Inertial measurement units and pulse torquing
Inertial measurement unit, pulsed integrating pendulous accelerometer, and coupling data unit of Apollo guidance and control system
MANNED SPACE FLIGHT↗
SEARCH · Engineering Papers
Results for “inertial control”
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.
Driver Identification Dataset
The ORNL Driver Identification Dataset was created to collect and analyze driving behavior data from 50 different drivers. Each driver operated a 2014 Kenworth T270 Class 6 truck around Fort Collins, Colorado while various data sources recorded their driving behavior and vehicle performance. The dataset includes CANbus (Controller Area Network) data, GPS data, inertial measurement data, and biometric data from a heart rate monitor. A cyberattack was executed during each drive, which caused multiple dashboard warning lights to illuminate and set the tachometer and speedometer to zero, regardless of actual speed. The attack was stopped either after one minute or if the driver pulled over. By downloading the dataset, you agree to the following: 1) I will not use or disclose the data for any purpose other than Research as that term is defined in 10 CFR 745.102. 2) I will not, under any circumstances, request or accept private or linking identifiers for the data used. 3) I will not attempt to determine the identity of the individuals associated with the data. 4) I will use appropriate safeguards to prevent the use or disclose of the data for any purpose other than Research.
99 GENERAL AND MISCELLANEOUS↗
The quasi-inertial and wide-deadband modes as backup attitude options for the Skylab mission
The quasi-inertial (QI) and wide deadband (WDB) modes were investigated as alternatives to the solar inertial (SI) mode in case two control moment gyros fail during the Skylab mission. Both modes provide a substantial reduction in propellant requirements from the solar interial hold requirement with either the orbital assembly/thruster attitude control system or service module reaction control system. Spacecraft motion in the QI mode is produced by a command rate and results in a small amplitude oscillation (17 deg, maximum) about the SI orientation. In the WDB mode a somewhat similar, but larger amplitude motion (35 deg maximum) about the SI orientation is developed by appropriate choice of controller deadbands and switch line slopes.
Elrod, B. D.↗
Pressurized Lunar Rover
The pressurized lunar rover (PLR) consists of a 7 m long, 3 m diameter cylindrical main vehicle and a trailer which houses the power and heat rejection systems. The main vehicle carries the astronauts, life support systems, navigation and communication systems, directional lighting, cameras, and equipment for exploratory experiments. The PLR shell is constructed of a layered carbon-fiber/foam composite. The rover has six 1.5 m diameter wheels on the main body and two 1.5 m diameter wheels on the trailer. The wheels are constructed of composites and flex to increase traction and shock absorption. The wheels are each attached to a double A-arm aluminum suspension, which allows each wheel 1 m of vertical motion. In conjunction with a 0.75 m ground clearance, the suspension aids the rover in negotiating the uneven lunar terrain. The 15 N-m torque brushless electric motors are mounted with harmonic drive units inside each of the wheels. The rover is steered by electrically varying the speeds of the wheels on either side of the rover. The PLR trailer contains a radiosotope thermoelectric generator providing 6.7 kW. A secondary back-up energy storage system for short-term high-power needs is provided by a bank of batteries. The trailer can be detached to facilitate docking of the main body with the lunar base via an airlock located in the rear of the PLR. The airlock is also used for EVA operation during missions. Life support is a partly regenerative system with air and hygiene water being recycled. A layer of water inside the composite shell surrounds the command center. The water absorbs any damaging radiation, allowing the command center to be used as a safe haven during solar flares. Guidance, navigation, and control are supplied by a strapdown inertial measurement unit that works with the on-board computer. Star mappers provide periodic error correction. The PLR is capable of voice, video, and data transmission. It is equipped with two 5 W X-band transponder, allowing simultaneous transmission and reception. An S-band transponder is used to communicate with the crew during EVA. The PLR has a total mass of 6197 kg. It has a nominal speed of 10 km/hr and a top speed of 18 km/hr. The rover is capable of towing 3 metric tons (in addition to the RTG trailer).
Creel, Kenneth↗
Force regulation in multiple-manipulator systems
A new intuitively appealing interpretation of the internal force in a multiple-arm system is presented. The static gravity-free case is considered where internal force has a well-founded physical meaning. The case is extended to the general dynamic case by removing the inertial force through balancing it with the minimum amount of contact force. The remaining component in the contact force is considered to be the sole contributor to the inertial force. Existing techniques for force control can be used to obtain various stabilizing force set point control laws. Particular attention is given to the motion control strategy for multiple arm systems. Three types of control laws, feedback linearization, arms-as-actuators, and passive control, are addressed. The first two techniques provide simplified control tuning but require much model information. The latter approach is considered to be very robust with respect to the model, but good transient performance is more challenging to obtain. It is suggested to combine one of the model-based approaches with the passive control approach.
Wen, John T.↗
Observing Mode Attitude Controller for the Lunar Reconnaissance Orbiter
The Lunar Reconnaissance Orbiter (LRO) mission is the first of a series of lunar robotic spacecraft scheduled for launch in Fall 2008. LRO will spend at least one year in a low altitude polar orbit around the Moon, collecting lunar environment science and mapping data to enable future human exploration. The LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing mode", provides Lunar Nadir, off-Nadir, and Inertial fine pointing for the science data collection and instrument calibration. The controller combines the capability of fine pointing with that of on-demand large angle full-sky attitude reorientation into a single ACS mode, providing simplicity of spacecraft operation as well as maximum flexibility for science data collection. A conventional suite of ACS components is employed in this mode to meet the pointing and control objectives. This paper describes the design and analysis of the primary LRO fine pointing and attitude re-orientation controller function, known as the "Observing mode" of the ACS subsystem. The control design utilizes quaternion feedback, augmented with a unique algorithm that ensures accurate Nadir tracking during large angle yaw maneuvers in the presence of high system momentum and/or maneuver rates. Results of system stability analysis and Monte Carlo simulations demonstrate that the observing mode controller can meet fine pointing and maneuver performance requirements.
Calhourn, Philip C.↗
Observing Mode Attitude Controller for the Lunar Reconnaissance Orbiter
The Lunar Reconnaissance Orbiter (LRO) mission is the first of a series of lunar robotic spacecraft scheduled for launch in Fall 2008. LRO will spend at least one year in a low altitude polar orbit around the Moon, collecting lunar environment science and mapping data to enable future human exploration. The LRO employs a 3-axis stabilized attitude control system (ACS) whose primary control mode, the "Observing mode", provides Lunar Nadir, off-Nadir, and Inertial fine pointing for the science data collection and instrument calibration. The controller combines the capability of fine pointing with that of on-demand large angle full-sky attitude reorientation into a single ACS mode, providing simplicity of spacecraft operation as well as maximum flexibility for science data collection. A conventional suite of ACS components is employed in this mode to meet the pointing and control objectives. This paper describes the design and analysis of the primary LRO fine pointing and attitude re-orientation controller function, known as the "Observing mode" of the ACS subsystem. The control design utilizes quaternion feedback, augmented with a unique algorithm that ensures accurate Nadir tracking during large angle yaw maneuvers in the presence of high system momentum and/or maneuver rates. Results of system stability analysis and Monte Carlo simulations demonstrate that the observing mode controller can meet fine pointing and maneuver performance requirements.
Calhoun, Philip C.↗
Optimization-Based Fast-Frequency Estimation and Control of Low-Inertia Microgrids
The lack of inertial response from non-synchronous, inverter-based generation in microgrids makes the power system vulnerable to a large rate of change of frequency (ROCOF) and frequency excursions. Energy storage systems (ESSs) can be utilized to provide fast-frequency support to prevent such large excursions in the system. However, fast-frequency support is a power-intensive application that has a significant impact on the ESS lifetime. In this paper, a framework that allows the ESS operator to provide fast-frequency support as a service is proposed. The framework maintains the desired quality-of-service (limiting the ROCOF and frequency) while taking into account the ESS lifetime and physical limits. The framework utilizes moving horizon estimation (MHE) to estimate the frequency deviation and ROCOF from noisy phase-locked loop (PLL) measurements. These estimates are employed by a model predictive control (MPC) algorithm that computes control actions by solving a finite-horizon, online optimization problem. Additionally, this approach avoids oscillatory behavior induced by delays that are common when using low-pass filters as with traditional derivative-based (virtual inertia) controllers. MATLAB/Simulink simulations on a test system from Cordova, Alaska, show the effectiveness of the MHE-MPC approach to reduce frequency deviations and ROCOF of a low-inertia microgrid.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Applications of fluidics to light aircraft instrumentation and control
Review of a program for the development of advanced fluidic components and the application of these components to general aviation instrumentation and control. The major project in this category has been the development of a simple, reliable, two-axis autopilot for light aircraft, using a fluidic inertial rate sensor for stability and roll attitude control, and a simple magnetometer for azimuth reference. This autopilot has been succesfully flight-tested. Fluidic hardware developed for this autopilot is described, and projected improvements and extensions are discussed. Application of fluidic components to such flight instruments as turn coordinators, artificial horizons, and true airspeed indicators is explored.
Garner, H. D.↗
Attitude control of large solar power satellites
Satellite power systems are a promising future source of electrical energy. However, the very large size solar power satellites (relative to contemporary spacecraft) requires investigation of the resulting attitude control problems and of appropriate control techniques. The principal effects of the large size are a great increase in sensitivity to gravity-gradient torques and a great reduction in structural bending frequencies with the attendant likelihood of undesirable control system interaction. A wide variety of control techniques are investigated to define approaches that minimize implementation penalties. These techniques include space-constructed momentum wheels, gravity-gradient stabilization, quasi-inertial free-drift modes, and various reaction control thruster types, some of which reduce the implementation penalties to a few percent of the spacecraft mass. The control system/structural dynamic interaction problem is found to have a tractable solution. Some of the results can be applied to other large space structure spacecraft.
Oglevie, R. E.↗
Space Infrared Telescope Facility/Multimission Modular Spacecraft Attitude Control System conceptual design
A control system utilizing the Multi-mission Modular Spacecraft (MMS) Attitude Control System (ACS) was developed and analyzed for the Space Infrared Telescope Facility (SIRTF) spacecraft. Alternative torquer augmentation schemes were studied to determine viable ACS approaches. A control law was developed to use a dual set of single-axis Control Moment Gyros (CMGs) for two-axis control. Flexible structural models were developed using a high fidelity, flight tested NASTRAN model of the MMS, coupled with a NASTRAN model of the SIRTF telescope. Modal significance criteria were employed to reduce the structural model. Multivariable interactive techniques were used to synthesize the control system (including the structural filters). Control system performance for the SIRTF operational modes (quiescent inertial hold, slewing, nodding, and rastering) was then determined using both single-axis and three-axis simulations). The control system described met performance requirements for all modes but the raster with the use of CMGs. The raster performance was limited by the structural flexibility.
Class, Brian F.↗
MATLAB Stability and Control Toolbox Trim and Static Stability Module
MATLAB Stability and Control Toolbox (MASCOT) utilizes geometric, aerodynamic, and inertial inputs to calculate air vehicle stability in a variety of critical flight conditions. The code is based on fundamental, non-linear equations of motion and is able to translate results into a qualitative, graphical scale useful to the non-expert. MASCOT was created to provide the conceptual aircraft designer accurate predictions of air vehicle stability and control characteristics. The code takes as input mass property data in the form of an inertia tensor, aerodynamic loading data, and propulsion (i.e. thrust) loading data. Using fundamental nonlinear equations of motion, MASCOT then calculates vehicle trim and static stability data for the desired flight condition(s). Available flight conditions include six horizontal and six landing rotation conditions with varying options for engine out, crosswind, and sideslip, plus three take-off rotation conditions. Results are displayed through a unique graphical interface developed to provide the non-stability and control expert conceptual design engineer a qualitative scale indicating whether the vehicle has acceptable, marginal, or unacceptable static stability characteristics. If desired, the user can also examine the detailed, quantitative results.
Kenny, Sean P.↗
Rim inertial measuring system
The invention includes an angular momentum control device (AMCD) having a rim and several magnetic bearing stations. The AMCD is in a strapped down position on a spacecraft. Each magnetic bearing station comprises means, including an axial position sensor, for controlling the position of the rim in the axial direction; and means, including a radial position sensor, for controlling the position of the rim in the radial direction. A first computer receives the signals from all the axial position sensors and computes the angular rates about first and second mutually perpendicular axes in the plane of the rim and computes the linear acceleration along a third axis perpendicular to the first and second axes. A second computer receives the signals from all the radial position sensors and computes the linear accelerations along the first and second axes.
Groom, N. J.↗
GOES-R Active Vibration Damping Controller Design, Implementation, and On-Orbit Performance
GOES-R series spacecraft feature a number of flexible appendages with modal frequencies below 3.0 Hz which, if excited by spacecraft disturbances, can be sources of undesirable jitter perturbing spacecraft pointing. In order to meet GOES-R pointing stability requirements, the spacecraft flight software implements an Active Vibration Damping (AVD) rate control law which acts in parallel with the nadir point attitude control law. The AVD controller commands spacecraft reaction wheel actuators based upon Inertial Measurement Unit (IMU) inputs to provide additional damping for spacecraft structural modes below 3.0 Hz which vary with solar wing angle. A GOES-R spacecraft dynamics and attitude control system identified model is constructed from pseudo-random reaction wheel torque commands and IMU angular rate response measurements occurring over a single orbit during spacecraft post-deployment activities. The identified Fourier model is computed on the ground, uplinked to the spacecraft flight computer, and the AVD controller filter coefficients are periodically computed on-board from the Fourier model. Consequently, the AVD controller formulation is based not upon pre-launch simulation model estimates but upon on-orbit nadir point attitude control and time-varying spacecraft dynamics. GOES-R high-fidelity time domain simulation results herein demonstrate the accuracy of the AVD identified Fourier model relative to the pre-launch spacecraft dynamics and control truth model. The AVD controller on-board the GOES-16 spacecraft achieves more than a ten-fold increase in structural mode damping of the fundamental solar wing mode while maintaining controller stability margins and ensuring that the nadir point attitude control bandwidth does not fall below 0.02 Hz. On-orbit GOES-16 spacecraft appendage modal frequencies and damping ratios are quantified based upon the AVD system identification, and the increase in modal damping provided by the AVD controller for each structural mode is presented. The GOES-16 spacecraft AVD controller frequency domain stability margins and nadir point attitude control bandwidth are presented along with on-orbit time domain disturbance response performance.
Active Vibration Damping↗
Two Axis Pointing System (TAPS) attitude acquisition, determination, and control
The Two Axis Pointing System (TAPS) is a 2 axis gimbal system designed to provide fine pointing of Space Transportation System (STS) borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update. The theory of the TAPS attitude determination and error computation for the Broad Band X-ray Telescope (BBXRT) are described. The attitude acquisition is based upon a 2 star geometric solution. The acquisition theory and quaternion algebra are presented. The attitude control combines classical position, integral and derivative (PID) control with techniques to compensate for coulomb friction (bias torque) and the cable harness crossing the gimbals (spring torque). Also presented is a technique for an adaptive bias torque compensation which adjusts to an ever changing frictional torque environment. The control stability margins are detailed, with the predicted pointing performance, based upon simulation studies. The TAPS user interface, which provides high level operations commands to facilitate science observations, is outlined.
Azzolini, John D.↗
Ares-I Bending Filter Design using a Constrained Optimization Approach
The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output is required to ensure adequate stable response to guidance commands while minimizing trajectory deviations. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares-I time-varying dynamics and control system can be frozen over a short period of time, the bending filters are designed to stabilize all the selected frozen-time launch control systems in the presence of parameter uncertainty. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constrains minimizes performance degradation caused by the addition of the bending filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The bending filter designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC MAVERIC 6DOF nonlinear time domain simulation.
Hall, Charles↗
Co-Spin With Symmetry Axis Stabilization, and De-Spin for Asteroid Capture
Consideration is given to attitude control associated with capturing a free-flying asteroid using an axisymmetric spacecraft. Asymptotically stable controllers are designed to align the spacecraft axis of symmetry with a line of descent that is fixed in the asteroid, and to eliminate all relative angular velocity before capture takes place. An analytical expression is presented for the torque required to maintain alignment of the axes of symmetry of the spacecraft and an axisymmetric asteroid. After the asteroid is securely captured, the angular velocity of the rigid composite body relative to an inertial frame is arrested; we present a controller that is asymptotically stable and stays within specified thrust limits.
Shen, Haijun↗