Control system for use in the measurement of ultrasmall torques.
Newton gravitational constant determination from measured acceleration and known magnitude of masses, describing control system
Mcvey, E. S.↗
SEARCH · Engineering Papers
Results for “torque 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.
A dual spin space station design
A dual spin space station design is described. The space station has a cylindrical solar array that is spun to provide both gyroscopic stiffness to the space station and to stiffen the array structure. The platform is spun at the orbital angular rate. The space station is designed to have gravity gradient and aerodynamic restoring torques. An active control system is used to stabilize the station and store excess angular momentum until it can be removed from the station by magnetic torques.
Paluszek, M. A.↗
An experimental and analytical evaluation of the tapered tension-torsion strap concept
A new free-tip rotor moment controller designed to increase torque output (a restoring moment) was proposed. The controller would be used as a retention device for the freely pitching tip of a helicopter rotor. The new design featured a tapered tension-torsion strap instead of the previously used parellel strap. A tapered strap has a larger separation between the tension wires at the retention end than at the oscillating end; separation is equal at both ends for a parallel strap. A simple dynamic analysis was developed and an experiment performed to evaluate this tapered strap concept. The test results indicated that the torsional spring stiffness of the strap, represented by a torsional pendulum, increased with the amount of taper. The predicted dynamic characteristics of the pendulum also confirmed this observation and correlated reasonably well with the experimental results. It could be concluded from the experimental and analytical results that the tapered strap accomplished increased torque output when compared to the parellel strap.
Louie, Alexander↗
Hot gas ingestion effects on fuel control surge recovery and AH-1 rotor drive train torque spikes
This report summarizes the work accomplished through computer simulation to understand the impact of the hydromechanical turbine assembly (TA) fuel control on rocket gas ingestion induced engine surges on the AH-1 (Cobra) helicopter. These surges excite the lightly damped torsional modes of the Cobra rotor drive train and can cause overtorqueing of the tail rotor shaft. The simulation studies show that the hydromechanical TA control has a negligible effect on drive train resonances because its response is sufficiently attenuated at the resonant frequencies. However, a digital electronic control working through the TA control's separate, emergency fuel metering system has been identified as a solution to the overtorqueing problem. State-of-the-art software within the electronic control can provide active damping of the rotor drive train to eliminate excessive torque spikes due to any disturbances including engine surges and aggressive helicopter maneuvers. Modifications to the existing TA hydromechanical control are relatively minor, and existing engine sensors can be utilized by the electronic control. Therefore, it is concluded that the combination of full authority digital electronic control (FADEC) with hydromechanical backup using the existing TA control enhances flight safety, improves helicopter performance, reduces pilot workload, and provides a substantial payback for very little investment.
Tokarski, Frank↗
A class of stable, robust feedback controllers for large space structures
A two-level control system design is considered for large space structures, which consists of a primary and a secondary controller. The secondary or damping enhancement controller is shown to be stable and robust, even when time-invariant nonlinearities are present in the actuators and/or sensors. The use of Annular Momentum Control Devices (AMCD's) is also considered for secondary control. The primary attitude controller using collocated torque actuators and attitude and rate sensors is stable and robust. The effect of actuator/sensor dynamics on the stability of the primary and secondary controllers is considered. The AMCD's used for secondary control actuation can also be used for the primary controller.
Joshi, S. M.↗
In-Flight Operation of the Dawn Ion Propulsion System - The First Nine Months
The Dawn mission, part of NASA's Discovery Program, has as its goal the scientific exploration of the two most massive main-belt asteroids, Vesta and Ceres. The Dawn spacecraft was launched from Cape Canaveral Air Force Station on September 27, 2007 on a Delta-II 7925H-9.5 (Delta-II Heavy) rocket that placed the 1218 kg spacecraft into an Earth-escape trajectory. On-board the spacecraft is an ion propulsion system (IPS) which will provide most of the delta-V needed for heliocentric transfer to Vesta, orbit capture at Vesta, transfer to Vesta science orbits, departure and escape from Vesta, heliocentric transfer to Ceres, orbit capture at Ceres, and transfer to Ceres science orbits. The Dawn ion engine design is based on the design validated on NASA's Deep Space 1 mission. However, because of the very substantial (11 km/s) delta-V requirements for this mission Dawn requires two engines to complete its mission objectives. The power processor units (PPU), digital control and interface units (DCIU) slice boards and the xenon control assembly (XCA) are also based on the DS1 design. The DCIUs and thrust gimbal assemblies (TGA) were developed at the Jet Propulsion Laboratory. The spacecraft was provided by Orbital Sciences Corporation, Sterling, Virginia, and the mission is managed by and operated from the Jet Propulsion Laboratory. Dawn partnered with Germany, Italy and Los Alamos National Laboratory for the science instruments. The mission is led by the principal investigator, Dr. Christopher Russell, from the University of California, Los Angeles. The first 80 days after launch were dedicated to the initial checkout of the spacecraft prior to the initiation of long-term thrusting for the heliocentric transfer to Vesta. The IPS hardware, consisting of three ion thrusters and TGAs, two PPUs and DCIUs, xenon feed system, and spacecraft control software, was investigated extensively. Thrust measurements, roll torque measurements, pointing capabilities, control characteristics, and thermal behavior of the spacecraft and IPS were carefully evaluated. The Dawn IPS fully met all its initial checkout performance objectives. Deterministic thrusting for cruise began on December 17, 2007. Over the subsequent approximately 330 days the IPS will be operated virtually continuously at full power thrusting (approximately 91 mN) leading to a Mars flyby in February 2009. The encounter with Mars provides a gravity assist for a plane change and is the only source of post-launch delta-V apart from the IPS. Following the Mars gravity assist IPS will be operated for approximately one year at full power and for 1.3 years at throttled power levels leading to rendezvous with Vesta in August of 2011. Following nine months of orbital operations with IPS providing the propulsion needed for orbit capture, science orbit transfer and orbit maintenance and Vesta escape, Dawn will transit to Ceres with an expected arrival date of February 2015. As of June 16, 2008 the ion thrusters on Dawn have operated for close to 3,846 hours and have delivered nearly 1 km/s of delta-V to the spacecraft. Dawn IPS operation has been almost flawless during the initial checkout and six months of cruise. This paper provides an overview of Dawn's mission objectives, mission and system design, and the results of the post-launch Dawn IPS mission operations through June 2008
Garner, Charles E.↗
Electronic 4-wheel drive control device
The internal rotation torque generated during operation of a 4-wheel drive vehicle is reduced using a control device whose clutch is attached to one part of the rear-wheel drive shaft. One torque sensor senses the drive torque associated with the rear wheel drive shaft. A second sensor senses the drive torque associated with the front wheel drive shaft. Revolution count sensors sense the revolutions of each drive shaft. By means of a microcomputer, the engagement of the clutch is changed to insure that the ratio of the torque sensors remains constant.
Hayato, S.↗
The stellar and solar tracking system of the Geneva Observatory gondola
Sun and star trackers have been added to the latest version of the Geneva Observatory gondola. They perform an image motion compensation with an accuracy of plus or minus 1 minute of arc. The structure is held in the vertical position by gravity; the azimuth is controlled by a torque motor in the suspension bearing using solar or geomagnetic references. The image motion compensation is performed by a flat mirror, located in front of the telescope, controlled by pitch and yaw servo-loops. Offset pointing is possible within the solar disc and in a 3 degree by 3 degree stellar field. A T.V. camera facilitates the star identification and acquisition.
Huguenin, D.↗
Maneuvering strategies using CMGs
This paper considers control strategies for maneuvering spacecraft using Single-Gimbal Control Momentum Gyros (CMGs). A pyramid configuration using four gyros is utilized. Preferred initial gimbal angles for maximum utilization of CMG momentum are obtained for some known torque commands. Feedback control laws are derived from the stability point of view by using the Liapunov's Second Theorem. The gyro rates are obtained by the pseudo-inverse technique. The effect of gimbal rate bounds on controllability are studied for an example maneuver. Singularity avoidance is based on limiting the gyro rates depending on a singularity index.
Oh, H. S.↗
Helicopter Anti-Torque System Using Strakes
A helicopter is disclosed with a system for controlling main-rotor torque which reduces the power and size requirements of conventional anti-torque means. The torque countering forces are generated by disrupting the main rotor downwash flowing around the fuselage. The downwash flow is separated from the fuselage surface by a strake positioned at a specified location on the fuselage. This location is determined by the particular helicopter wash pattern and fuselage configuration, generally being located between 20 deg before top dead center (TDC) and 80 deg from TDC on the fuselage side to which the main rotor blade approaches during rotation. The strake extends along the fuselage from the cabin section to the aft end and can be continuous or separated for aerodynamic surfaces such as a horizontal stabilizer.
Kelley, H. L.↗
Wind-tunnel investigation at supersonic speeds of a remote-controlled canard missile with a free-rolling-tail brake torque system
Wind tunnel tests were conducted at Mach numbers 1.70, 2.16, and 2.86 to determine the static aerodynamic characteristics of a cruciform canard-controlled missile with fixed or free rolling tailfin afterbodies. Mechanical coupling effects of the free-rolling-tail afterbody were investigated by using an electronic electromagnetic brake system providing arbitrary tail-fin brake torques with continuous measurements of tail-to-mainframe torque and tail roll rate. Remote-controlled canards were deflected to provide pitch, yaw, and roll control. Results indicate that the induced rolling moment coefficients due to canard yaw control are reduced and linearized for the free-rolling-tail (free-tail) configuration. The canards of the latter provide conventional roll control for the entire angle-of-attack test range. For the free-tail configuration, the induced rolling moment coefficient due to canard yaw control increased and the canard roll control decreased with increases in brake torque, which simulated bearing friction torque. It appears that a compromise in regard to bearing friction, for example, low-cost bearings with some friction, may allow satisfactory free-tail aerodynamic characteristics that include reductions in adverse rolling-moment coefficients and lower tail roll rates.
Blair, A. B., Jr.↗
Performance evaluation of a six-axis generalized force-reflecting teleoperator
Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.
Hannaford, B.↗
Meteorological Measurements from Satellite Platforms
The stability of stochastic satellites and the stability and control of flexible satellites were investigated. The effects of random environmental torques and noises in the moments of inertia of spinning and three-axes stabilized satellites were first compared analytically by four methods and by analog simulations. Among the analytical methods, it was shown that the Fokker-Planck formulation yields predictions which most coincide with the simulation results. It was then shown that the required stability criterion of a satellite is quite different from that obtained by a deterministic approach, under the assumption that the environmental and control torques experienced by the satellite are random. Finally, it was demonstrated that, by monitoring the deformations of the flexible elements of a satellite, the effectiveness of the satellite control system can be increased considerably.
Suomi, V. E.↗
Assessment of per-axis thruster control authority of Cassini spacecraft for low-altitude Titan flybys
Upon arrival at Saturn, Cassini will execute numerous low-altitude flybys of Titan and a few targeted icy satellite flybys. At the closest approach altitudes, the spacecraft must use its thrusters in order to overcome the external torques, maintain attitude control, and perform the required science slews.
Sarani, Siamak↗
Handling qualities criteria for manned spacecraft attitude-control systems.
Attitude control systems for manned spacecraft, deriving handling parameters of torque advantage rate and control authority
ATTITUDE CONTROL↗
The design and analysis of single flank transmission error tester for loaded gears
To strengthen the understanding of gear transmission error and to verify mathematical models which predict them, a test stand that will measure the transmission error of gear pairs under design loads has been investigated. While most transmission error testers have been used to test gear pairs under unloaded conditions, the goal of this report was to design and perform dynamic analysis of a unique tester with the capability of measuring the transmission error of gears under load. This test stand will have the capability to continuously load a gear pair at torques up to 16,000 in-lb at shaft speeds from 0 to 5 rpm. Error measurement will be accomplished with high resolution optical encoders and the accompanying signal processing unit from an existing unloaded transmission error tester. Input power to the test gear box will be supplied by a dc torque motor while the load will be applied with a similar torque motor. A dual input, dual output control system will regulate the speed and torque of the system. This control system's accuracy and dynamic response were analyzed and it was determined that proportional plus derivative speed control is needed in order to provide the precisely constant torque necessary for error-free measurement.
Bassett, Duane E.↗
Magellan Aerodynamic Characteristics During the Termination Experiment Including Thruster Plume-Free Stream Interaction
Results are presented on the aerodynamic characteristics of the Magellan spacecraft during the October 1994 Termination Experiment, including the effects of the thruster engine exhaust plumes upon the molecular free stream around the spacecraft and upon the aerodynamics coefficients. As Magellan passed through the Venusian atmosphere, the solar arrays were turned in opposite directions relative to the free stream creating a torque on the spacecraft. The spacecraft control system was programmed to counter the effects of this torque with attitude control engines to maintain an inertially fixed attitude. The orientation and reaction engine telemetry returned from Magellan are used to create a model of the aerodynamic torques. Geometric models of the Magellan spacecraft are analyzed with the aid of both free molecular and Direct Simulation Monte Carlo codes. The simulated aerodynamic torques determined are compared to the measured torques. The Direct Simulation Monte Carlo method is also used to model the attitude engine exhaust plumes, the free stream disturbance caused by these plumes, and the resulting torques acting on the spacecraft compared to no-exhaust plume cases. The effect of the exhaust plumes was found to be sufficiently large that thrust reversal is possible.
Cestero, Francisco J.↗
Spacecraft momentum management procedures
Techniques appropriate for implementation onboard the space telescope and other spacecraft to manage the accumulation of momentum in reaction wheel control systems using magnetic torquing coils are described. Generalized analytical equations are derived for momentum control laws that command the magnetic torquers. These control laws naturally fall into two main categories according to the methods used for updating the magnetic dipole command: closed loop, in which the update is based on current measurements to achieve a desired torque instantaneously, and open-loop, in which the update is based on predicted information to achieve a desired momentum at the end of a period of time. Physical interpretations of control laws in general and of the Space Telescope cross product and minimum energy control laws in particular are presented, and their merits and drawbacks are discussed. A technique for retaining the advantages of both the open-loop and the closed-loop control laws is introduced. Simulation results are presented to compare the performance of these control laws in the Space Telescope environment.
Chen, L. C.↗