The design of suboptimal linear time-varying systems.
Suboptimal feedback laws for control of linear time varying systems with quadratic performance criteria
SEARCH · Engineering Papers
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.
Suboptimal feedback laws for control of linear time varying systems with quadratic performance criteria
Time response deviation correction in hybrid computer control systems with digital feedback elements containing quantized coefficients
SYSTID computer program for system time-domain simulation program in FORTRAN 5 for Univac 1108 computer
A new method of forming a visual image by ultrasound is described. A shadowgraphic transmission image similar to an X-ray radiograph is produced by the application of a technique known as Time Delay Spectrometry. The system uses a repetitive frequency sweep with a linear relationship between frequency and time and the transmitting and receiving crystal are scanned in raster fashion about the subject. By electronic processing, an image may be built up which represents the energy transmitted through the specimen with a given time delay. An intensity modulated picture encompassing the full shades-of-gray capability of the recording system can be produced. A second type of image showing transmission time through the specimen may also be formed. Brightness changes in the displayed image in this case correspond to changes in the ultrasonic transmission time through the specimen.
The effectiveness of incroporating a real-time oculometer system into a Boeing 737 commercial flight training program was studied. The study combined a specialized oculometer system with sophisticated video equipment that would allow instructor pilots (IPs) to monitor pilot and copilot trainees' instrument scan behavior in real-time, and provide each trainee with video tapes of his/her instrument scanning behavior for each training session. The IPs' performance ratings and trainees' self-ratings were compared to the performance ratings by IPs and trainees in a control group. The results indicate no difference in IP ratings or trainees' self-ratings for the control and experimental groups. The results indicated that the major beneficial role of a real-time oculometer system for pilots and copilots having a significant amount of flight experience would be for problem solving or refinement of instrument scanning behavior rather than a general instructional scheme. It is suggested that this line of research be continued with the incorporation of objective data (e.g., state of the aircraft data), measures of cost effectiveness and with trainees having less flight experience.
Discrete time finite dimensional autonomous linear systems, investigating controllability and pole assignment to closed loop transfer matrix by choice of state variable feedback gain
All-digital real time display system for ground monitoring of manned space flight including computers, software, output devices, etc
The present C-Language Integrated Production System (CLIPS) architecture has not been optimized to deal with the constraints of real-time production systems. Matching in CLIPS is based on the Rete Net algorithm, whose assumption of working memory stability might fail to be satisfied in a system subject to real-time dataflow. Further, the CLIPS forward-chaining control mechanism with a predefined conflict resultion strategy may not effectively focus the system's attention on situation-dependent current priorties, or appropriately address different kinds of knowledge which might appear in a given application. Portable Inference Engine (PIE) is a production system architecture based on CLIPS which attempts to create a more general tool while addressing the problems of real-time expert systems. Features of the PIE design include a modular knowledge base, a modified Rete Net algorithm, a bi-directional control strategy, and multiple user-defined conflict resolution strategies. Problems associated with real-time applications are analyzed and an explanation is given for how the PIE architecture addresses these problems.
A report describes the time-transfer system of the Gravity Recovery and Climate Experiment (GRACE), in which information on the distribution of Earth mass is extracted from position and time measurements for two spacecraft about 200 km apart in a circular, nearly polar orbit. Each spacecraft carriers a Global Positioning System (GPS) receiver, a K/Ka-band ranging (KBR) instrument, and an ultra-stable oscillator (USO) that serves as a clock for the GPS and KBR units. The long-term errors of the USOs are cancelled by use of a technique, called dual-one-way phase measurements, in which the phases of the KBR signals from spacecraft A as measured at spacecraft B are added to the phases of the KBR signals from spacecraft B as measured at spacecraft A. GPS data are used to synchronize time between the USOs to within approximately 150 ps as needed to enable the dual-one-way phase measurements: For each spacecraft, the GPS data are used to solve for orbital positions, and the difference between the onboard clocks and a ground clock every 5 minutes. The relative clock rate between the spacecraft is then determined from the difference between the two solutions.
The Johns Hopkins University Applied Physics Laboratory (APL) is responsible for designing and implementing a clock maintenance system for the Ballistic Missile Defense Organizations (BMDO) Midcourse Space Experiment (MSX) spacecraft. The MSX spacecraft has an on-board clock that will be used to control execution of time-dependent commands and to time tag all science and housekeeping data received from the spacecraft. MSX mission objectives have dictated that this spacecraft time, UTC(MSX), maintain a required accuracy with respect to UTC(USNO) of +/- 10 ms with a +/- 1 ms desired accuracy. APL's atomic time standards and the downlinked spacecraft time were used to develop a time maintenance system that will estimate the current MSX clock time offset during an APL pass and make estimates of the clock's drift and aging using the offset estimates from many passes. Using this information, the clock's accuracy will be maintained by uplinking periodic clock correction commands. The resulting time maintenance system is a combination of offset measurement, command/telemetry, and mission planning hardware and computing assets. All assets provide necessary inputs for deciding when corrections to the MSX spacecraft clock must be made to maintain its required accuracy without inhibiting other mission objectives. The MSX time maintenance system is described as a whole and the clock offset measurement subsystem, a unique combination of precision time maintenance and measurement hardware controlled by a Macintosh computer, is detailed. Simulations show that the system estimates the MSX clock offset to less than+/- 33 microseconds.
Anchored interplanetary monitoring platform /IMP/ SATELLITE mission events and real time computing system support
Asymptotic stability of feedback systems involving time delays and time varying nonlinearity, demonstrating Popov frequency condition
A simple real-time interferometer system was developed for use in dynamic stall and other unsteady flow research at compressible flow speeds. A conventional schlieren system was modified to operate as a point diffraction interferometer. The implementation of this interferometer is discussed, and results of trials with different point diffractors are presented in this paper. The performance of the interferometer under various flow conditions was investigated. Results are presented which show the effects of the interferometer parameters such as pinhole size and pinhole-plate optical density on the performance of the system.
The continued growth of aviation shall require new innovative technologies and operational concepts to meet the ever-increasing demands on air transportation. The NASA Advanced Air Mobility (AAM) project focuses on emerging aviation markets, such as Urban Air Mobility (UAM). UAM is defined as “...a safe and efficient system for air passenger and cargo transportation within an urban area. It is inclusive of small package delivery and other urban unmanned aerial system services and supports a mix of onboard/ground-piloted and increasingly autonomous operations” ([1]). The AAM project emphasizes technology development and validating system-level concepts and solutions in coordination with other NASA Aeronautics Research Mission Directorate (ARMD) projects to enable UAM metro- and micro-plex vertiport and airspace concepts of operations. The NASA AAM research portfolio includes the concepts of Remote Supervisor-in-Command (RSC) and Fleet and Airspace Manager (FAM) as possible human roles for consumer fleet providers. NASA research in RSC is focused on development of guidelines and standards for remote pilots/operators passively and actively controlling a large fleet of autonomous aircraft. For FAM, flight and ground system concepts and technologies to enable high density homogeneous operations at increased scale from vertiport(s), and coordination with other humans in the systems (e.g., UAM urban airspace manager, Air Traffic Control) are key research areas. The envisioned UAM operations are posited to require autonomous systems to enable functions ranging from fleet and resource management to vehicle control. Although automation has become increasingly sophisticated and ubiquitous in civil aviation, autonomy represents a significant evolution in automation, which has generally been limited in functional scope and capability. As autonomy takes on increasing responsibilities, humans and machines will be required to work together in new and different ways [2], rather than traditional design approaches focused on how machines (i.e., autonomy) can do the work of people. The emerging field of human-autonomy teaming (HAT) represents a comprehensive and prioritized research-driven approach to enable the success of future emerging aviation market applications through capabilities and principles that facilitate humans and machine working and thinking better together. The NASA Transformational Tools and Technologies (TTT) Autonomous System (AS) Sub-project was created to assist with the transition into higher levels of autonomy to enable new modes of air transportation, such as UAM. TTT-AS has identified HAT as a key research need to enable UAM while maintaining today’s ultra-safe aviation system safety levels. The latter challenge has been taken up by the NASA System-Wide Safety (SWS) Project, which recognizes that aviation safety, as it evolves, shall require new ways of thinking about safety to include integration of a wide-range of existing and new safety systems and practices, enhanced tools and technologies, increased access to data and data fusion, improved data analysis capabilities, enhanced in-time risk monitoring and detection, hazard prioritization and mitigation, safety assurance decision-support, and in-time integrated system analytics [3].The operational concept of UAM represents a variety of work that has been termed, “work-as-imagined” to characterize the idea that how people think that work is done and how work is actually done are often not the same [4]. To ensure design success and system safety, looking at “work-as-done” provides a comparative approach toward UAM concept and technology design through examination of corresponding analogs found today in aviation (e.g., on-demand operations) and other transportation domains (e.g., port operations). The paper shall discuss various alternative applications with specific focus on airline operation center (AOC) operations, and unmanned aerial system (UAS) command-and-control to inform scaled-versions of FAM and RSC, respectively, and with consideration of the national airspace system contextual environment. The tenets and principles of the HAT field and current NASA research efforts under the TTT-AS sub-project shall also be described. Finally, the SWS sub-project efforts to develop In-Time System-Wide Safety Assurance (ISSA) and In-Time Safety Management Systems (IASMS) are discussed in terms of how “in-time” safety assurance may be conceptualized for the on-demand mobility air taxi “work-as-imagined” operational concept [5]. As part of this effort, concepts from the emerging field of resilience engineering, are being studied. Traditional approaches to aviation safety have focused on what can go wrong and how to prevent it. Another approach to thinking about system safety should reflect not only “avoiding things that go wrong” (protective safety) but also “ensuring that things go right” (productive safety), that enables a system to exhibit the resilient performance [6] necessary for the success of the future aviation system emerging concepts of operations. The paper shall describe efforts focused on how productive safety and resilience may enable a more complete approach to system safety thinking and design of ISSA and IASMS for UAM. Future directions and research needs shall also be discussed.
Necessary and sufficient conditions are given for a time-varying nonlinear system of specific form to be transformed into a time-invariant controllable linear system. Since the present work will be in a neighborhood of the origin, it is unnecessary to name specific sets and it is assumed that all assumptions, conditions and results hold in an open set in the appropriate Euclidean space that contains the origin. This theory can be combined with the global inverse function theorems to produce global results.
The emphasis on increased aircraft and propulsion control system integration and piloted simulation has created a need for higher fidelity real time dynamic propulsion models. A real time propulsion system modeling technique which satisfies this need and which provides the capabilities needed to evaluate propulsion system performance and aircraft system interaction on manned flight simulators was developed and demonstrated using flight simulator facilities at NASA Ames. A piecewise linear state variable technique is used. This technique provides the system accuracy, stability and transient response required for integrated aircraft and propulsion control system studies. The real time dynamic model includes the detail and flexibility required for the evaluation of critical control parameters and propulsion component limits over a limited flight envelope. The model contains approximately 7.0 K bytes of in-line computational code and 14.7 K of block data. It has an 8.9 ms cycle time on a Xerox Sigma 9 computer. A Pegasus-Harrier propulsion system was used as a baseline for developing the mathematical modeling and simulation technique. A hydromechanical and water injection control system was also simulated. The model was programmed for interfacing with a Harrier aircraft simulation at NASA Ames. Descriptions of the real time methodology and model capabilities are presented.
The emphasis on increased aircraft and propulsion control system integration and piloted simulation has created a need for higher fidelity real time dynamic propulsion models. A real time propulsion system modeling technique which satisfies this need and which provides the capabilities needed to evaluate propulsion system performance and aircraft system interaction on manned flight simulators was developed and demonstrated using flight simulator facilities at NASA Ames. A piecewise linear state variable technique is used. This technique provides the system accuracy, stability and transient response required for integrated aircraft and propulsion control system studies. The real time dynamic model includes the detail and flexibility required for the evaluation of critical control parameters and propulsion component limits over a limited flight envelope. The model contains approximately 7.0 K bytes of in-line computational code and 14.7 K of block data. It has an 8.9 ms cycle time on a Xerox Sigma 9 computer. A Pegasus-Harrier propulsion system was used as a baseline for developing the mathematical modeling and simulation technique. A hydromechanical and water injection control system was also simulated. The model was programmed for interfacing with a Harrier aircraft simulation at NASA Ames. Descriptions of the real time methodology and model capabilities are presented.
A real-time system has been developed to monitor flutter vibrations in turbomachinery. The system is designed for continuous processing of blade tip timing data at a rate of 10 MB/sec. A USB 2.0 interface provides uninterrupted real-time processing of the data, and the blade-tip arrival times are measured with a 50-MHz oscillator and a 24-bit pipelined architecture counter. The input stage includes a glitch catcher, which reduces the probability of detecting a ghost blade to negligible levels. A graphical user interface provides online interrogation of any blade tip from any light probe sensor. Alternatively, data from all blades and all sensors can be superimposed into a single composite scatter plot displaying the vibration amplitude of each blade.