Engineering topics

Reddy, A. S. S. R.

Publications and source records attributed to Reddy, A. S. S. R..

At least 19 records

NASA NTRS1990

Minimum-size design of regulation systems and the application to Space Station

A method is proposed to determine the sizes of the regulator and observer and to design the feedback and Kalman gain matrices for the reduced system. The sizes determined are minimum in the sense of satisfying the specified eigenvalue limits when the interaction between the regulator and the observer can be neglected. The resulting sizes will depend on the properties of the original system and the desired response. If the interaction between the regulator and the observer becomes substantial, more modes in the observer should be included, or other methods should be used for reducing the observation spillover or control spillover.

Reddy, A. S. S. R.↗

NASA NTRS1990

Actuator selection for large space structures

The paper discusses the process of selecting the actuator locations and the determination of the required number of actuators for large space structures. The selection is based on the definitions of the degree of controllability, the independence of actuators, and the effectiveness of the individual actuators. An algorithm is developed that can be used for the selection of the essential number of actuators and for finding some defects of the system, such as the insuffiency of the available actuator locations for effective control of the whole system or a too crowded frequency distribution. The efficiency of the algorithm was demonstrated by an application to the Space Station.

Reddy, A. S. S. R.↗

NASA NTRS1989

The dynamics and control of large flexible space structures - 12, supplement 11

The rapid 2-D slewing and vibrational control of the unsymmetrical flexible SCOLE (Spacecraft Control Laboratory Experiment) with multi-bounded controls is considered. Pontryagin's Maximum Principle is applied to the nonlinear equations of the system to derive the necessary conditions for the optimal control. The resulting two point boundary value problem is then solved by using the quasilinearization technique, and the near minimum time is obtained by sequentially shortening the slewing time until the controls are near the bang-bang type. The tradeoff between the minimum time and the minimum flexible amplitude requirements is discussed. The numerical results show that the responses of the nonlinear system are significantly different from those of the linearized system for rapid slewing. The SCOLE station-keeping closed loop dynamics are re-examined by employing a slightly different method for developing the equations of motion in which higher order terms in the expressions for the mast modal shape functions are now included. A preliminary study on the effect of actuator mass on the closed loop dynamics of large space systems is conducted. A numerical example based on a coupled two-mass two-spring system illustrates the effect of changes caused in the mass and stiffness matrices on the closed loop system eigenvalues. In certain cases the need for redesigning control laws previously synthesized, but not accounting for actuator masses, is indicated.

Bainum, Peter M.↗

NASA NTRS1988

Stability analysis of large space structure control systems with delayed input

Large space structural systems, due to their inherent flexibility and low mass to area ratio, are represented by large dimensional mathematical models. For implementation of the control laws for such systems a finite amount of time is required to evaluate the control signals; and this time delay may cause instability in the closed loop control system that was previously designed without taking the input delay into consideration. The stability analysis of a simple harmonic oscillator representing the equation of a single mode as a function of delay time is treated analytically and verified numerically. The effect of inherent damping on the delay is also analyzed. The control problem with delayed input is also formulated in the discrete time domain.

Reddy, A. S. S. R.↗

NASA NTRS1988

The dynamics and control of the in-orbit SCOLE configuration

The study of the dynamics of the Spacecraft Control Laboratory Experiment (SCOLE) is extended to emphasize the synthesis of control laws for both the linearized system as well as the large amplitude slewing maneuvers required to rapidly reorient the antenna line of sight. For control of the system through small amplitude displacements from the nominal equilibrium position LQR techniques are used to develop the control laws. Pontryagin's maximum principle is applied to minimize the time required for the slewing of a general rigid spacecraft system. The minimum slewing time is calculated based on a quasi-linearization algorithm for the resulting two point boundary value problem. The effect of delay in the control input on the stability of a continuously acting controller (designed without considering the delay) is studied analytically for a second order plant. System instability can result even for delays which are only a small fraction of the natural period of motion.

Bainum, Peter M.↗

NASA NTRS1988

The dynamics and control of large-flexible space structures, part 10

A mathematical model is developed to predict the dynamics of the proposed orbiting Spacecraft Control Laboratory Experiment (SCOLE) during the station keeping phase. The equations of motion are derived using a Newton-Euler formulation. The model includes the effects of gravity, flexibility, and orbital dynamics. The control is assumed to be provided to the system through the Shuttle's three torquers, and through six actuators located by pairs at two points on the mast and at the mass center of the reflector. The modal shape functions are derived using the fourth order beam equation. The generic mode equations are derived to account for the effects of the control forces on the modal shape and frequencies. The equations are linearized about a nominal equilibrium position. The linear regulator theory is used to derive control laws for both the linear model of the rigidized SCOLE as well as that of the actual SCOLE including the first four flexible modes. The control strategy previously derived for the linear model of the rigidized SCOLE is applied to the nonlinear model of the same configuration of the system and preliminary single axis slewing maneuvers conducted. The results obtained confirm the applicability of the intuitive and appealing two-stage control strategy which would slew the SCOLE system, as if rigid to its desired position and then concentrate on damping out the residual flexible motions.

Bainum, Peter M.↗

NASA NTRS1988

Stability analysis of large space structure control systems with delayed input

Large space structural systems, due to their inherent flexibility and low mass to area ratio, are represented by large dimensional mathematical models. For implementation of the control laws for such systems a finite amount of time is required to evaluate the control signals; and this time delay may cause instability in the closed loop control system that was previously designed without taking the input delay into consideration. The stability analysis of a simple harmonic oscillator representing the equation of a single mode as a function of delay time is analyzed analytically and verified numerically. The effect of inherent damping on the delay is also analyzed. The control problem with delayed input is also formulated in the discrete time domain.

Reddy, A. S. S. R.↗

NASA NTRS1988

Modal model reduction or model reduction of large space structures in frequency domain

Large space structures are characterized by a large number of modes, grouped frequencies, and small inherent damping. Model reduction techniques in time domain may not be effective due to small damping. The model truncation method is generally used. This method can not solve the problem of grouped frequencies, and will lose all the information about the higher order modes. A new method developed in this paper, which tries to minimize the error of interested transfer functions, makes use of all the information of the original system, and achieves improvement not only from a smaller error of transfer functions but also from better frequency distribution.

Mifang, Ruan↗

NASA NTRS1987

The dynamics and control of large flexible space structures X, part 1

The effect of delay in the control system input on the stability of a continuously acting controller which is designed without considering the delay is studied. The stability analysis of a second order plant is studied analytically and verified numerically. For this example it is found that the system becomes unstable for a delay which is equivalent to only 16 percent of its natural period of motion. It is also observed that even a small amount of natural damping in the system can increase the amount of delay that can be tolerated before the onset of instability. The delay problem is formulated in the discrete time domain and an analysis procedure suggested. The maximum principle from optimal control theory is applied to minimize the time required for the slewing of a general rigid spacecraft. The slewing motion need not be restricted to a single axis maneuver. The minimum slewing time is calculated based on a quasi-linearization algorithm for the resulting two point boundary value problem. Numerical examples based on the rigidized in-orbit model of the SCOLE also include the more general reflector line-of-sight slewing maneuvers.

Bainum, Peter M.↗

NASA NTRS1987

Issues in modeling and controlling the SCOLE configuration

The parametric study of the in-plane Spacecraft Control Laboratory Experiment (SCOLE) system, the Floquet Stability Analysis, and three dimensional formulations of the SCOLE system dynamics are examined. Control issues are discussed, such as: control of large structures with delayed input in continuous time; control with delayed input in discrete time; control law design for SCOLE using Linear Quadratic Gaussian (LQC)/TRR technique; and optimal torque control for SCOLE slewing maneuvers.

Bainum, Peter M.↗

NASA NTRS1985

The dynamics and control of large flexible space structures, 8

A development of the in plane open loop rotational equations of motion for the proposed Spacecraft Control Laboratory Experiment (SCOLE) in orbit configuration is presented based on an Eulerian formulation. The mast is considered to be a flexible beam connected to the (rigid) shuttle and the reflector. Frequencies and mode shapes are obtained for the mast vibrational appendage modes (assumed to be decoupled) for different boundary conditions based on continuum approaches and also preliminary results are obtained using a finite element representation of the mast reflector system. The linearized rotational in plane equation is characterized by periodic coefficients and open loop system stability can be examined with an application of the Floquet theorem. Numerical results are presented to illustrate the potential instability associated with actuator time delays even for delays which represent only a small fraction of the natural period of oscillation of the modes contained in the open loop model of the system. When plant and measurement noise effects are added to the previously designed deterministic model of the hoop column system, it is seen that both the system transient and steady state performance are degraded. Mission requirements can be satisfied by appropriate assignment of cost function weighting elements and changes in the ratio of plant noise to measurement noise.

Bainum, P. M.↗

NASA NTRS1985

Evaluation of performance characteristics for a space antenna system subjected to stochastic disturbances

Control system synthesis for a large space antenna system is investigated based on stochastic linear optimal control techniques and the minimization of a quadratic Gaussian performance index. Parametric studies indicate that suitable combinations of plant and sensor noise characteristics, and state weighting matrices, can be found to meet the mission RMS pointing requirements. Using a combination of the Kalman filter and linear feedback, an optimal control law for the finite element model of the Hoop/Column structural system without damping is obtained. Removing the hoop-mounted actuator resulted in an increase in the RMS errors, an increased control effort, and an increase in the least damped modal time constant. Removing the hoop-mounted sensor resulted in an RMS error increase and estimator performance degradation, with less system RMS performance degradation than noted for removal of the hoop-mounted actuator.

Ananthakrishnan, S.↗

NASA NTRS1985

Interactive computer graphics and its role in control system design of large space structures

This paper attempts to show the relevance of interactive computer graphics in the design of control systems to maintain attitude and shape of large space structures to accomplish the required mission objectives. The typical phases of control system design, starting from the physical model such as modeling the dynamics, modal analysis, and control system design methodology are reviewed and the need of the interactive computer graphics is demonstrated. Typical constituent parts of large space structures such as free-free beams and free-free plates are used to demonstrate the complexity of the control system design and the effectiveness of the interactive computer graphics.

Reddy, A. S. S. R.↗

NASA NTRS1984

The dynamics and control of large flexible space structures, part 7

A preliminary Eulerian formulation of the in-plane dynamics of the proposed spacecraft control laboratory experiment configuration is undertaken when the mast is treated as a cantilever type beam and the reflector as a lumped mass at the end of the beam. Frequency and mode shapes are obtained for the open loop model of the beam system and the stability of closed loop control systems is analyzed by both frequency and time domain techniques. Environmental disturbances due to solar radiation pressure are incorporated into models of controlled large flexible orbiting platforms. Thermally induced deformations of simple beam and platform type structures are modelled and expressions developed for the disturbance torques resulting from the interaction of solar radiation pressure. Noise effects in the deterministic model of the hoop/column antenna system are found to cause a degradation in system performance. Appropriate changes in the ratio of plant noise to the measurement noise and/or changes in the control weighting matrix elements can improve transient and steady state performance.

Bainum, P. M.↗

NASA NTRS1984

Microprocessor based implementation of attitude and shape control of large space structures

The feasibility of off the shelf eight bit and 16 bit microprocessors to implement linear state variable feedback control laws and assessing the real time response to spacecraft dynamics is studied. The complexity of the dynamic model is described along with the appropriate software. An experimental setup of a beam, microprocessor system for implementing the control laws and the needed generalized software to implement any state variable feedback control system is included.

Reddy, A. S. S. R.↗

NASA NTRS1984

Preliminary results of the dynamics and control of the SCOLE system

The Spacecraft Control Laboratory Experiment (SCOLE) system is assumed to be comprised of three main parts: the Space Shuttle Orbiter with its center of mass located at 0(sub 1); the mast, treated as a 130 ft long beam, connected to the Shuttle at 0(sub 2) and to the reflector at 0(sub 3); and the reflector, considered to be a flat plate with its center of mass at 0(sub 4). In the analysis given here, the angular momentum of the entire system is evaluated at point 0(sub 1) and the dynamics include the lateral displacements of the beam.

Bainum, Peter M.↗

NASA NTRS1983

On the controllability and control law design for an orbiting large flexible antenna system

The controllability and control law synthesis based on a finite element model of the Hoop/Column orbiting antenna system is considered. Graph theoretic techniques are employed to analyze the controllability of the system for posible proposed actuator arrangements which include torquers and point actuators along the mast and a single actuator placed on the hoop assembly. Once controllability is established for a given combination of number and location of actuators, the synthesis of control laws is based on an application of the linear regulator theory and also pole placement techniques. In general, surface torsion and feed mast torsion are among modes having the longest time constants. System transient performance is noticeably degraded when the hoop actuator is not included.

Bainum, P. M.↗

NASA NTRS1983

The dynamics and control of large flexible space structures

Large, flexible orbiting systems proposed for possible use in communications, electronic orbital based mail systems, and solar energy collection are discussed. The size and low weight to area ratio of such systems indicate that system flexibility is now the main consideration in the dynamics and control problem. For such large, flexible systems, both orientation and surface shape control will often be required. A conceptual development plan of a system software capability for use in analysis of the dynamics and control of large space structures technology (LSST) systems is discussed. This concept can be subdivided into four different stages: (1) system dynamics; (2) structural dynamics; (3) application of control algorithms; and (4) simulation of environmental disturbances. Modeling the system dynamics of such systems in orbit is the most fundamental component. Solar radiation pressure effects and orbital and gravity gradient effects are discussed.

Bainum, P. M.↗