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At least 235 records · Page 13

Application of a ground based minicomputer system for real time, closed loop control of remotely piloted aircraft models used in stall/spin research

The paper describes a minicomputer-based, real-time closed loop remote control system at NASA Langley outdoor facility which is used to determine the stall/departure/spin characteristics of high-performance aircraft. The experiments are conducted with 15% dynamically scaled, unpowered models that are dropped from 3000 m and ground controlled. The effects of time delays and sampling rates on the stability of the control system and the selection of digital algorithms to meet frequency response and real time constraints are examined. Also described is the implementation of the modular software for the flexible programming of multi-axis control laws.

Montoya, R. J.↗

Ares I-X Flight Test Validation of Control Design Tools in the Frequency-Domain

A major motivation of the Ares I-X flight test program was to Design for Data, in order to maximize the usefulness of the data recorded in support of Ares I modeling and validation of design and analysis tools. The Design for Data effort was intended to enable good post-flight characterizations of the flight control system, the vehicle structural dynamics, and also the aerodynamic characteristics of the vehicle. To extract the necessary data from the system during flight, a set of small predetermined Programmed Test Inputs (PTIs) was injected directly into the TVC signal. These PTIs were designed to excite the necessary vehicle dynamics while exhibiting a minimal impact on loads. The method is similar to common approaches in aircraft flight test programs, but with unique launch vehicle challenges due to rapidly changing states, short duration of flight, a tight flight envelope, and an inability to repeat any test. This paper documents the validation effort of the stability analysis tools to the flight data which was performed by comparing the post-flight calculated frequency response of the vehicle to the frequency response calculated by the stability analysis tools used to design and analyze the preflight models during the control design effort. The comparison between flight day frequency response and stability tool analysis for flight of the simulated vehicle shows good agreement and provides a high level of confidence in the stability analysis tools for use in any future program. This is true for both a nominal model as well as for dispersed analysis, which shows that the flight day frequency response is enveloped by the vehicle s preflight uncertainty models.

Johnson, Matthew↗

Hydropower Black Start: A Guidebook for Retrofitting Grid Dependent Hydropower

Not all United States (US) hydropower plants were designed to provide black start, but they are increasingly needed to uphold resilience in the evolving electric grid. This guidance is designed to help understand the minimal retrofits required for grid dependent hydropower (GDH) plants behind the point of interconnection (POI). For distribution connected hydropower plants or those with dedicated cranking paths, such upgrades can be sufficient for the plant to provide black start. For others, more coordination with the transmission system operator will be needed. This guidebook answers a number of questions relevant to retrofitting hydropower plants with black start capabilities. For example, the guidebook answers: • How flexible do the wicket gate controls need to be? • Who needs to do hydro governor model validation, why, and how? • How robust and flexible do the excitation and AVR controls need to be? • What protection settings need to be adjusted? • What relay(s) will need to be bypassed or overridden and at what risk? • What is the electrical energy demand of the station load or auxiliary power systems? • What should the strategy to energize transformer(s) along cranking path to address inrush currents be? • How should the critical load restoration be sequenced? In addition to outlining the specifications that hydropower plants need to meet for each component to be able to perform black start, this guidebook provides a set of case studies for specific upgrades needed at actual plants. Between the case studies of plants that have already performed black start retrofits and the examples of how this guidebook can be applied to scope future retrofits, five key themes have been identified for retrofit needs. 1. Protection needs “black start” mode: hydropower plants that are not designed with black start capabilities will have protections that prevent them from interconnecting to a “dead bus.” These protections will need to be overridden in every retrofit case and a separate black start mode should be established so that operators can safely switch between black start and grid connected modes, minimizing the risk to the plant. 2. Wicket gates need modern controls: digital governors accelerate the parameter tuning process and gate position sensors improve controllability, so plants with mechanical governors should be upgraded. Furthermore, a black start and islanding mode should be established for controls to maximize plant performance. 3. Robust excitation support: the DC system or excitation generator needs to be reliable enough to form and sustain the rotor electromagnetic field. These systems are typically undersized in plants that were not designed for black start, so they will need to be upgraded. 4. Turbine-governor model validation and operator training: validation of a standard hydro governor model is needed to characterize the dynamic response (i.e., inertial and primary frequency response) of the GDH. This is required for control development and old hydropower plants often have outdated or incorrect models. Operator training is also typically required to ensure the hardware retrofits are utilized correctly during the black start process. 5. Transformer and cranking path energization: any upgradation and control adjustment in front of the POI will depend upon the existing interconnection. Coordination with the transmission or distribution operator may be required.

13 HYDRO ENERGY↗

On the calculation of the response of helicopters to control inputs

In the past few years, a number of studies have provided accurate flight test data for the control response of single rotor helicopters over a wide frequency range. These measured responses have been compared to theory in a number of studies. Various differences between theory and experiment appear in all of these studies. Some of these differences are examined. A quantitative explanation of one prominent difference associated with the contribution of the lag degree of freedom is provided. Areas for further investigation are suggested. The discussion is directed towards articulated rotor helicopters. Flight test data from the UH-60, CH-53, and AH-64 helicopters, much of it taken for the express purpose of evaluating the control response, correlation with theory, and the use of parameter identification methods, is considered. Results for flight conditions near hover are emphasized.

Curtiss, H. C., Jr.↗

Terminal-shock and restart control of a Mach 2.5, mixed compression inlet coupled to a turbofan engine

Results of an experimental program conducted on a mixed-compression inlet coupled to a turbofan engine are presented. Open-loop frequency response data are presented that show the response of shock position (as measured by an average inlet static pressure) to sinusoidal airflow disturbances produced at the compressor face station. Also presented are results showing the effect of different passive terminations (a choke plate or a long duct) on the characteristics of the inlet. Transfer functions obtained by using experimental data are presented and compared to the experimental data. Closed-loop frequency response of shock position (with a proportional-plus-integral controller) is presented. In addition, transient data are presented that show the unstart-restart characteristics of the inlet.

Baumbick, R. J.↗

Lanczos modes for reduced-order control of flexible structures

Lanczos mode models represent low-frequency forced response better than do normal mode models and can be developed for both continuous and finite element structural representations. It was recommended that Lanczos mode models for systems with multiple input and/or rigid body modes should be developed; numerical stability of the Lanczos algorithm should be assessed; and control system designs employing the Lanczos mode models should be attempted.

Craig, Roy R., Jr.↗

Measurement and characterization of force dynamics in high T(sub c) superconductors

Magnetic bearing implementations using more exotic superconducting phenomena have been proliferating in recent years because they have important advantages over conventional implementations. For example, the stable suspension of a six degrees-of-freedom object by superconducting means can be achieved without a control system and with the use of only a single superconductor. It follows that the construction becomes much simpler with decreased need for position sensors and stabilizers. However, it is recognized that the design of superconducting systems can be difficult because important characteristics relating to the 6 degree-of-freedom dynamics of an object suspended magnetically are not readily available and the underlying principles of superconducting phenomena are not yet completely understood. To eliminate some of the guesswork in the design process, this paper proposes a system which can resolve the mechanical properties of suspension by superconductivity and provide position and orientation dependent data about the system's damping, stiffness, and frequency response characteristics. This system employs an actively-controlled magnetically-suspended fine-motion device that can also be used as a six degree-of-freedom force sensor. By attaching the force sensor to a permanent magnet that is being levitated above a superconducting magnet, mechanical characteristics of the superconductor levitation can be extracted. Such information would prove useful for checking the validity of theoretical models and may even give insights into superconducting phenomena.

Higuchi, Toshiro↗

Inertial attitude control of Voyager spacecraft using dry tuned rotor gyro

The inertial attitude control system designed for the Voyager spacecraft, which will carry out flybys of Jupiter and Saturn in 1979 and 1981, respectively, is described. The attitude of the spacecraft in three-dimensional space will be measured by a Dry Inertial Reference Unit (DIRU) based on three identical two-degree-of-freedom dry gyros. A software estimation process has been developed to use DIRU data and other information to obtain optimum estimates of spacecraft position, velocity, and acceleration. The attitude of the spacecraft is corrected using these estimates by activating hydrazine thrusters. The operation of dry gyros is discussed, together with the network compensation techniques used in their associated capture loop to obtain a capture capability of 8 deg/sec and a frequency response of 10 Hz (3-dB point). The control law and estimation process are examined. Results of computer simulation studies of the performance of the attitude control system are presented.

Bahrami, K.↗

The design of a turboshaft speed governor using modern control techniques

The objectives of this program were: to verify the model of off schedule compressor variable geometry in the T700 turboshaft engine nonlinear model; to evaluate the use of the pseudo-random binary noise (PRBN) technique for obtaining engine frequency response data; and to design a high performance power turbine speed governor using modern control methods. Reduction of T700 engine test data generated at NASA-Lewis indicated that the off schedule variable geometry effects were accurate as modeled. Analysis also showed that the PRBN technique combined with the maximum likelihood model identification method produced a Bode frequency response that was as accurate as the response obtained from standard sinewave testing methods. The frequency response verified the accuracy of linear models consisting of engine partial derivatives and used for design. A power turbine governor was designed using the Linear Quadratic Regulator (LQR) method of full state feedback control. A Kalman filter observer was used to estimate helicopter main rotor blade velocity. Compared to the baseline T700 power turbine speed governor, the LQR governor reduced droop up to 25 percent for a 490 shaft horsepower transient in 0.1 sec simulating a wind gust, and up to 85 percent for a 700 shaft horsepower transient in 0.5 sec simulating a large collective pitch angle transient.

Delosreyes, G.↗

A quantum material spintronic resonator

In a spintronic resonator a radio-frequency signal excites spin dynamics that can be detected by the spin-diode effect. Such resonators are generally based on ferromagnetic metals and their responses to spin torques. New and richer functionalities can potentially be achieved with quantum materials, specifically with transition metal oxides that have phase transitions that can endow a spintronic resonator with hysteresis and memory. Here we present the spin torque ferromagnetic resonance characteristics of a hybrid metal-insulator-transition oxide/ ferromagnetic metal nanoconstriction. Our samples incorporate V 2 O 3 , with Ni, Permalloy (Ni 80 Fe 20 ) and Pt layers patterned into a nanoconstriction geometry. The first order phase transition in V 2 O 3 is shown to lead to systematic changes in the resonance response and hysteretic current control of the ferromagnetic resonance frequency. Further, the output signal can be systematically varied by locally changing the state of the V 2 O 3 with a dc current. These results demonstrate new spintronic resonator functionalities of interest for neuromorphic computing.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Formulation and verification of frequency response system identification techniques for large space structures

For the past several years much effort has been given to the development of techniques for designing control systems for large space structures (LSS's). The main objective of these efforts has been to develop a LSS control methodology that produces designs that meet strenuous performance requirements and are robust to model inaccuracies. Unfortunately, performance and robustness are conflicting requirements. Because LSS's can not be fully tested on ground, it has become an accepted fact that the design of LSS control systems to meet performance requirements can not be completed until the LSS is placed on-orbit and tested and an accurate model is extracted from on-orbit test results. Modern MIMO sampled-data frequency response design techniques are viable candidates for designing LSS control systems. First, this paper presents techniques for performing MIMO system identification (ID) from test data. Then, techniques for improving the performance of the system ID process in the presence of noise are presented. Finally, practical utility of the system ID approaches are validated by the presentation of results obtained from application on the LSS Ground Test Facility at Marshall Space Flight Center.

Mitchell, Jerrel R.↗

Mitigating the Effect of Wind Gusts on Local Run-of-River Hydropower Plants Using Cooperative Control

This paper focuses on the challenges and solutions associated with the integration of wind farms in a hydro- dominated power system. Due to sudden increases in wind power, the system frequency can increase, causing excessive reduction in the run-of-river (ROR) system’s power. Considering their small pondage, this can result in damage to the physical structure due to water level violations which are also penalized by stakeholders. To prevent excessive ROR power deviations, ROR governor wear and tear, and to prevent tie-line deviations, a centralized, distributed, and hybrid scheme for coordinating the response from a cluster of ROR plants is examined. Both centralized and distributed control as well as their hybrids can reduce frequency peaks. However, the inclusion of decentralized cooperative controls leads to reduced governor actions from fast- acting plants while enhancing net response from the hydro unit cluster.

13 HYDRO ENERGY↗

Advancements in frequency-domain methods for rotorcraft system identification

A new method for frequency-domain identification of rotorcraft dynamics is presented. Nonparametric frequency-response identification and parametric tranfer-function modeling methods are extended to allow the extraction of state-space (stability and control derivative) representations. An interactive computer program DERIVID is described for the iterative solution of the multi-input/multi-output frequency-response matching approach used in the identification. Theoretical accuracy methods are used to determine the appropriate model structure and degree-of-confidence in the identified parameters. The method is applied to XV-15 tilt-rotor aircraft data in hover. Bare-airframe stability and control derivatives for the lateral/directional dynamics are shown to compare favorably with models previously obtained using time-domain identification methods and the XV-15 simulation program.

Tischler, Mark B.↗

Advancements in frequency-domain methods for rotorcraft system identification

A new method for frequency-domain identification of rotorcraft dynamics is presented. Nonparametric frequency-response identification and parametric transfer-function modeling methods are extended to allow the extraction of state-space (stability and control derivative) representations. An interactive computer program DERIVID is described for the iterative solution of the multi-input/multi-output frequency-response matching approach used in the identification. Theoretical accuracy methods are used to determine the appropriate model structure and degree-of-confidence in the identified parameters. The method is applied to XV-15 tilt-rotor aircraft data in hover. Bare-airframe stability and control derivatives for the lateral/directional dynamics are shown to compare favorably with models previously obtained using time-domain identification methods and the XV-15 simulation program.

Tischler, Mark B.↗

Development of real-time density feedback control on MAST-U in L-mode

In this paper we report on the development and demonstration of density feedback control for MAST-U. Sinusoidal perturbations are used to measure the frequency response from a deuterium gas valve (actuator) to line-integrated core electron density measured by the interferometer (sensor). In the frequency range relevant for control design, only two system-identification experiments were needed to regress a first-order dynamic model. This control-oriented model informs the offline design of a proportional integral controller with the established loop-shaping controller design method. After offline verification of the controller implementation, control is demonstrated by experimentally tracking a staircase reference for the line-integrated electron density. This paper demonstrates the efficiency of controller design using system-identification and loop-shaping, providing reliable density control for MAST-U.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

High-Temperature Water Adsorption Isotherms and Ambient Temperature Water Diffusion Rates on Water Harvesting Metal–Organic Frameworks

Water adsorption isotherms from 25 to 125 °C were measured for three metal−organic frameworks (MOFs), MOF-303, MOF-LA2-1, and MIL-100(Fe), which are frequently studied for water harvesting applications. The results show how the step in the water adsorption isotherm varies as a function of temperature and detail the combination of pressure and temperature necessary to remove adsorbed water. Furthermore, isobaric−isothermal Gibbs ensemble Monte Carlo simulations performed for MOF-303 shed light on the change in occupation numbers of the different known water adsorption sites with increasing temperature. Additionally, the diffusion rates of water through these materials were measured using concentration swing frequency response, and micropore diffusion was identified as the controlling mechanism. The Darken relation was used to show the dependence of the diffusion rate on the concentration and the impact of the adsorption isotherm slope. The adsorption of water on MOF-LA2-1 is faster than that on MIL-100(Fe). These data show that MOF-LA2-1 with its high-water adsorption capacity, quick adsorption rate, and favorable desorption energetics is a leading candidate for atmospheric water harvesting.

Adsorption↗

Machine Learning-Based PV Reserve Determination Strategy for Frequency Control on the WECC System

Frequency control from photovoltaic (PV) power plants has great potential to address the frequency response challenge of the power system with high penetrations of renewable generation. Using model-based approaches to determine the optimal PV headroom reserve, however, requires significant online computation and is intractable for an interconnection level system. This paper proposes a machine learning based strategy, that is suitable for real-time operation, to determine the optimal PV reserve for frequency control. The proposed machine learning algorithm is trained and tested on 1,987 offline simulations of a 60% renewable penetration Western Electricity Coordinating Council (WECC) system. Furthermore, the proposed reserve determination strategy is applied on a realistic 1-day operation profile of the WECC system and demonstrates a savings of more than 40% PV headroom compared to a conservative approach. It is evident that the proposed strategy can efficiently and effectively determine the optimal PV frequency control reserve for realistic interconnection systems.

frequency control↗