The effect of a random sampling interval on a sampled-data model of the human operator
Effect of random sampling interval on sampled data model of human operator in compensatory tracking
Bekey, G. A.↗
SEARCH · Search NASA
Results for “sampled-data modeling”
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
Identification of sampling intervals in sampled-data models of human operators.
Programmed search and gradient search methods for determination of sampling intervals in synthesis of sampled data models of human operators
Bekey, G. A.↗
A sampled-data pursuit tracking model
Sampled data pursuit hand tracking model for human operator
SAMPLED DATA↗
A sampled-data pursuit tracking model.
Sampled data pursuit hand-tracking model for human operator
TRACKING STUDY↗
Multirate digital control system design
Methods for multirate digital control system design are discussed. A simple method for sampling rate selection based on control bandwidths is proposed. Methods for generating a discrete-time state model of a sampled-data plant and a discrete-time equivalent to an analog cost function for a sampled-data plant are described. The succesive loop closures and linear quadratic Gaussian synthesis methods are reviewed, and a constrained optimization synthesis method is introduced. The proposed sampling rate selection, discretization, and synthesis methods are applied to two example design problems. Multirate and single-rate compensators synthesized by the different methods are compared, based on closed-loop responses, with compensators having the same real-time computation load.
Berg, Martin C.↗
Research study on stabilization and control. Modern sampled-data control theory. Analysis and design of the digital large space telescope system
Dynamic modeling of a low cost single axis LST system and the pointing stability of that system are investigated. The effects of nonlinear friction of the bearings of the reaction wheels, quantization, and sensor noise on the pointing error are covered. In addition, data are given on self sustained oscillations of the system induced by quantization and methods of evaluating attitude error of the digital LST.
Kuo, B. C.↗
Research study on stabilization and control modern sampled-data control theory. Design of the Large Space Telescope system
The numerical technique is applied to the prediction of self-sustained oscillations in a two-axis model of the nonlinear system with sampled data. The sampled-data two-axis LST system model, and its stability equation are analyzed along with the exact solution of the stability equation by numerical-iterative techniques.
Kuo, B. C.↗
Research study on stabilization and control: Modern sampled-data control theory. Design of the large space telescope system
Conditions of self-sustained oscillations in a two-axis model of the nonlinear LST system are studied. The describing function of the CMG frictional nonlinearity of the LST system is used for the analysis, as well as continuous-data and discrete-data models of the simplified LST control system. A numerical-iterative method is described for the analysis of the two-axis system. Approximation methods and the direct plotting of the stability equation are implemented in the study. It is shown that although the dynamics of the two axes are identical, the amplitudes of self-sustained oscillations in the two axes may in principle be different. Analysis shows that the LST systems are of equal amplitudes but with 180-degree phase shift.
Kuo, B. C.↗
Research study on stabilization and control modern sampled-data control theory
The methods of continuous and discrete describing function analysis were applied to predicting the existence of self-sustained oscillations in the single-axis model of the large space telescope system with nonlinear control moment gyroscope friction characteristics. It is shown that the stability equations may be solved by a numerical-iterative technique using the describing function analysis, instead of the usual graphical methods. The numerical method is found to be effective in leading to a convergent solution rapidly, with an appropriate guess of the initial condition.
Kuo, B. C.↗
Research study on stabilization and control: Modern sampled-data control theory. Continuous and discrete describing function analysis of the LST system
The dynamics of the Large Space Telescope (LST) control system were studied in order to arrive at a simplified model for computer simulation without loss of accuracy. The frictional nonlinearity of the Control Moment Gyroscope (CMG) Control Loop was analyzed in a model to obtain data for the following: (1) a continuous describing function for the gimbal friction nonlinearity; (2) a describing function of the CMG nonlinearity using an analytical torque equation; and (3) the discrete describing function and function plots for CMG functional linearity. Preliminary computer simulations are shown for the simplified LST system, first without, and then with analytical torque expressions. Transfer functions of the sampled-data LST system are also described. A final computer simulation is presented which uses elements of the simplified sampled-data LST system with analytical CMG frictional torque expressions.
Kuo, B. C.↗
Driver steering dynamics measured in car simulator under a range of visibility and roadmaking conditions
A simulation experiment was conducted to determine the effect of reduced visibility on driver lateral (steering) control. The simulator included a real car cab and a single lane road image projected on a screen six feet in front of the driver. Simulated equations of motion controlled apparent car lane position in response to driver steering actions, wind gusts, and road curvature. Six drivers experienced a range of visibility conditions at various speeds with assorted roadmaking configurations (mark and gap lengths). Driver describing functions were measured and detailed parametric model fits were determined. A pursuit model employing a road curvature feedforward was very effective in explaining driver behavior in following randomly curving roads. Sampled-data concepts were also effective in explaining the combined effects of reduced visibility and intermittent road markings on the driver's dynamic time delay. The results indicate the relative importance of various perceptual variables as the visual input to the driver's steering control process is changed.
Allen, R. W.↗
Linear continuous and sampled-data systems
Program performs general analysis of linear and continuous, discrete and sampled-data systems using state-variable techniques. Program is especially suited analysis of linearized control system problems. It also can be used to model system described by combination of differential equations and Laplace transform blocks, such as aircraft control system.
Edwards, J. W.↗
Conic Sector Analysis of Hybrid Control Systems
A hybrid control system contains an analog plant and a hybrid (or sampled-data) compensator. In this thesis a new conic sector is determined which is constructive and can be used to: (1) determine closed loop stability, (2) analyze robustness with respect to modelling uncertainties, (3) analyze steady state response to commands, and (4) select the sample rate. The use of conic sectors allows the designer to treat hybrid control systems as though they were analog control systems. The center of the conic sector can be used as a rigorous linear time invariant approximation of the hybrid control system, and the radius places a bound on the errors of this approximation. The hybrid feedback system can be multivariable, and the sampler is assumed to be synchronous. Algorithms to compute the conic sector are presented. Several examples demonstrate how the conic sector analysis techniques are applied. Extensions to single loop multirate hybrid feedback systems are presented. Further extensions are proposed for multiloop multirate hybrid feedback system and for single rate systems with asynchronous sampling.
Thompson, P. M.↗
ORACLS: A system for linear-quadratic-Gaussian control law design
A modern control theory design package (ORACLS) for constructing controllers and optimal filters for systems modeled by linear time-invariant differential or difference equations is described. Numerical linear-algebra procedures are used to implement the linear-quadratic-Gaussian (LQG) methodology of modern control theory. Algorithms are included for computing eigensystems of real matrices, the relative stability of a matrix, factored forms for nonnegative definite matrices, the solutions and least squares approximations to the solutions of certain linear matrix algebraic equations, the controllability properties of a linear time-invariant system, and the steady state covariance matrix of an open-loop stable system forced by white noise. Subroutines are provided for solving both the continuous and discrete optimal linear regulator problems with noise free measurements and the sampled-data optimal linear regulator problem. For measurement noise, duality theory and the optimal regulator algorithms are used to solve the continuous and discrete Kalman-Bucy filter problems. Subroutines are also included which give control laws causing the output of a system to track the output of a prescribed model.
Armstrong, E. S.↗
Research study on stabilization and control. Modern sampled-data control theory: Stability analysis of the low cost large space telescope system
The pointing stability of the low-cost large space telescope (LST) system was investigated. The low-cost LST is characterized by the use of reaction wheels for the generation of control torques. Because of the critical requirement on the pointing accuracy of the LST, the nonlinear frictional characteristics of the bearings of the reaction wheels were studied which can cause limit cycles in a closed-loop system. Another possible source of pointing error in the LST is due to the effect of quantization and sensor noise. Since the LST is a digital system, digital to analog and analog to digital converters and sensors for positional and rate feedbacks were used. Sensor noise and amplitude quantization causes pointing error in the LST and, in addition, quantization is a nonlinear phenomenon which can cause self-sustained oscillations in the closed-loop system. The dynamic modeling of the single-axis LST is described, and several methods of evaluating the attitude error of the digital LST due to quantization and noise inputs are given.
Kuo, B. C.↗
Design and simulation of a descent controller for strategic four-dimensional aircraft navigation
A time-controlled navigation system applicable to the descent phase of flight for airline transport aircraft was developed and simulated. The design incorporates the linear discrete-time sampled-data version of the linearized continuous-time system describing the aircraft's aerodynamics. Using optimal linear quadratic control techniques, an optimal deterministic control regulator which is implementable on an airborne computer is designed. The navigation controller assists the pilot in complying with assigned times of arrival along a four-dimensional flight path in the presence of wind disturbances. The strategic air traffic control concept is also described, followed by the design of a strategic control descent path. A strategy for determining possible times of arrival at specified waypoints along the descent path and for generating the corresponding route-time profiles that are within the performance capabilities of the aircraft is presented. Using a mathematical model of the Boeing 707-320B aircraft along with a Boeing 707 cockpit simulator interfaced with an Adage AGT-30 digital computer, a real-time simulation of the complete aircraft aerodynamics was achieved. The strategic four-dimensional navigation controller for longitudinal dynamics was tested on the nonlinear aircraft model in the presence of 15, 30, and 45 knot head-winds. The results indicate that the controller preserved the desired accuracy and precision of a time-controlled aircraft navigation system.
Lax, F. M.↗
Modern sampled-data control theory: Design of the Large Space Telescope
This investigation was undertaken to determine the effect of varying the sampling period on the dynamic response of the sampled-data Large Space Telescope (LST) system. A range of sampling periods was recommended based on the criterion that self-sustained oscillations are to be avoided in the LST system. The step responses of the LST system were then investigated when various sampling periods are used. For small sampling periods, the dynamic behavior of the sampled-data system is very similar to that of the continuous-data system. When T is large (but less than 0.25 sec) the overshoot of the step response of the sampled-data becomes greater. However, the dynamic behavior of the sampled-data system may be improved by redesigning the controller. It appears that a sampling period as high as 0.1 second is feasible for the LST system. However, it should be noted that the conclusions are obtained with the existing system model. Other practical considerations such as noise, coupling effects and quantization errors, may restrict the sampling period to a lower value.
Kuo, B. C.↗
Identification and dual adaptive control of a turbojet engine
The objective of this paper is to utilize the design methods of modern control theory to realize a dual-adaptive feedback control unit for a highly nonlinear single spool airbreathing turbojet engine. Using a very detailed and accurate simulation of the nonlinear engine as the data source, linear operating point models of unspecified dimension are identified. Feedback control laws are designed at each operating point for a prespecified set of sampling rates using sampled-data output regulator theory. The control system sampling rate is determined by an adaptive sampling algorithm in correspondence with turbojet engine performance. The result is a dual-adaptive control law that is functionally dependent upon the sampling rate selected and environmental operating conditions. Simulation transients demonstrate the utility of the dual-adaptive design to improve on-board computer utilization while maintaining acceptable levels of engine performance.
Merrill, W.↗