Spacecraft experiment pointing and attitude control system Patent
Development of spacecraft experiment pointing and attitude control system
Kurzhals, P. R.↗
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Adaptive Control Of Large Vibrating, Rotating Structures
Globally convergent theoretical method provides for adaptive set-point control of orientation of, along with suppression of the vibrations of, large structure. Method utilizes inherent passivity properties of structure to attain mathematical condition essential to adaptive convergence on commanded set point. Maintains stability and convergence in presence of errors in mathematical model of dynamics of structure and actuators. Developed for controlling attitudes of large, somewhat flexible spacecraft, also useful in such terrestrial applications as controlling movable bridges or suppressing earthquake vibrations in bridges, buildings, and other large structures.
Bayard, David S.↗
Use of ERTS data for a multidisciplinary analysis of Michigan resources
The author has identified the following significant results. A computerized procedure has been developed to correlate coordinates from topographic maps and/or aerial photographs with ERTS data coordinates. Application to data from other multispectral scanners is anticipated. In the procedure, a map transformation from earth coordinates to ERTS point and line numbers is calculated using selected ground control points and the method of least squares. The map transformation is then applied to the earth coordinates of selected areas to obtain the corresponding ERTS point and line numbers. An optional provision allows moving the boundaries of the plots inwards by variable distances (typically half a resolution element) so the selected pixels will not overlap adjacent features.
Anderson, A. L.↗
Feasibility study of the solar scientific instruments for Spacelab/Orbiter
The feasibility and economics of mounting and operating a set of solar scientific instruments in the backup Skylab Apollo Telescope Mount (ATM) hardware was evaluated. The instruments used as the study test payload and integrated into the ATM were: the Solar EUV Telescope/Spectrometer; the Solar Active Region Observing Telescope; and the Lyman Alpha White Light Coronagraph. The backup ATM hardware consists of a central cruciform structure, called the "SPAR', a "Sun End Canister' and a "Multiple Docking Adapter End Canister'. Basically, the ATM hardware and software provides a structural interface for the instruments; a closely controlled thermal environment; and a very accurate attitude and pointing control capability. The hardware is an identical set to the hardware that flow on Skylab.
Leritz, J.↗
Application of square-root filtering for spacecraft attitude control
Suitable digital algorithms are developed and tested for providing on-board precision attitude estimation and pointing control for potential use in the Landsat-D spacecraft. These algorithms provide pointing accuracy of better than 0.01 deg. To obtain necessary precision with efficient software, a six state-variable square-root Kalman filter combines two star tracker measurements to update attitude estimates obtained from processing three gyro outputs. The validity of the estimation and control algorithms are established, and the sensitivity of their performance to various error sources and software parameters are investigated by detailed digital simulation. Spacecraft computer memory, cycle time, and accuracy requirements are estimated.
Sorensen, J. A.↗
A computer simulation of Skylab dynamics and attitude control for performance verification and operational support
A simulation of the Skylab attitude and pointing control system (APCS) is outlined and discussed. Implementation is via a large hybrid computer and includes those factors affecting system momentum management, propellant consumption, and overall vehicle performance. The important features of the flight system are discussed; the mathematical models necessary for this treatment are outlined; and the decisions involved in implementation are discussed. A brief summary of the goals and capabilities of this tool is also included.
Buchanan, H.↗
Determination of selenographic coordinates of lunar surface points from single pictures obtained from Zond 6
Pictures of the lunar surface with an image of practically the entire lunar limb were obtained from the Zond 6 spacecraft. During the time of exposure, the entire lunar surface covered by these photographs was illuminated by the sun. Such single pictures were used to find the external orientation elements and selenographic coordinates of the photographed lunar surface points. The selenographic coordinate system was specified by the Goloseyev catalog and was realized by points of this catalog identified on the pictures and termed reference points. Craters located on the invisible side of the moon and also other points of the Goloseyev catalog, which could be used as control points, were taken as the points being determined. The technique used to compute the selenographic coordinates of the points is outlined.
Ziman, Y. L.↗
Atmospheric guidance techniques and performance
The Orbiter entry guidance system controls the Space Shuttle Orbiter from the initial atmospheric penetration point to the point at which an earth relative velocity of 2500 feet/second is reached. At the latter point, control of the Orbiter is transferred to the terminal area energy management system. The entry guidance system is based on the concept that the range to be flown during entry is a unique function of the drag deceleration profile flown throughout the entry. The range prediction during entry is based on analytic equations which are simple drag deceleration functions of earth relative velocity above Mach 10.5 and energy with respect to the earth below Mach 10.5. Flight through the entry corridor is accomplished by linking these simple drag deceleration functions together in series in order to define a drag deceleration reference profile. The results of the first three Space Shuttle missions have not only verified the entry guidance concept but have also demonstrated the stability of the guidance system.
Harpold, J. C.↗
Numerical pole assignment by eigenvalue Jacobian inversion
A numerical procedure for solving the linear pole placement problem is developed which operates by the inversion of an analytically determined eigenvalue Jacobian matrix. Attention is given to convergence characteristics and pathological situations. It is not concluded that the algorithm developed is suitable for computer-aided control system design with particular reference to the scan platform pointing control system for the Galileo spacecraft.
Sevaston, George E.↗
Performance characterization of the Hubble Space Telescope Rate Gyro Assembly
An account is given of the design features and performance characteristics of the Rate Gyro Assembly employed by the Hubble Space Telescope's Pointing Control System to effect accurate spacecraft maneuvers and support fine pointing telescope operation, in conjunction with the fine guidance sensors. The rate sensor attitude quantization is 0.00025 arcsec. Fine-pointing stability is the driver for gyro noise performance, while spacecraft-pointing accuracy requirements at the end of maneuvers has driven the gyro scale factor and mechanical alignment stability performance.
Dougherty, H.↗
Exponentially Stabilizing Robot Control Laws
New class of exponentially stabilizing laws for joint-level control of robotic manipulators introduced. In case of set-point control, approach offers simplicity of proportion/derivative control architecture. In case of tracking control, approach provides several important alternatives to completed-torque method, as far as computational requirements and convergence. New control laws modified in simple fashion to obtain asymptotically stable adaptive control, when robot model and/or payload mass properties unknown.
Wen, John T.↗
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.↗
An inexpensive S-band angle pointing technique for steering a narrow beam Ku-band antenna
A recently tested antenna pointing control system for gimbaled antennas has been developed. A modified TDRSS user transponder produces pointing error signals from the S-band forward link which in turn drive the Steering Control Electronics (SCE) to precision steer a S-/Ku-band Data and S-band Tracking (KDST) planar array. A successful test of the pointing and data handling capabilities is described and plans for further tests, incorporating additional refinements, are presented.
Line, Larry↗
A dual-mode disturbance-accommodating controller for the Hubble Space Telescope
Cyclic thermal expansions and mechanical stiction effects in the Solar Arrays on the Hubble Space Telescope (HST) are triggering repeated occurrences of damped, relaxation-type flex-body vibrations of the solar arrays. Those solar array vibrations are, in turn, causing unwanted, oscillating disturbance torques on the HST main body, which cause unwanted deviations of the telescope from its specified pointing direction. In this paper we propose two strategies one can adopt in designing a telescope-pointing controller to cope with the aforementioned disturbances: (1) a `total isolation' (TI) control strategy whereby the HST controller torques are designed to adaptively counteract and cancel-out the persistent disturbing torques that are causing the unwanted telescope motions, and (2) an `array damping' (AD) control strategy whereby the HST controller torques are used to actively augment the natural dampening of the solar array vibrations and the attendant telescope motions, between triggerings of the stiction-related flex-body relaxation oscillations. Using the principles of Disturbance-Accommodating Control (DAC) Theory a dual-mode controller for a generic, planar-motion (single-axis) model of the HST is proposed. This controller incorporates both the TI and AD modes of disturbance-accommodation. Simulation studies of the closed-loop system using generic parameter values clearly indicate, qualitatively, the enhanced pointing-performance such a controller can achieve.
Addington, Stewart↗
Advantages of multipoint control for vibration testing of complete Ranger flight spacecraft
Vibration tests on Ranger spacecraft with single point control of input vibratory accelerations
INPUT↗
NASA/DOD Control/Structures Interaction Technology, 1986
Control/structures interactions, deployment dynamics and system performance of large flexible spacecraft are discussed. Spacecraft active controls, deployable truss structures, deployable antennas, solar power systems for space stations, pointing control systems for space station gimballed payloads, computer-aided design for large space structures, and passive damping for flexible structures are among the topics covered.
Wright, Robert L.↗
Neocortical malformation as consequence of nonadaptive regulation of neuronogenetic sequence
Variations in the structure of the neocortex induced by single gene mutations may be extreme or subtle. They differ from variations in neocortical structure encountered across and within species in that these "normal" structural variations are adaptive (both structurally and behaviorally), whereas those associated with disorders of development are not. Here we propose that they also differ in principle in that they represent disruptions of molecular mechanisms that are not normally regulatory to variations in the histogenetic sequence. We propose an algorithm for the operation of the neuronogenetic sequence in relation to the overall neocortical histogenetic sequence and highlight the restriction point of the G1 phase of the cell cycle as the master regulatory control point for normal coordinate structural variation across species and importantly within species. From considerations based on the anatomic evidence from neocortical malformation in humans, we illustrate in principle how this overall sequence appears to be disrupted by molecular biological linkages operating principally outside the control mechanisms responsible for the normal structural variation of the neocortex. MRDD Research Reviews 6:22-33, 2000. Copyright 2000 Wiley-Liss, Inc.
Review↗
Computed torque control of a free-flying cooperat ing-arm robot
The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.
Koningstein, Ross↗