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Subminiature, single-vane rotary actuator for wind-tunnel test-model control-surface actuation systems presents severe torque and system band-pass requirements with stringent space and weight limitations. Actuator has very low leakage of fluid from one side to other, permitting use in precision position servo-systems.
The feasibility of delivering substantial quantities of optical power to a satellite in low earth orbit from a ground based high energy laser (HEL) coupled to an adaptive antenna was investigated. Diffraction effects, atmospheric transmission efficiency, adaptive compensation for atmospheric turbulence effects, including the servo bandwidth requirements for this correction, and the adaptive compensation for thermal blooming were examined. To evaluate possible HEL sources, atmospheric investigations were performed for the CO2, (C-12)(O-18)2 isotope, CO and DF wavelengths using output antenna locations of both sea level and mountain top. Results indicate that both excellent atmospheric and adaption efficiency can be obtained for mountain top operation with a micron isotope laser operating at 9.1 um, or a CO laser operating single line (P10) at about 5.0 (C-12)(O-18)2um, which was a close second in the evaluation. Four adaptive power transmitter system concepts were generated and evaluated, based on overall system efficiency, reliability, size and weight, advanced technology requirements and potential cost. A multiple source phased array was selected for detailed conceptual design. The system uses a unique adaption technique of phase locking independent laser oscillators which allows it to be both relatively inexpensive and most reliable with a predicted overall power transfer efficiency of 53%.
A system for tracking moving signal sources is disclosed which is particularly adaptable for use in tracking stage performers. A miniature transmitter is attached to the person or object to be tracked and emits a detectable signal of a predetermined frequency. A plurality of detectors positioned in a preset pattern sense the signal and supply output information to a phase detector which applies signals representing the angular orientation of the transmitter to a computer. The computer provides command signals to a servo network which drives a device such as a motor driven mirror reflecting the beam of a spotlight, to track the moving transmitter.
An interferometer is described, having several means for automatically adjusting the angular tilt of a reflecting surface in one of two paths to maintain the exit beams from the two paths parallel to each other. Three detectors at the output of the interferometer were disposed on mutually perpendicular axes which define a plane normal to the nominal exit beam axis. One detector at the origin of the axes was used as a reference for separate phase difference comparison with the outputs of the other two detectors on the X and Y axes to develop servo error signals.
Optimal regulator technique was compared for determining simulator control system gains with the conventional servo analysis approach. Practical considerations, associated with airborne motion simulation using a model-following system, provided the basis for comparison. The simulation fidelity specifications selected were important in evaluating the relative advantages of the two methods. Frequency responses for a JetStar aircraft following a roll mode model were calculated digitally to illustrate the various cases. A technique for generating forward loop lead in the optimal regulator model-following problem was developed which increases the flexibility of that approach. It appeared to be the only way in which the optimal regulator method could meet the fidelity specifications.
An automated antenna pointing subsystem (APS) is being installed at DSS 13 as part of the unattended station project. The function of the APS is to track an instructed position with the 26 meter antenna and to monitor the antenna servo system and meteorological conditions to ensure a proper operational environment. This article discusses the now-completed first phase of the digital hardware portion of the APS development.
A regeneratively cooled LOX/hydrogen staged combustion assembly system with a 400:1 expansion area ratio nozzle utilizing an 89,000 Newton (20,000 pound) thrust regeneratively cooled thrust chamber and 175:1 tubular nozzle was analyzed, assembled, and tested. The components for this assembly include two spark/torch oxygen-hydrogen igniters, two servo-controlled LOX valves, a preburner injector, a preburner combustor, a main propellant injector, a regeneratively cooled combustion chamber, a regeneratively cooled tubular nozzle with an expansion area ratio of 175:1, an uncooled heavy-wall steel nozzle with an expansion area ratio of 400:1, and interconnecting ducting. The analytical effort was performed to optimize the thermal and structural characteristics of each of the new components and the ducting, and to reverify the capabilities of the previously fabricated components. The testing effort provided a demonstration of the preburner/combustor chamber operation, chamber combustion efficiency and stability, and chamber and nozzle heat transfer.
Kalman filters designed for many aerospace systems turn out to be unsatisfactory. The estimate errors become large compared to the errors predicted by the theory ('divergence'). One of the principal causes of this failure is that the system model contains states or modes that are undisturbed by the modeled process noise, and are neutrally stable (NS). One cure for such problems is periodic restarting of a time-varying Kalman filter. Other cures include minimum variance observers with eigenvalue constraints, added noise, pole-shifting, and destabilization. Several examples are given, including effective time-invariant estimators for the longitudinal and lateral motions of an airplane where several NS modes are undisturbed by wind gusts. An interpretation of these estimators as a 'strapdown IMU' without accelerometers, gimbaled gyros, or servos is given.
The Mars atmospheric water detector (MAWD) instrument required a temperature of -70 C at the detector. The monochromator housing required +20 C + or - 1 C. This instrument was located on the scan platform, and slewed across two solar panels. The thermal design for the detector was an open flat plate radiator thermally isolated on four 1-in. tubes, with a flexible strap to the detector. MAWD radiator view factors and heat loads from the spacecraft were determined for the Lander on and off, for all angular positions of the scan platform. Subsystem and system tests were performed using the 25-ft diameter solar simulator. In-flight results have shown no anomalies, and no degradation has been observed. Servo-controlled heaters are used to control the temperature.
A laser ranging system for use with the Space Shuttle, and applied to a precise determination of the distance between points arrayed on different tectonic plates, i.e., along the San Andreas fault, spaced at distances of 25, 50, and 100 km, is discussed with attention to the orbiting pointing system. The mount carrying the system contains a single elliptical mirror which directs ten laser firings per second (15-18 firings to each target), and receives the light reflected from the target. The mirror and all moving structural parts are constructed of Be. The axes are equipped with 19-bit shaft angle encoders and brushless torque motors. Care is taken to avoid structural resonances, and to ensure a minimum of servo settling time. A Kalman filter is used with the microprocessor system to interpolate low data rate commands to the higher data rates required by the pointing system.
The correlation between variations in the components of the ionospheric F2-layer parallel and perpendicular to the geomagnetic field is theoretically examined. The servo model of Rishbath (1967) is used as a basis for further calculations. The equations involved are presented in full and results are given for various assumed conditions. The response of the model to both steplike and periodic perturbations of the perpendicular component is considered along with the effects of winds and the Coriolis force. Arecibo and Malvern data are reviewed on the basis of theoretically predicted behavior.
A description is presented of six simulation cases investigating the effect of the variation of static-dynamic Coulomb friction on servo system stability/performance. The upper and lower levels of dynamic Coulomb friction which allowed operation within requirements were determined roughly to be three times and 50% respectively of nominal values considered in a table. A useful application for the nonlinear time response simulation is the sensitivity analysis of final hardware design with respect to such system parameters as cannot be varied realistically or easily in the actual hardware. Parameters of the static/dynamic Coulomb friction fall in this category.
Servo-operated valve and two flowmeters allow accurate control over 1,900:1 flow-rate range. It was developed as part of laboratory instrument for measuring properties of confined fluids under conditions analogous to those encountered in deep drilling operations.
A servo controlled target replica, and a surface bearing a computer generated line drawing of an object are individually viewed by separate television cameras allowing a two-dimensional composite of the target replica and the object to be displayed on a monitor simulating what an observer would see through a window in a spacecraft. The target replica is coded along one self coordinate axis in such a way that the distance of an elemental area on the target along the axis is capable of being remotely readout by a television camera. A third television camera responsive to the code reads out this information by which the Z-coordinate, relative to the observer, can be calculated, on-line with the scan, for the contents of each picture element of the scene televised by the target camera.
The results are described from two manipulators on a peg-in-hole task, which is part of a continued effort to develop models for human performance with remote manipulators. Task difficulty is varied by changing the diameter of the peg to be inserted in a 50 mm diameter hole. An automatic measuring system records the distance between the tool being held by the manipulator and the receptacle into which it is to be inserted. The data from repeated insertions are processed by computer to determine task times, accumulated distances, and trajectories. Experiments with both the MA-11 cable-connected master-slave manipulator common to hot cell work and the MA-23 servo-controlled manipulator (with and without force feedback) are described. Comparison of these results with previous results of the Ames Manipulator shows that force feedback provides a consistent advantage.
A one-g servicing demonstration system which can be used to investigate and develop, in a real time hands-on situation, a wide variety of the mechanism and control system aspects of orbital servicing in the form of module exchange is described including the engineering test unit and the servicer servo drive console. A series of recommendations for future work is given concerning the control problem and more efficient module exchanges, mechanical elements, and electronics.
The Annular Suspension and Pointing System (ASPS) is a payload auxiliary pointing device of the Space Shuttle. The ASPS is comprised of two major subassemblies, a vernier and a coarse pointing subsystem. The experiment is attached to a mounting plate/rim combination which is suspended on magnetic bearing/actuators (MBA) strategically located about the rim. Fine pointing is achieved by gimballing the plate/rim within the MBA gaps. Control about the experiment line-of-sight is obtained through the use of a non-contacting rim drive and positioning torquer. All sensors used to close the servo loops on the vernier system are noncontacting elements. Therefore, the experiment is a free-flyer constrained only by the magnetic forces generated by the control loops.
Magnetic bearings used for the suspension of momentum wheels provide conclusive advantages: the low friction torques and the absence of abrasion allow the realization of lightweight high speed wheels with high angular momentum and energy storage capacity and virtually unlimited lifetime. The use of actively controlled bearings provides a magnetic gimballing capability by applying the external signals to the two servo loops controlling the rotational degrees of freedom. Thus, an attitude control system can be realized by using only one rotating mass for 3-axis active satellite stabilization.