force control, where the angle of attack and sideslip angle are modulated, has been proposed as an alternative to bank angle control for aero-assist maneuvers. This paper reimplements the current state-of-the-art aerocapture guidance for bank angle control, Fully Numeric Predictor-corrector Aerocapture Guidance (FNPAG), for direct force control. The optimal control theory underlying the structure of FNPAG is shown to not be applicable to the direct force control approach. Several solution structures for the longitudinal channel are compared by simulating dispersed three-degree-of-freedom trajectories for a reference mission consisting of a low lift-to-drag vehicle and a highly elliptical, 1-sol target orbit around Mars. The equations of motion for the lateral channel are derived, and a controller is designed to target a specified orbital plane. Finally, a Monte Carlo is used to demonstrate the performance of the new guidance.

Matz, Daniel A.↗
NASA NTRSDate not supplied

Dynamic Force Reconstruction of Transient Flap Control Force Experiments in a Hypersonic Wind Tunnel

This work details the design of a sliced-cone model with a flap embedded within the slice. The flap is controlled by a fast acting servo to simulate a control force of a hypersonic vehicle. Design considerations such as sensor placement, expected loading, servo arm selection, and cavity temperatures are detailed in this work. Such a design imparts a dynamic response of the test article and as such, dynamic force measurement methodologies are required to reconstruct the control forcing. Three methods are of particular interest: the Sum of Weighted Accelerations Technique, Time Domain Deconvolution Method, and Frequency Domain Inverse Method. Novel versions of each method have been applied to this dataset to improve the reconstruction accuracy.

dynamic balance↗
NASA NTRSDate not supplied

Dynamic Force Reconstruction of Transient Flap Control Force Experiments in a Hypersonic Wind Tunnel

This work details the design of a sliced-cone model with a flap embedded within the slice. The flap is controlled by a fast acting servo to simulate a control force of a hypersonic vehicle. Design considerations such as sensor placement, expected loading, servo arm selection, and cavity temperatures are detailed in this work. Such a design imparts a dynamic response of the test article and as such, dynamic force measurement methodologies are required to reconstruct the control forcing. Three methods are of particular interest: the Sum of Weighted Accelerations Technique, Time Domain Deconvolution Method, and Frequency Domain Inverse Method. Novel versions of each method have been applied to this dataset to improve the reconstruction accuracy.

dynamic balance↗
NASA NTRS1995

Contact position sensor using constant contact force control system

A force control system (50) and method are provided for controlling a position contact sensor (10) so as to produce a constant controlled contact force therewith. The system (50) includes a contact position sensor (10) which has a contact probe (12) for contacting the surface of a target to be measured and an output signal (V.sub.o) for providing a position indication thereof. An actuator (30) is provided for controllably driving the contact position sensor (10) in response to an actuation control signal (I). A controller (52) receives the position indication signal (V.sub.o) and generates in response thereto the actuation control signal (I) so as to provide a substantially constant selective force (F) exerted by the contact probe (12). The actuation drive signal (I) is generated further in response to substantially linear approximation curves based on predetermined force and position data attained from the sensor (10) and the actuator (30).

Sturdevant, Jay↗
NASA NTRS1993

Capaciflector-based virtual force control and centering

This report presents a novel concept of force control, called virtual force control. The virtual force concept avoids sudden step transition of position control to contact force control resulting in contact force disturbance when a robot end-effector makes contact with the environment. A virtual force/position control scheme consists of two loops: the force control loop and the position control loop. While the position control loop regulates the free motion, the force control loop regulates the contact force after making contact with the environment and the virtual force measured by a range sensor called capaciflector in the virtual environment. After presenting the concept of virtual force control, the report introduces a centering scheme in which the virtual force controller is employed to measure three points on a cone so that its center can be located. Experimental results of a one-degree-of-freedom virtual force control scheme applied in berthing an orbital replaceable unit are reported and compared with those of conventional pure contact force control cases.

Nguyen, Charles C.↗
NASA NTRS1992

Implementation of robotic force control with position accommodation

As the need for robotic manipulation in fields such as manufacturing and telerobotics increases, so does the need for effective methods of controlling the interaction forces between the manipulators and their environment. Position Accommodation (PA) is a form of robotic force control where the nominal path of the manipulator is modified in response to forces and torques sensed at the tool-tip of the manipulator. The response is tailored such that the manipulator emulates a mechanical impedance to its environment. PA falls under the category of position-based robotic force control, and may be viewed as a form of Impedance Control. The practical implementations are explored of PA into an 18 degree-of-freedom robotic testbed consisting of two PUMA 560 arms mounted on two 3 DOF positioning platforms. Single and dual-arm architectures for PA are presented along with some experimental results. Characteristics of position-based force control are discussed, along with some of the limitations of PA.

Ryan, Michael J.↗
NASA NTRS1991

Force decomposition in robot force control

The unit inconsistency in force decomposition has motivated an investigation into the force control problem in multiple-arm manipulation. Based on physical considerations, it is argued that the force that should be controlled is the internal force at the specified frame in the payload. This force contains contributions due to both applied forces from the arms and the inertial force from the payload and the arms. A least-squares scheme free of unit inconsistency for finding this internal force is presented. The force control issue is analyzed, and an integral force feedback controller is proposed.

Murphy, Steve H.↗
NASA NTRS1989

Motion and force control for multiple cooperative manipulators

The motion and force control of multiple robot arms manipulating a commonly held object is addressed. A general control paradigm that decouples the motion and force control problems is introduced. For motion control, there are three natural choices: (1) joint torques, (2) arm-tip force vectors, and (3) the acceleration of a generalized coordinate. Choice (1) allows a class of relatively model-independent control laws by exploiting the Hamiltonian structure of the open-loop system; (2) and (3) require the full model information but produce simpler problems. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, the allocation of the desired end-effector control force to the joint actuators can be optimized; otherwise the internal force can be controlled about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗
NASA NTRS2020

Investigation of Direct Force Control For Aerocapture at Neptune

In this work, a direct force control numerical predictor-corrector guidance architecture is developed to enable Neptune aerocapture using blunt body aeroshells. A linear aerodynamics model is formulated for a Mars Science Laboratory-derived aeroshell. The application of optimal control theory shows that the∆V-minimizing angle of attack and side-slip angle control laws are bang-bang. A closed-loop numerical predictor-corrector direct force control guidance algorithm is developed and numerically simulated using the Program to Optimize Simulated Trajectories II. A series of Monte Carlo simulations are conducted to assess the guidance robustness to uncertainties in vehicle aerodynamics,atmospheric density, and entry state. For the reference set of uncertainties, the direct force control vehicle achieves 99.7% successful science orbit insertion within a 330 m/s total∆V budget for periapsis raise, apoapsis, inclination,and ascending node corrections. Improved atmospheric knowledge and delivery state accuracy are shown to improve the success to 100% and reduce the∆V to 230 m/s. Direct force control is demonstrated to be an enabling technology for blunt body aerocapture at Neptune while providing comparable performance to existing slender body vehicles studied in literature

aerocapture↗
NASA NTRS1992

Motion and force control of multiple robotic manipulators

This paper addresses the motion and force control problem of multiple robot arms manipulating a cooperatively held object. A general control paradigm is introduced which decouples the motion and force control problems. For motion control, different control strategies are constructed based on the variables used as the control input in the controller design. There are three natural choices; acceleration of a generalized coordinate, arm tip force vectors, and the joint torques. The first two choices require full model information but produce simple models for the control design problem. The last choice results in a class of relatively model independent control laws by exploiting the Hamiltonian structure of the open loop system. The motion control only determines the joint torque to within a manifold, due to the multiple-arm kinematic constraint. To resolve the nonuniqueness of the joint torques, two methods are introduced. If the arm and object models are available, an optimization can be performed to best allocate the desired and effector control force to the joint actuators. The other possibility is to control the internal force about some set point. It is shown that effective force regulation can be achieved even if little model information is available.

Wen, John T.↗
NASA NTRS1987

Active control of sound fields in elastic cylinders by multi-control forces

An unstiffened cylindrical model was used to study the control of sound transmission into aircraft cabins by the use of multi-control forces applied directly to the cylinder wall. External acoustic monopoles were located on each side of the cylinder to approximate the propeller noise source. This allowed the study of a dual control system utilizing multi-control forces in conjunction with synchrophasing of the twin acoustic monopole sources. For acoustic resonant conditions within the cavity, a spatially averaged noise reduction of approximately 30 dB was achieved using the active control system for both in-phase and out-of-phase monopoles; however, effective reduction of the sound field was dependent upon judiciously positioning the control forces for optimal control of the sound field.

Jones, J. D.↗
NASA NTRS1990

Prediction of forces and moments for flight vehicle control effectors. Part 1: Validation of methods for predicting hypersonic vehicle controls forces and moments

Many types of hypersonic aircraft configurations are currently being studied for feasibility of future development. Since the control of the hypersonic configurations throughout the speed range has a major impact on acceptable designs, it must be considered in the conceptual design stage. The ability of the aerodynamic analysis methods contained in an industry standard conceptual design system, APAS II, to estimate the forces and moments generated through control surface deflections from low subsonic to high hypersonic speeds is considered. Predicted control forces and moments generated by various control effectors are compared with previously published wind tunnel and flight test data for three configurations: the North American X-15, the Space Shuttle Orbiter, and a hypersonic research airplane concept. Qualitative summaries of the results are given for each longitudinal force and moment and each control derivative in the various speed ranges. Results show that all predictions of longitudinal stability and control derivatives are acceptable for use at the conceptual design stage. Results for most lateral/directional control derivatives are acceptable for conceptual design purposes; however, predictions at supersonic Mach numbers for the change in yawing moment due to aileron deflection and the change in rolling moment due to rudder deflection are found to be unacceptable. Including shielding effects in the analysis is shown to have little effect on lift and pitching moment predictions while improving drag predictions.

Maughmer, Mark D.↗
NASA NTRS2019

Investigation of Direct Force Control for Planetary Aerocapture at Neptune

In this work, a direct force control numerical predictor-corrector guidance architecture is developed to enable Neptune aerocapture using flight-heritage blunt body aeroshells. A linear aerodynamics model is formulated for a Mars Science Laboratory-derived aeroshell. The application of calculus of variations shows that the optimal angle of attack and side-slip angle control laws are bang-bang. A closed-loop numerical predictor-corrector direct force control guidance algorithm is developed and numerically simulated using the Program to Optimize Simulated Trajectories II. The Monte Carlo simulated trajectories are demonstrated to be robust to the modeled dispersions in aerodynamics, atmospheric density, and entry state. An aerocapture technology trade study demonstrates that blunt body direct force control aerocapture enables similar performance as slender body bank angle control but halves the peak g-loading.

Deshmukh, Rohan G.↗
NASA NTRS1992

Grasp force control in telemanipulation

This paper presents two experiments which focus upon the issue of grasp force control in telemanipulation. The first experiment examines the ability to control and stabilize master-controller grasp force during a 30-s compensatory tracking task under different levels of master controller digit mass, friction, and backlash. The second experiment explores the potential for substituting tactile feedback in lieu of direct force-feedback to gage and control remote grasp force. Results show that subjects were better able to control force when mass and friction levels were increased. Even when perceptual gains between tactile and direct force feedback displays were matched, force reflection produced better grasp control. The lack of backlash effects and improvements in performance with direct force reflection in comparison to tactile feedback are attributable to reflexive short-loop adjustment of grasp tension afforded by the muscle's length-tension control system. The criterion of acceptable operator performance, dependent upon both the quality of the transmission of control commands and feedback, and the response of the remote device, is discussed.

Wiker, Steven F.↗