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At least 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS2009

Simulation of Attitude and Trajectory Dynamics and Control of Multiple Spacecraft

Agora software is a simulation of spacecraft attitude and orbit dynamics. It supports spacecraft models composed of multiple rigid bodies or flexible structural models. Agora simulates multiple spacecraft simultaneously, supporting rendezvous, proximity operations, and precision formation flying studies. The Agora environment includes ephemerides for all planets and major moons in the solar system, supporting design studies for deep space as well as geocentric missions. The environment also contains standard models for gravity, atmospheric density, and magnetic fields. Disturbance force and torque models include aerodynamic, gravity-gradient, solar radiation pressure, and third-body gravitation. In addition to the dynamic and environmental models, Agora supports geometrical visualization through an OpenGL interface. Prototype models are provided for common sensors, actuators, and control laws. A clean interface accommodates linking in actual flight code in place of the prototype control laws. The same simulation may be used for rapid feasibility studies, and then used for flight software validation as the design matures. Agora is open-source and portable across computing platforms, making it customizable and extensible. It is written to support the entire GNC (guidance, navigation, and control) design cycle, from rapid prototyping and design analysis, to high-fidelity flight code verification. As a top-down design, Agora is intended to accommodate a large range of missions, anywhere in the solar system. Both two-body and three-body flight regimes are supported, as well as seamless transition between them. Multiple spacecraft may be simultaneously simulated, enabling simulation of rendezvous scenarios, as well as formation flying. Built-in reference frames and orbit perturbation dynamics provide accurate modeling of precision formation control.

Stoneking, Eric T.↗
NASA NTRS1991

Dynamic modelling and analysis of a magnetically suspended flexible rotor

A 12-state lumped-element model is presented for a flexible rotor supported by two attractive force electromagnetic journal bearings. The rotor is modeled as a rigid disk with radial mass unbalance mounted on a flexible, massless shaft with internal damping (Jeffcott rotor). The disk is offset axially from the midspan of the shaft. Bearing dynamics in each radial direction are modeled as a parallel combination of a negative (unstable) spring and a linear current-to-force actuator. The model includes translation and rotation of the rigid mass and the first and second bending models of the flexible shaft, and it simultaneously includes internal shaft damping, gyroscopic effects, and the unstable nature of the attractive force magnetic bearings. The model is used to analyze the dependence of the system transmission zeros and open-loop poles on system parameters. The dominant open-loop poles occur in stable/unstable pairs with bandwidth dependent on the ratios of bearing (unstable) stiffnesses to rotor mass and damping dependent on the shaft spin rate. The zeros occur in complex conjugate pairs with bandwidth dependent on the ratios of shaft stiffness to rotor mass and damping dependent on the shaft spin rate. Some of the transmission zeros are non-minimum phase when the spin rate exceeds the shaft critical speed. The transmission zeros and open-loop poles impact the design of magnetic bearing control systems. The minimum loop cross-over frequency of the closed-loop system is the speed of the unstable open-loop poles. For the supercritical shaft spin rates, the presence of non-minimum phase zeros limits the distribution rejection achievable at frequencies near or above the shaft critical speed. Since non-minimum phase transmission zeros can only be changed by changing the system inputs and/or outputs, closed-loop performance is limited for supercritical spin rates unless additional force or torque actuators are added.

Mccallum, Duncan C.↗
NASA NTRS1972

A wind-tunnel evaluation of analytical techniques for predicting static stability and control characteristics of flexible aircraft

An experimental evaluation of analytical techniques for predicting certain stability and control characteristics of a large flexible aircraft is presented. Analytical methods based on both the model approach and flexibility influence coefficients are developed to predict the aerodynamic characteristics of a flexible airplane. These methods are then applied to a flexibly scaled model of a supersonic transport configuration. Comparisons of wind-tunnel data, calculations based on the model approach, and flexibility influence coefficients are presented over the Mach number range from 0.6 to 2.7. An examination of the results obtained from this study indicates that both analytical techniques predict reasonably well the effect of flexibility on the basic longitudinal characteristics and that both techniques give generally comparable results.

Abel, I.↗
NASA NTRS1992

Krylov vector methods for model reduction and control of flexible structures

Krylov vectors and the concept of parameter matching are combined here to develop model-reduction algorithms for structural dynamics systems. The method is derived for a structural dynamics system described by a second-order matrix differential equation. The reduced models are shown to have a promising application in the control of flexible structures. It can eliminate control and observation spillovers while requiring only the dynamic spillover terms to be considered. A model-order reduction example and a flexible structure control example are provided to show the efficacy of the method.

Su, Tzu-Jeng↗
NASA NTRS1989

An integrated model of the Space Station Freedom active thermal control system

A flexible, generic model of the Space Station Freedom active thermal control system has been developed which is designed to analyze dynamic interactions of the major subsystems of the ATCS. Models are described for the components of the central thermal bus, the radiator external thermal environment, and the internal thermal control system. Two programs are described which facilitate the development of the integrated ATCS model. The first, SIMRAD, simplifies an external thermal environment model given a desired level of accuracy in integrated model performance. The model reduction technique is shown to reduce model execution time significantly while maintaining the desired accuracy. The second, GENFLU, generates SINDA/FLUINT input code for the evaporator and load interface models and automates the integration of load submodels. The component submodels and integration techniques were used to create an integrated model of the thermal control system for an early assembly flight configuration. The results demonstrate the utility of the integrated model in studying dynamic interactions of the ATCS subsystems.

Tandler, John J.↗
NASA NTRS1991

Roll plus maneuver load alleviation control system designs for the active flexible wing wind-tunnel model

Three designs for controlling loads while rolling for the Active Flexible Wing (AFW) are discussed. The goal is to provide good roll control while simultaneously limiting the torsion and bending loads experienced by the wing. The first design uses Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR) modern control methods to control roll rate and torsional loads at four different wing locations. The second design uses a nonlinear surface command function to produce surface position commands as a function of current roll rate and commanded roll rate. The final design is a flutter suppression control system. This system stabilizes both symmetric and axisymmetric flutter modes of the AFW.

Moore, Douglas B.↗
NASA NTRS1991

Model reference adaptive control of flexible robots in the presence of sudden load changes

Direct command generator tracker based model reference adaptive control (MRAC) algorithms are applied to the dynamics for a flexible-joint arm in the presence of sudden load changes. Because of the need to satisfy a positive real condition, such MRAC procedures are designed so that a feedforward augmented output follows the reference model output, thus, resulting in an ultimately bounded rather than zero output error. Thus, modifications are suggested and tested that: (1) incorporate feedforward into the reference model's output as well as the plant's output, and (2) incorporate a derivative term into only the process feedforward loop. The results of these simulations give a response with zero steady state model following error, and thus encourage further use of MRAC for more complex flexibile robotic systems.

Steinvorth, Rodrigo↗
NASA NTRS1975

Shear-flexible finite-element models of laminated composite plates and shells

Several finite-element models are applied to the linear static, stability, and vibration analysis of laminated composite plates and shells. The study is based on linear shallow-shell theory, with the effects of shear deformation, anisotropic material behavior, and bending-extensional coupling included. Both stiffness (displacement) and mixed finite-element models are considered. Discussion is focused on the effects of shear deformation and anisotropic material behavior on the accuracy and convergence of different finite-element models. Numerical studies are presented which show the effects of increasing the order of the approximating polynomials, adding internal degrees of freedom, and using derivatives of generalized displacements as nodal parameters.

Noor, A. K.↗
NASA NTRS1982

Modular design attitude control system

A hybrid multilevel linear quadratic regulator (ML-LQR) approach was developed and applied to the attitude control of models of the rotational dynamics of a prototype flexible spacecraft and of a typical space platform. Three axis rigid body flexible suspension models were developed for both the spacecraft and the space platform utilizing augmented body methods. Models of the spacecraft with hybrid ML-LQR attitude control and with LQR attitude control were simulated and their response with the two different types of control were compared.

Chichester, F. D.↗
NASA NTRS1992

Orthogonal canonical forms for second-order systems

It is shown that a linear second-order system with arbitrary damping cannot be reduced to Hessenberg-triangular form by means of orthogonal transformations. However, it is also shown that such an orthogonal reduction is always possible for the modal damping commonly assumed for models of flexible structures. It is shown that modally damped models can be orthogonally reduced to a new triangular second-order Schur form.

Williams, Trevor↗
NASA NTRS1991

Optimal control study for the Space Station Solar Dynamic power module

The authors present the design of an optimal control system for the Space Station Freedom's Solar Dynamic Fine Pointing and Tracking (SDFPT) module. A very large state model of six rigid body modes and 272 flexible modes is used in conjunction with classical LQG optimal control to produce a full-order controller which satisfies the requirements. The results obtained are compared with those of a classically designed PID (proportional plus integral plus derivative) controller that was implemented for a six-rigid-body-mode forty-flexible-mode model. A major difficulty with designing LQG controllers for large models is solving the Riccati equation that arises from the optimal formulation. A Riccati solver based on a Pade approximation to the matrix sign function is used. A symmetric version of this algorithm is derived for the special class of Hamiltonion matrices, thereby yielding, for large problems, a nearly twofold speed increase over a previous algorithm.

Papadopoulos, P. M.↗
NASA NTRS1992

Control-structure interaction

The feasibility of using conventional proportional-integral-derivative (PID) control and an alternative optimal control to perform the pointing and tracking functions of the Space Station solar dynamic power module is investigated. A very large state model of 6 rigid body modes and 272 flexible modes is used in conjunction with classical linear-quadratic-Gaussian (LQG) optimal control to produce a full-order controller that satisfies the requirements. The results are compared with a classically designed PID controller that was implemented for a much smaller (6 rigid body, 40 flexible modes) model. The conventional control design approach is shown to be very much influenced by the order reduction of the plant model, i.e., the number of retained elastic modes from the full-order model, suggesting that for a complex, large space structure, such as the Space Station Freedom solar dynamic module, application of conventional control system design methods may not be adequate. The use of LQG control is recommended, and method for solving the large matrix. Riccati equation that arises from the optimal formulation is provided.

Cheng, Joseph K.↗
NASA NTRS2014

Experimental Investigation of a Flexible Wing with a Variable Camber Continuous Trailing Edge Flap Design

This paper presents experimental results of a flexible wing wind tunnel model with a variable camber continuous trailing edge flap (VCCTEF) design for drag minimization, tested at the University of Washington Aeronautical Labo- ratory (UWAL). The wind tunnel test was designed to explore the relative merit of the VCCTEF concept for improved cruise efficiency through the use of low-cost aeroelastic model test techniques. The flexible wing model is a 10-scaled model of a typical transport wing and is constructed of woven fabric composites and foam core. The wing structural stiffness in bending is tailored to be half of the stiffness of a Boeing 757-era transport wing, while the torsional stiffness is about the same. This stiffness reduction results in a wing tip deflection of about 10 of the wing semi-span. The VCCTEF is a multi-segment flap design having three chordwise camber segments and five spanwise flap sections for a total of 15 individual flap elements. The three chordwise camber segments can be positioned appropriately to create a desired trailing edge camber. Elastomeric material is used to cover the gaps in between the spanwise flap sections, thereby creating a continuous trailing edge. Wind tunnel data indicate a high degree of data correlation and repeata- bility. The VCCTEF can achieve a drag reduction of up to 6.31 and an improvement in the lift-to-drag ratio (LD) of up to 4.85. The paper also presents two methods for estimating the lift coefficient of a rigid wing using a dynamic pressure correction and an aeroelastic deflection correction. Both methods provide good estimates of the rigid-wing lift coefficient.

Aerodynamics↗
NASA NTRS1999

A Flexible Statechart-to-model-checker Translator

Many current-day software design tools offer some variant of statechart notation for system specification. We, like others, have built an automatic translator from (a subset of) statecharts to a model checker, for use to validate behavioral requirements.

statecharts↗