Engineering topics

Hampton, R. David

Publications and source records attributed to Hampton, R. David.

At least 19 records

NASA NTRS2005

Deformation and Flexibility Equations for ARIS Umbilicals Idealized as Planar Elastica

The International Space Station relies on the active rack isolation system (ARIS) as the central component of an integrated, stationwide strategy to isolate microgravity space-science experiments. ARIS uses electromechanical actuators to isolate an international standard payload rack from disturbances due to the motion of the Space Station. Disturbances to microgravity experiments on ARIS isolated racks are transmitted primarily via the ARIS power and vacuum umbilicals. Experimental tests indicate that these umbilicals resonate at frequencies outside the ARIS controller s bandwidth at levels of potential concern for certain microgravity experiments. Reduction in the umbilical resonant frequencies could help to address this issue. This work documents the development and verification of equations for the in-plane deflections and flexibilities of an idealized umbilical (thin, flexible, inextensible, cantilever beam) under end-point, in-plane loading (inclined-force and moment). The effect of gravity is neglected due to the on-orbit application. The analysis assumes an initially curved (not necessarily circular), cantilevered umbilical with uniform cross-section, which undergoes large deflections with no plastic deformation, such that the umbilical slope changes monotonically. The treatment is applicable to the ARIS power and vacuum umbilicals under the indicated assumptions.

Hampton, R. David↗

NASA NTRS2004

Frequency Weighted H2 Control Design for the Glovebox Integrated Microgravity Isolation Technology (g-LIMIT)

The acceleration environment on the International Space Station (ISS) exceeds the requirements of many microgravity experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) has been built by the NASA Marshall Space Flight Center to attenuate the nominal acceleration environment and provide some isolation for microgravity science experiments. The g-LIMIT uses Lorentz (voice-coil) magnetic actuators to isolate a platform, for mounting science payloads, from the nominal acceleration environment. The system utilizes payload-acceleration, relative-position, and relative-orientation measurements in a feedback controller to accomplish the vibration isolation task. The controller provides current commands to six magnetic actuators, producing the required experiment isolation from the ISS acceleration environment. The present work documents the development of a candidate control law to meet the acceleration attenuation requirements for the g-LIMIT experiment platform. The controller design is developed using linear optimal control techniques for frequency-weighted H2 norms. Comparison of performance and robustness to plant uncertainty for this control design approach is included in the discussion. System performance is demonstrated in the presence of plant modeling error.

Calhoun, Philip C.↗

NASA NTRS2003

Deformation and Flexibility Equations for Idealized ARIS Umbilicals, Under Planar End-Loading Conditions

The International Space Station (ISS) relies on the Active Rack Isolation System (ARIS) as the central component of an integrated, station-wide strategy to isolate microgravity space-science experiments. ARIS uses electromechanical actuators to isolate an International Standard Payload Rack (ISPR) from disturbances due to the motion of the ISS. Disturbances to microgravity experiments on ARIS-isolated racks are primarily transmitted via the ARTS power and vacuum umbilicals. Recent experimental tests indicate that these umbilicals resonate at frequencies outside the ARIS controller's bandwidth, at levels of potential concern for certain microgravity experiments. Reduction in the umbilical resonant frequencies could help to address this issue. This report develops equations for the in-plane deflections and flexibilities of an idealized umbilical (thin, flexible, cantilever beam) under end-point, in-plane loading (inclined-force and moment). The effect of gravity is neglected due to the on-orbit application. The analysis assumes an initially straight, cantilevered umbilical with uniform cross-section, which undergoes large deflections with no plastic deformation, such that the umbilical terminus remains in a single quadrant and the umbilical slope changes monotonically. The analysis is applicable to the ARIS power and vacuum umbilicals, under the indicated assumptions.

Hampton, R. David↗

NASA NTRS2002

Optimal Control Design using an H(sub 2) Method for the Glovebox Integrated Microgravity Isolation Technology (G-Limit)

The acceleration environment on the International Space Station (ISS) will likely exceed the requirements of many micro-gravity experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) is being built by the NASA Marshall Space Flight Center to attenuate the nominal acceleration environment and provide some isolation for microgravity science experiments. G-LIMIT uses Lorentz (voice-coil) magnetic actuators to isolate a platform for mounting science payloads from the nominal acceleration environment. The system utilizes payload acceleration, relative position, and relative orientation measurements in a feedback controller to accomplish the vibration isolation task. The controller provides current commands to six magnetic actuators, producing the required experiment isolation from the ISS acceleration environment. This paper presents the development of a candidate control law to meet the acceleration attenuation requirements for the g-LIMIT experiment platform. The controller design is developed using linear optimal control techniques for frequency-weighted H(sub 2) norms. Comparison of the performance and robustness to plant uncertainty for this control design approach is included in the discussion.

Calhoun, Philip C.↗

NASA NTRS2001

Optimal Control Design Using an H2 Method for the Glovebox Integrated Microgravity Isolation Technology (g-LIMIT)

The acceleration environment on the International Space Station (ISS) will likely exceed the requirements of many micro-gravity experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) is being built by the NASA Marshall Space Flight Center to attenuate the nominal acceleration environment and provide some isolation for micro-gravity science experiments. G-LIMIT uses Lorentz (voice-coil) magnetic actuators to isolate a platform for mounting science payloads from the nominal acceleration environment. The system utilizes payload acceleration, relative position, and relative orientation measurements in a feedback controller to accomplish the vibration isolation task. The controller provides current command to six magnetic actuators, producing the required experiment isolation from the ISS acceleration environment. This paper presents the development of a candidate control law to meet the acceleration attenuation requirements for the g-LIMIT experiment platform. The controller design is developed using linear optimal control techniques for both frequency-weighted H(sub 2) and H(sub infinity) norms. Comparison of the performance and robustness to plant uncertainty for these two optimal control design approaches are included in the discussion.

Calhoun, Phillip C.↗

NASA NTRS2001

Glovebox Integrated Microgravity Isolation Technology (g-LIMIT): A Linearized State-Space Model

Vibration acceleration levels on large space platforms exceed the requirements of many space experiments. The Glovebox Integrated Microgravity Isolation Technology (g-LIMIT) is being built by the NASA Marshall Space Flight Center to attenuate these disturbances to acceptable levels. G-LIMIT uses Lorentz (voice-coil) magnetic actuators to levitate and isolate payloads at the individual experiment/sub-experiment (versus rack) level. Payload acceleration, relative position, and relative orientation measurements are fed to a state-space controller. The controller, in turn, determines the actuator Currents needed for effective experiment isolation. This paper presents the development of an algebraic, state-space model of g-LIMIT, in a form suitable for optimal controller design. The equations are first derived using Newton's Second Law directly, then simplified to a linear form for the purpose of controller design.

Hampton, R. David↗

NASA NTRS2001

A Simplified Model of ARIS for Optimal Controller Design

Many space-science experiments require active vibration isolation. Boeing's Active Rack Isolation System (ARIS) isolates experiments at the rack (vs. experiment or sub-experiment) level, with multi e experiments per rack. An ARIS-isolated rack typically employs eight actuators and thirteen umbilicals; the umbilicals provide services such as power, data transmission, and cooling. Hampton, et al., used "Kane's method" to develop an analytical, nonlinear, rigid-body model of ARIS that includes full actuator dynamics (inertias). This model, less the umbilicals, was first implemented for simulation by Beech and Hampton; they developed and tested their model using two commercial-off-the-shelf (COTS) software packages. Rupert, et al., added umbilical-transmitted disturbances to this nonlinear model. Because the nonlinear model, even for the untethered system, is both exceedingly complex and "encapsulated" inside these COTS tools, it is largely inaccessible to ARIS controller designers. This paper shows that ISPR rattle-space constraints and small ARIS actuator masses permit considerable model simplification, without significant loss of fidelity. First, for various loading conditions, comparisons are made between the dynamic responses of the nonlinear model (untethered) and a truth model. Then comparisons are made among nonlinear, linearized, and linearized reduced-mass models. It is concluded that these three models all capture the significant system rigid-body dynamics, with the third being preferred due to its relative simplicity.

Beech, Geoffrey S.↗

NASA NTRS2000

Deformation and Flexibility Equations for Idealized ARIS Umbilicals, Under Planar End-Loading Conditions

The International Space Station (ISS) relies on the Active Rack Isolation System (ARIS) as the central component of an integrated, station-wide strategy to isolate microgravity space-science experiments. ARIS uses electromechanical actuators to isolate an International Standard Payload Rack (ISPR) from disturbances due to the motion of the ISS. Disturbances to microgravity experiments on ARIS-isolated racks are primarily transmitted via the ARIS power and vacuum umbilicals. Recent experimental tests indicate that these umbilicals resonate at frequencies outside the ARIS controller's bandwidth. at levels of potential concern for certain microgravity experiments. Reduction in the umbilical resonant frequencies could help to address this issue. This paper develops equations for the in-plane deflections and flexibilities of an idealized umbilical (thin, flexible, cantilever beam) under end-point, in-plane loading (inclined-force and moment). The effect of gravity is neglected due to the on:orbit application. The analysis assumes an initially straight. cantilevered umbilical with uniform cross-section. which undergoes large deflections with no plastic deformation, such that the umbilical terminus remains in a single quadrant and the umbilical slope changes monotonically. The analysis is applicable to the ARIS power and vacuum umbilicals. under the indicated assumptions.

Hampton, R. David↗

NASA NTRS2000

Frequency-Weighting Filter Selection for H2 Control of Microgravity Isolation Systems: A Consideration of the "Implicit Frequency Weighting" Problem

Many space-science experiments need an active isolation system to provide them with the requisite microgravity environment. The isolation system planned for use with the International Space Station (ISS) have been appropriately modeled using relative position, relative velocity, and acceleration states. In theory, frequency-weighting design filters can be applied to them state-space models, In order to develop optimal H2 or mixed-norm controllers with desired stability and performance characteristics. In practice. however, since there Is a kinematic relationship among the various states. any frequency weighting applied to one state will implicitly weight other states. These implicit frequency-weighting effects must be considered, for intelligent frequency-weighting filter assignment. This paper suggests a rational approach to the assignment of frequency-weighting design filters, in the presence of the kinematic coupling among states that exists in the microgravity vibration isolation problem.

Hampton, R. David↗

NASA NTRS2000

Design-Filter Selection for H2 Control of Microgravity Isolation Systems: A Single-Degree-of-Freedom Case Study

Many microgravity space-science experiments require active vibration isolation, to attain suitably low levels of background acceleration for useful experimental results. The design of state-space controllers by optimal control methods requires judicious choices of frequency-weighting design filters. Kinematic coupling among states greatly clouds designer intuition in the choices of these filters, and the masking effects of the state observations cloud the process further. Recent research into the practical application of H2 synthesis methods to such problems, indicates that certain steps can lead to state frequency-weighting design-filter choices with substantially improved promise of usefulness, even in the face of these difficulties. In choosing these filters on the states, one considers their relationships to corresponding design filters on appropriate pseudo-sensitivity- and pseudo-complementary-sensitivity functions. This paper investigates the application of these considerations to a single-degree-of-freedom microgravity vibration-isolation test case. Significant observations that were noted during the design process are presented. along with explanations based on the existent theory for such problems.

Hampton, R. David↗

NASA NTRS2000

An Indirect Mixed-Sensitivity Approach to Microgravity Vibration Isolation: The Exploitation of Kinematic Coupling In Frequency-Weighting Design-Filter Selections

Many space science experiments need an active isolation system to provide them with the requisite microgravity environment. The isolation systems planned for use with the International Space Station have been appropriately modeled using relative position, relative velocity, and acceleration states. In theory, frequency design filters can be applied to these state-space models, in order to develop optimal H, or mixed-norm controllers with desired stability- and performance characteristics. In practice. however, the kinematic coupling among the various states can lead, through the associated frequency-weighting-filters, to conflicting demands on the Riccati design "machinery." The results can be numerically ill-conditioned regulator and estimator Riccati equations and/or reduced intuition in the design process. In addition, kinematic coupling can result in a redundancy in the demands imposed by the frequency weights. Failure properly to account for this type of coupling can lead to an unnecessary increase in controller dimensionality and, in turn, controller complexity. This paper suggests a rational approach to the assignment of frequency weighting design filters, in the presence of the kinematic coupling among states that exists in the microgravity vibration isolation problem.

Hampton, R. David↗

NASA NTRS2000

G-LIMIT

Dynamic modeling and controller design efforts were conducted at the University of Alabama in Huntsville (UAH) on the Glovebox Integrated Microgravity Isolation Technology (g-LIMIT), under NAG8-1598; the funded period of performance was 8/26/98 through 12/31/00. The title of the grant was 'Support of g-LIMIT for Isolation of Space Science Experiments: Dynamic Modeling and Optimal Controller Synthesis.' Design codes were developed for implementation of a steady-state H infinity controller design method using the frequency weighted plant for the MDOF g-LIMIT design case.

Hampton, R. David↗

NASA NTRS2000

Validation of a "Kane's Dynamics" Model for the Active Rack Isolation System

Many microgravity space-science experiments require vibratory acceleration levels unachievable without active isolation. The Boeing Corporation's Active Rack Isolation System (ARIS) employs a novel combination of magnetic actuation and mechanical linkages, to address these isolation requirements on the International Space Station (ISS). ARIS provides isolation at the rack (international Standard Payload Rack, or ISPR) level. Effective model-based vibration isolation requires (1) an isolation device, (2) an adequate dynamic (i.e., mathematical) model of that isolator, and (3) a suitable, corresponding controller, ARIS provides the ISS response to the first requirement. In November 1999, the authors presented a response to the second ("A 'Kane's Dynamics' model for the Active Rack Isolation System", Hampton and Beech) intended to facilitate an optimal-controls approach to the third. This paper documents the validation of that high-fidelity dynamic model of ARIS. As before, this model contains the full actuator dynamics, however, the umbilical models are not included in this presentation. The validation of this dynamics model was achieved by utilizing two Commercial Off the Shelf (COTS) software tools: Deneb's ENVISION, and Online Dynamics' AUTOLEV. ENVISION is a robotics software package developed for the automotive industry that employs 3-dimensional (3-D) Computer Aided Design (CAD) models to facilitate both forward and inverse kinematics analyses. AUTOLEV is a DOS based interpreter that is designed in general to solve vector based mathematical problems and specifically to solve Dynamics problems using Kane's method.

Beech, Geoffrey S.↗

NASA NTRS2000

An Indirect Mixed-Sensitivity Approach to Microgravity Vibration Isolation: The Exploitation of Kinematic Coupling In Frequency-weighting Design-Filter Selections

Many space-science experiments need an active isolation system to provide them with the requisite microgravity environment. The isolation systems planned for use with the International Space Station have been appropriately modeled using relative position relative velocity, and acceleration states. In theory, frequency-weighting design filters can be applied to these state-space models, in order to develop optimal H2 or mixed-norm controllers with desired stability and performance characteristics. In practice, however, the kinematic coupling among the various states can lead, through the associated frequency-weighting-filters, to conflicting demands on the Riccati design "machinery." The results can be numerically ill-conditioned regulator and estimator Riccati equations and/or reduced intuition in the design process. In addition, kinematic coupling can result in a redundancy in the demands imposed by the frequency weights. Failure properly to account for this type of coupling can lead to an unnecessary increase in controller dimensionality and, in turn, controller complexity. This paper suggests a rational approach to the assignment of frequency-weighting design filters, in the presence of the kinematic coupling among states that exists in the microgravity vibration isolation problem.

Hampton, R. David↗

NASA NTRS1999

The Microgravity Isolation Mount: A Linearized State-Space Model a la Newton and Kane

Vibration acceleration levels on large space platforms exceed the requirements of many space experiments. The Microgravity Vibration Isolation Mount (MIM) was built by the Canadian Space Agency to attenuate these disturbances to acceptable levels, and has been operational on the Russian Space Station Mir since May 1996. It has demonstrated good isolation performance and has supported several materials science experiments. The MIM uses Lorentz (voice-coil) magnetic actuators to levitate and isolate payloads at the individual experiment/sub-experiment (versus rack) level. Payload acceleration, relative position, and relative orientation (Euler-parameter) measurements are fed to a state-space controller. The controller, in turn, determines the actuator currents needed for effective experiment isolation. This paper presents the development of an algebraic, state-space model of the MIM, in a form suitable for optimal controller design. The equations are first derived using Newton's Second Law directly; then a second derivation (i.e., validation) of the same equations is provided, using Kane's approach.

Hampton, R. David↗

NASA NTRS1999

A "Kanes's Dynamics" Model for the Active Rack Isolation System

Hampton, R. David↗

NASA NTRS1998

Optimal Controller Design for the Microgravity Isolation Mount (MIM)

H2 controllers, when designed using an appropriate design model and carefully chosen frequency weightings, appear to provide robust performance and robust stability for Microgravity Isolation Mount (MIM). The STS-85 flight data will be used to evaluate the H2 controllers' performance on the actual hardware under working conditions. Next, full-order H-infinity controllers will be developed, as an intermediate step, in order to determine appropriate H-infinity performance weights for use in the mixed-norm design. Finally the basic procedure outlined above will be used to develop fixed-order mixed-norm controllers for MIM.

Hampton, R. David↗

NASA NTRS1997

The Microgravity Vibration Isolation Mount: A Dynamic Model for Optimal Controller Design

Hampton, R. David↗