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NASA NTRS1992

Definition and preliminary design of the LAWS (Laser Atmospheric Wind Sounder). Volume 1, phase 2: Executive summary

The objective of phase 1 of the LAWS study was to define and perform a preliminary design for the Laser Atmospheric Wind Sounder (LAWS) instrument. The definition phase consisted of identifying realistic concepts for LAWS and analyzing them in sufficient detail to be able to choose the most promising one for the LAWS application. System and subsystem configurations were then developed for the chosen concept. The concept and subsequent configurations were to be compatible with two prospective platforms--the Japanese Polar Orbiting Platform (JPOP) and as an attached payload on the Space Station Freedom. After a thorough and objective concept selection process, we chose a heterodyne detection Doppler lidar using a CO2 laser transmitter operating at 9.1 microns over a 2.1 micron solid state system. The choice of the CO2 approach over solid-state reflects the advanced state of development of CO2 lasers, its maturity in ground-based systems and the eased subsystem requirements associated with the longer wavelength. The CO2 lidar concept was then analyzed in detail to arrive at a configuration for the instrument and its major subsystems. Our approach throughout the configuration design was to take a systems perspective and trade requirements between subsystems, wherever possible, to arrive at configurations which made maximum use of existing, proven technology or relatively straightforward extensions to existing technology to reduce risk and cost. At the conclusion of Phase 1 we arrived at a configuration for LAWS which meets the performance requirements, yet which is less complex than previous designs of space-based wind sensors (e.g. Windsat), employs lightweight technologies to meet its weight goals (less than 800kg) and sufficiently flexible to offer various operational scenarios with power requirements from about 2 kW to 3 kW. The Phase 1 Final Report was released in March 1990. The 21-month Phase 2 began in October 1990. The requirement to accommodate LAWS as an attached payload on Space Station Freedom was deleted and the orbit altitude for the Japanese polar orbiting platform was changed from 824 km to 705 km. The power allocated to LAWS was reduced to 2.2 kW from 3 kW. Subsequently the availability of a Japanese Polar Orbiting Platform was called into question and LAWS accommodation studies were continued using a conceptual, ATLAS-launched platform supplied by MSFC. In March 1991 a modification to the original contracts was funded to provide a LAWS laser breadboard which could demonstrate all the performance requirements of the LAWS laser. Also funded as part of the same contract extension was a lifetest demonstration using an existing laser at STI. The breadboard extension was an eighteen month effort and the period of performance was therefore extended to September 30, 1992.

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NASA NTRS1990

An in-flight investigation of symbology drive law improvements to an operational attack helicopter

A display drive-law design technique developed at Ames Research Center was applied to the design of the pilot-controlled symbol on a display used in an operational helicopter. A comparison of the newly designed laws and of one documented version of the operational laws was then performed using an in-flight simulation of the helicopter on the NASA/Army CH-47B. Flight-test results indicated that the Ames-developed drive laws were superior to this version of the operational drive laws in terms of task performance and pilot workload. Subsequent postflight-test information suggested that the documentation of the operational drive laws may have been incomplete or in error, even though pilot opinion had corroborated the correctness of the documented operational display in flight. Accordingly, based on additional information, another version of the operational display laws was developed and analyzed, although not flight tested. The revised operational version was compared analytically with the two versions tested in flight. This analysis corroborated that the Ames-developed laws would be superior to this revised version of the operational laws also. A conclusion is that close attention should be paid to the future specification, analysis, and documentation of displayed command-element dynamics, since they have an important effect on task performance and pilot workload.

Schroeder, Jeffery A.↗

NASA NTRS1994

Development of a Model Following Control Law for Inflight Simulation and Flight Controls Research

The U.S. Army and NASA are currently developing the Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) at the Ames Research Center. RASCAL, shown in Figure 1, is a UH-60, which is being modified in a phased development program to have a research fly-by-wire flight control system, and an advanced navigation research platform. An important part of the flight controls and handling qualities research on RASCAL will be an FCS design for the aircraft to achieve high bandwidth control responses and disturbance rejection characteristics. Initially, body states will be used as feedbacks, but research into the use of rotor states will also be considered in later stages to maximize agility and maneuverability. In addition to supporting flight controls research, this FCS design will serve as the inflight simulation control law to support basic handling qualities, guidance, and displays research. Research in high bandwidth controls laws is motivated by the desire to improve the handling qualities in aggressive maneuvering and in severely degraded weather conditions. Naturally, these advantages will also improve the quality of the model following, thereby improving the inflight simulation capabilities of the research vehicle. High bandwidth in the control laws provides tighter tracking allowing for higher response bandwidths which can meet handling qualities requirements for aggressive maneuvering. System sensitivity is also reduced preventing variations in the response from the vehicle due to changing flight conditions. In addition, improved gust rejection will result from this reduced sensitivity. The gust rejection coupled with a highly stable system will make more precise maneuvering and pointing possible in severely degraded weather conditions. The difficulty in achieving higher bandwidths from the control laws in the feedback and in the responses arises from the complexity of the models that are needed to produce a satisfactory design. In this case, high quality models that include rotor dynamics in a physically meaningful context must be available. A non-physical accounting of the rotor, such as lumping the effect as a time delay, is not likely to produce the desired results. High order simulation models based on first principals are satisfactory for the initial design phase in order to work out the control law design concept and get an initial set of gains. These models, however, have known deficiencies, which must be resolved in the final control law design. The error in the pitch-roll cross coupling is one notable deficiency that even sophisticated rotorcraft models including complex wake aerodynamics have yet to capture successfully. This error must be accounted for to achieve the desired decoupling. The approach to design the proposed inflight simulation control law is based on using a combination of simulation and identified models. The linear and nonlinear higher order models were used to develop an explicit model following control structure. This structure was developed to accommodate the design of control laws compliant to many of the quantitative requirements in ADS-33C. Furthermore, it also allows for control law research using rotor-state feedback and other design methodologies such as Quantitative Feedback and H-Infinity. Final gain selection will be based on higher order identified models which include rotor degrees of freedom.

Takahashi, Mark↗

NASA NTRS2005

Hubble Space Telescope Fine Guidance Sensor and Two-Gyro Control Law Design, Implementation, and On-Orbit Performance

For fifteen years, the science mission of the Hubble Space Telescope (HST) required using at least three rate gyros for n Controlling with alternate sensors to replace failing gyros can extend the HST science mission. A two-gyro control law has been designed and implemented using magnetometers, star trackers, and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro axis. The three aforementioned sensors are used in succession to reduce HST boresight jitter to less than 7 milli-arcseconds rms prior to science imaging. The Magnetometer and 2-Gyro (M2G) control law is used for large angle maneuvers and attitude control during earth. occultation of star trackers and FGSs. The Tracker and 2-Gyro (T2G) control law dampens M2G rates and controls attitude in preparation for guide star acquisition with the FGSs. The Fine Guidance Sensor and 2-Gyro (F2G) control law dampens T2G rates and controls HST attitude during science imaging. This paper describes the F2G control law. Details of F2G algorithms are presented, including computation of the FGS-measured star vector using non-linear equations, optimal estimation of HST body rate, design of the F2G control laws and gyro bias observer, SISO and MIMO linear stability analyses, and design of the F2G intramode transition and guide star acquisition logic. Results from an FGS flight spare ground test are presented that define acceptable HST jitter levels for successful guide star acquisition under two-gyro control. HST-specific disturbance and noise models are described that are based upon flight telemetry; these models are used in HSTSIM, a high-fidelity non-linear time domain simulation, to predict HST on-orbit disturbance responses and FGS interferometer Loss of Lock (LOL) characteristics under F2G control. Additional HSTSIM results are presented predicting HST quiescent boresight jitter performance, science maneuver performance, and observer configuration performance during F2G operation. Simulation results are compared to on-orbit data b m F2G flight tests performed in February 2005. Science images and point spread functions from the Advanced Camera for Surveys (ACS) High Resolution Camera (HRC) are presented that compare HST science performance under F2G versus three-gyro control. Images and flight telemetry show that HST boresight jitter with the new F2G control law is usually less than jitter using the three-gyro law, and HST boresight jitter during F2G operation is dependent upon guide star magnitude.

Clapp, Brian R.↗

NASA NTRS1980

Development and flight evaluation of automatic flare laws with improved touchdown dispersion

The paper describes the development and flight testing of automatic landing flare laws with improved longitudinal touchdown dispersion. The major sources of touchdown dispersion in current control laws and design objectives of this equipment are discussed. A ground-speed adaptive sink-rate control law and a specified flare trajectory control law were selected for development; the performance of resulting flare laws was evaluated by simulations and flight testing on the NASA TCV B-737 aircraft. These flare laws showed substantial improvement in longitudinal touchdown dispersion, when compared to a more conventional flare law used previously.

Lambregts, A. A.↗

NASA NTRS1983

Second-law efficiency of solar-thermal cavity receivers

Properly quantified performance of a solar-thermal cavity receiver must not only account for the energy gains and losses as dictated by the First Law of thermodynamics, but it must also account for the quality of that energy. However, energy quality can only be determined from the Second Law. An equation for the Second Law efficiency of a cavity receiver is derived from the definition of available energy, which is a thermodynamic property that measures the maximum amount of work obtainable when a system is allowed to come into unrestrained equilibrium with the surrounding environment. The fundamental concepts of the entropy and availability of radiation were explored from which a workable relationship among the reflected cone half-angle, the insolation, and the concentrator geometric characteristics was developed as part of the derivation of the Second Law efficiency. First and Second Law efficiencies were compared for data collected from two receivers that were designed for different purposes. A Second Law approach to quantifying the performance of a solar-thermal cavity receiver lends greater insight into the total performance than does the conventional First Law method.

Moynihan, P. I.↗

NASA NTRS1984

A Control Model: Interpretation of Fitts' Law

The analytical results for several models are given: a first order model where it is assumed that the hand velocity can be directly controlled, and a second order model where it is assumed that the hand acceleration can be directly controlled. Two different types of control-laws are investigated. One is linear function of the hand error and error rate; the other is the time-optimal control law. Results show that the first and second order models with the linear control-law produce a movement time (MT) function with the exact form of the Fitts' Law. The control-law interpretation implies that the effect of target width on MT must be a result of the vertical motion which elevates the hand from the starting point and drops it on the target at the target edge. The time optimal control law did not produce a movement-time formula simular to Fitt's Law.

Connelly, E. M.↗

NASA NTRS1985

Predictor laws for pictorial flight displays

Two predictor laws are formulated and analyzed: (1) a circular path law based on constant accelerations perpendicular to the path and (2) a predictor law based on state transition matrix computations. It is shown that for both methods the predictor provides the essential lead zeros for the path-following task. However, in contrast to the circular path law, the state transition matrix law furnishes the system with additional zeros that entirely cancel out the higher-frequency poles of the vehicle dynamics. On the other hand, the circular path law yields a zero steady-state error in following a curved trajectory with a constant radius. A combined predictor law is suggested that utilizes the advantages of both methods. A simple analysis shows that the optimal prediction time mainly depends on the level of precision required in the path-following task, and guidelines for determining the optimal prediction time are given.

Grunwald, A. J.↗

NASA NTRS1986

Example of Second-Law efficiency of solar-thermal cavity receivers

Properly quantified performance of a solar-thermal cavity receiver must not only account for the energy gains and losses as dictated by the First Law of thermodynamics, but it must also account for the quality of the energy. Energy quality can only be determined from the Second Law. In this paper, an equation developed for the Second-Law efficiency of a cavity receiver is presented as an evolution from the definition of available energy or availability (occasionally called exergy). The variables required are all either known or readily determined. The importance of considering the Second-Law is emphasized by a comparison of the First- and Second-Law efficiencies around an example of data collected from two receivers that were designed for different purposes, where the attempt was made to demonstrate that a Second-Law approach to quantifying the performance of a solar-thermal cavity receiver lends more complete insight than does the conventional solely applied First-Law approach.

Moynihan, P. I.↗

NASA NTRS1987

Digital robust active control law synthesis for large order systems using constrained optimization

This paper presents a direct digital control law synthesis procedure for a large order, sampled data, linear feedback system using constrained optimization techniques to meet multiple design requirements. A linear quadratic Gaussian type cost function is minimized while satisfying a set of constraints on the design loads and responses. General expressions for gradients of the cost function and constraints, with respect to the digital control law design variables are derived analytically and computed by solving a set of discrete Liapunov equations. The designer can choose the structure of the control law and the design variables, hence a stable classical control law as well as an estimator-based full or reduced order control law can be used as an initial starting point. Selected design responses can be treated as constraints instead of lumping them into the cost function. This feature can be used to modify a control law, to meet individual root mean square response limitations as well as minimum single value restrictions. Low order, robust digital control laws were synthesized for gust load alleviation of a flexible remotely piloted drone aircraft.

Mukhopadhyay, Vivek↗

NASA NTRS1989

Integrated structure/control law design by multilevel optimization

A new approach to integrated structure/control law design based on multilevel optimization is presented. This new approach is applicable to aircraft and spacecraft and allows for the independent design of the structure and control law. Integration of the designs is achieved through use of an upper level coordination problem formulation within the multilevel optimization framework. The method requires the use of structure and control law design sensitivity information. A general multilevel structure/control law design problem formulation is given, and the use of Linear Quadratic Gaussian (LQG) control law design and design sensitivity methods within the formulation is illustrated. Results of three simple integrated structure/control law design examples are presented. These results show the capability of structure and control law design tradeoffs to improve controlled system performance within the multilevel approach.

Gilbert, Michael G.↗

NASA NTRS1988

Active control law synthesis for flexible aircraft

An application of an active control law synthesis procedure is presented, to meet multiple design requirements for a flexible aircraft modeled by a large order state space system. In this synthesis procedure, a linear quadratic Gaussian type cost function is minimized by updating the free parameters of the control law, while satisfying a set of constraints on the design loads, responses and stability margins. Analytical expressions for gradients of the cost function and the constraints, with respect to the control law design variables are used to facilitate rapid numerical convergence. These gradients can also be used for sensitivity study. A stable classical control law as well as an estimator-based full or reduced order control law can be modified, in order to meet individual root-mean-square response limitations as well as minimum singular value restrictions. Both analog and digital control laws can be optimized. Low order, robust control laws were synthesized for flutter suppression of a flexible aircraft.

Mukhopadhyay, V.↗

NASA NTRS1989

Integrated structure/control law design by multilevel optimization

Gilbert, Michael G.↗

NASA NTRS1990

Definition and Preliminary Design of the Laser Atmospheric Wind Sounder (LAWS) Phase 1. Volume 1: Executive Summary

The laser atmospheric wind sounder (LAWS) is a facility instrument of the Earth Observing System (EOS) and is the culmination of over 20 years of effort in the field of laser Doppler wind sensing. LAWS will by the first instrument to fly in space with the capability of providing global-scale tropospheric wind profiles at high spatial resolutions. Global-scale wind profiles are necessary for: (1) more accurate diagnostics of large-scale circulation and climate dynamics; (2) improved numerical weather prediction; (3) improved understanding of mesoscale systems; (4) improved understanding of global biogeochemical and hydrologic cycles. The objective of phase 1 of the LAWS study was to evaluate competing concepts and develop a baseline configuration for the LAWS instrument. The first phase of the study consisted of identifying realistic concepts for LAWS and analyzing them in sufficient detail to be able to choose the most promising one for the LAWS application. System configurations were then developed for the chosen concept. The concept and subsequent configuration were to be compatible with two prospective platforms: the Japanese polar orbiting platform (JPOP) and the Space Station Freedom (as an attached payload). After an objective and comprehensive concept selection process, a heterodyne detection Doppler lidar using a CO2 laser transmitter operating at 9.1 microns over a 2.1 micron system with a solid state laser was chosen. The CO2 lidar concept was then analyzed in detail to arrive at a configuration for the instrument and its major subsystems. A configuration for LAWS was arrived at which meets the performance requirements, and this design is presented.

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NASA NTRS1990

Laser Atmospheric Wind Sounder (LAWS) phase 1. Volume 2

This report summarizes and documents the results of the 12-month phase 1 work effort. The objective of phase 1 was to establish the conceptional definition of the laser atmospheric wind sounder (LAWS) sensor system, including accommodations analyses to ensure compatibility with the Space Station Freedom (SSF) and the Earth Observing System (EOS) Polar Orbiting Platform (POP). Various concepts were investigated with trade studies performed to select the configuration to be carried forward to the phase 2 Preliminary Design Definition. A summary of the LAWS system and subsystem trade studies that were performed leading to the baseline design configuration is presented in the appendix. The overall objective of the LAWS Project is to define, design, and implement an operational space based facility, LAWS, for accurate measurement of Earth wind profiles. Phase 1 addressed three major areas: (1) requirements definition; (2) instrument concepts and configurations; and (3) performance analysis. For the LAWS instrument concepts and configurations, the issues which press the technological state of the art are reliable detector lifetime and laser performance and lifetime. Lag angle compensation, pointing accuracy, satellite navigation, and telescope design are significant technical issues, but they are considered to be currently state of the art. The primary issues for performance analysis concern interaction with the atmosphere in terms of backscatter and attenuation, wind variance, and cloud blockage. The phase 1 tasks were formulated to address these significant technical issues and demonstrate the technical feasibility of the LAWS concept. Primary emphasis was placed on analysis/trade and identification of candidate concepts. Promising configurations were evaluated for performance, sensitivities, risks, and budgetary costs. Lockheed's baseline LAWS configuration is presented.

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NASA NTRS1991

Simulation evaluation of a speed-guidance law for Harrier approach transitions

An exponential-deceleration speed guidance law is formulated which mimics the technique currently used by Harrier pilots to perform decelerating approaches to a hover. This guidance law was tested along with an existing two-step constant deceleration speed guidance law, using a fixed-base piloted simulator programmed to represent a YAV-8B Harrier. Decelerating approaches to a hover at a predetermined station-keeping point were performed along a straight (-3 deg glideslope) path in headwinds up to 40 knots and turbulence up to 6 ft./sec. Visibility was fixed at one-quarter nautical mile and 100 ft. cloud ceiling. Three Harrier pilots participated in the experiment. Handling qualities with the aircraft equipped with the standard YAV-8B rate damped attitude stability augmentation system were adequate (level 2) using either speed guidance law. However, the exponential deceleration speed guidance law was rated superior to the constant-deceleration speed guidance law by a Cooper-Harper handling qualities rating of about one unit independent of the level of wind and turbulence. Replacing the attitude control system of the YAV-8B with a high fidelity model following attitude flight controller increased the approach accuracy and reduced the pilot workload. With one minor exception, the handling qualities for the approach were rated satisfactory (level 1). It is concluded that the exponential deceleration speed guidance law is the most cost effective.

Merrick, Vernon K.↗

NASA NTRS1992

Feedback control laws for highly maneuverable aircraft

The results of a study of the application of H infinity and mu synthesis techniques to the design of feedback control laws for the longitudinal dynamics of the High Angle of Attack Research Vehicle (HARV) are presented. The objective of this study is to develop methods for the design of feedback control laws which cause the closed loop longitudinal dynamics of the HARV to meet handling quality specifications over the entire flight envelope. Control law designs are based on models of the HARV linearized at various flight conditions. The control laws are evaluated by both linear and nonlinear simulations of typical maneuvers. The fixed gain control laws resulting from both the H infinity and mu synthesis techniques result in excellent performance even when the aircraft performs maneuvers in which the system states vary significantly from their equilibrium design values. Both the H infinity and mu synthesis control laws result in performance which compares favorably with an existing baseline longitudinal control law.

Garrard, William L.↗

NASA NTRS1994

Is a data set distributed as a power law? A test, with application to gamma-ray burst brightnesses

We present a method to determine whether an observed sample of data is drawn from a parent distribution that is pure power law. The method starts from a class of statistics which have zero expectation value under the null hypothesis, H(sub 0), that the distribution is a pure power law: F(x) varies as x(exp -alpha). We study one simple member of the class, named the `bending statistic' B, in detail. It is most effective for detection a type of deviation from a power law where the power-law slope varies slowly and monotonically as a function of x. Our estimator of B has a distribution under H(sub 0) that depends only on the size of the sample, not on the parameters of the parent population, and is approximated well by a normal distribution even for modest sample sizes. The bending statistic can therefore be used to test a set of numbers is drawn from any power-law parent population. Since many measurable quantities in astrophysics have distriibutions that are approximately power laws, and since deviations from the ideal power law often provide interesting information about the object of study (e.g., a `bend' or `break' in a luminosity function, a line in an X- or gamma-ray spectrum), we believe that a test of this type will be useful in many different contexts. In the present paper, we apply our test to various subsamples of gamma-ray burst brightness from the first-year Burst and Transient Source Experiment (BATSE) catalog and show that we can only marginally detect the expected steepening of the log (N (greater than C(sub max))) - log (C(sub max)) distribution.

Wijers, Ralph A. M. J.↗