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At least 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Flexible manipulator control experiments and analysis

Modeling and control design for flexible manipulators, both from an experimental and analytical viewpoint, are described. From the application perspective, an ongoing effort within the laboratory environment at the Ohio State University, where experimentation on a single link flexible arm is underway is described. Several unique features of this study are described here. First, the manipulator arm is slewed by a direct drive dc motor and has a rigid counterbalance appendage. Current experimentation is from two viewpoints: (1) rigid body slewing and vibration control via actuation with the hub motor, and (2) vibration suppression through the use of structure-mounted proof-mass actuation at the tip. Such an application to manipulator control is of interest particularly in design of space-based telerobotic control systems, but has received little attention to date. From an analytical viewpoint, parameter estimation techniques within the closed-loop for self-tuning adaptive control approaches are discussed. Also introduced is a control approach based on output feedback and frequency weighting to counteract effects of spillover in reduced-order model design. A model of the flexible manipulator based on experimental measurements is evaluated for such estimation and control approaches.

Yurkovich, S.↗
NASA NTRS1986

Effects of model error on control of large flexible space antenna with comparisons of decoupled and linear quadratic regulator control procedures

An analysis was performed to determine the effects of model error on the control of a large flexible space antenna. Control was achieved by employing two three-axis control-moment gyros (CMG's) located on the antenna column. State variables were estimated by including an observer in the control loop that used attitude and attitude-rate sensors on the column. Errors were assumed to exist in the individual model parameters: modal frequency, modal damping, mode slope (control-influence coefficients), and moment of inertia. Their effects on control-system performance were analyzed either for (1) nulling initial disturbances in the rigid-body modes, or (2) nulling initial disturbances in the first three flexible modes. The study includes the effects on stability, time to null, and control requirements (defined as maximum torque and total momentum), as well as on the accuracy of obtaining initial estimates of the disturbances. The effects on the transients of the undisturbed modes are also included. The results, which are compared for decoupled and linear quadratic regulator (LQR) control procedures, are shown in tabular form, parametric plots, and as sample time histories of modal-amplitude and control responses. Results of the analysis showed that the effects of model errors on the control-system performance were generally comparable for both control procedures. The effect of mode-slope error was the most serious of all model errors.

Hamer, H. A.↗
NASA NTRS1991

Dynamics of aerospace vehicles

The focus of this research was to address the modeling, including model reduction, of flexible aerospace vehicles, with special emphasis on models used in dynamic analysis and/or guidance and control system design. In the modeling, it is critical that the key aspects of the system being modeled be captured in the model. In this work, therefore, aspects of the vehicle dynamics critical to control design were important. In this regard, fundamental contributions were made in the areas of stability robustness analysis techniques, model reduction techniques, and literal approximations for key dynamic characteristics of flexible vehicles. All these areas are related. In the development of a model, approximations are always involved, so control systems designed using these models must be robust against uncertainties in these models.

Schmidt, David K.↗
NASA NTRS2024

Simulation of the Charged Particle Deflection From the Sweeping Magnet Array in the Lunar Environment Heliospheric X-Ray Imager

The Lunar Environment heliospheric X-ray Imager (LEXI) is an instrument built to image x-rays from solar wind charge exchange in Earth’s magneto sheath. Monitoring the position of the magnetopause at the inner boundary of the magneto sheath allows us to understand how magnetic reconnection regulates how energy from the solar wind is deposited into Earth’s magnetosphere. LEXI is part of an upcoming lunar lander mission set to land in Mare Crisium. To repel unwanted charged particles, the instrument carries a permanent magnet array composed of 48 neodymium magnets. The array was designed to maximize charged particle deflection while minimizing stray magnetic fields, which could impact other instruments or spacecraft operation. A Runge–Kutta-based fully kinetic particle tracing model was created to evaluate the effectiveness of LEXI’s unique charged particle deflector array. Combined with the other particle suppression measures of the instrument, including physical structures and filters, the simulations show proton and electron transmission to the LEXI detector is expected to be sufficiently reduced to allow successful imaging. The flexible simulation model can be generalized to be used in examining the magnetic deflector array effectiveness of other instruments whose signals could be compromised by unwanted charged particle contamination.

Space environment effects↗
NASA NTRS1987

On incorporating damping and gravity effects in models of structural dynamics of the SCOLE configuration

The damping for structural dynamic models of flexible spacecraft is usually ignored and then added after modal frequencies and mode shapes are calculated. It is common practice to assume the same damping ratio for all modes, although it is known that damping due to bending and that due to torsion are sometimes ignored. Two methods of including damping in the modeling process from its onset are examined. First, the partial derivative equations of motion are analyzed for a pinned-pinned beam with damping. The end conditions are altered to handle bodies with mass and inertia for the Spacecraft Control Laboratory Experiment (SCOLE) configuration. Second, a massless beam approximation is used for the modes with low frequencies, and a clamped-clamped system is used to approximate the modes for arbitrarily high frequency. The model is then modified to include gravity effects and is compared with experimental results.

Taylor, Larry↗
NASA NTRS2020

Simulation and Modeling of Flow Generated by Gust Generator in a Wind Tunnel

A computational study of a gust field generated by a gust generator in a low-speed wind tunnel. The gust generator is designed for the University of Washington Aeronautical Laboratory (UWAL) Kirsten wind tunnel for a gust load alleviation (GLA) control experiment of a Common Research Model (CRM) flexible wing utilizing the Variable Camber Continuous Trailing Edge Flap (VCCTEF). The gust generator comprises four horizontal NACA 0015 gust generator vanes placed upstream of the test section. Computational fluid dynamics simulations using a two-dimensional (2D) Unsteady-Reynolds-Averaged-Navier-Stokes (URANS) with k-ω Shear Stress Transport (SST) turbulence model provide detailed time-resolved information about the generated flow by the gust generator under prescribed sinusoidal motion. The characteristics of the induced flow by the gust generator are analyzed. A gust propagation model of the gust field is investigated. An unsteady lift model is developed using a varying-fidelity approach which includes a 2D interference aerodynamic model of the combined gust generator-wing system. The computed integrated unsteady lift is compared to experimental data for validation of the unsteady lift model. Both the amplitude and transport delay are found to be accurately captured by the unsteady lift model.

Nhan, Nguyen↗
NASA NTRS1984

Dynamics and control of flexible orbiting systems

Mathematical modeling and design analysis is carried out for large flexible spacecraft and antenna systems. Modeling topics include inertially fixed attitude stabilization, solar radiation pressure effects, control systems for space mast structures, and optimal control of a hoop/column space antenna system. Each subject includes a brief overview of the pertinent literature and details of the proposed solutions for the specific modeling tasks.

Bainum, P. M.↗
NASA NTRS2002

A methodology for modeling the mechanical interaction between a reaction wheel and a flexible structure

This paper presents a modeling methodology used to predict the performance of a flexible structure, such as a space telescope, in the presence of an on-board vibrational disturbance source, such as a reaction wheel assembly (RWA). Both decoupled and coupled analysis methods are presented. The decoupled method relies on blocked RWA disturbances, measured with the RWA hardmounted to a rigid surface. The coupled method corrects the blocked RWA disturbance boundary conditions using "force filters," which depend on estimates of the interface accelerances of the RWA and space-craft. Both methods were validated on the Micro-Precision Interferometer testbed at the Jet Propulsion Laboratory. Experimental results are encouraging, indicating that both methods provide sufficient accuracy compared to measured values; however, the coupled method provides the best results when the gyroscopic nature of the spinning RWA is captured in the RWA accelerance model. Additionally, the RWA disturbance cross spectral density terms are found to be influential.

vibration↗
NASA NTRS1988

Aircraft interior noise reduction by alternate resonance tuning

Model problem development and analysis continues with the Alternate Resonance Tuning (ART) concept. The various topics described are presently at different stages of completion: investigation of the effectiveness of the ART concept under an external propagating pressure field associated with propeller passage by the fuselage; analysis of ART performance with a double panel wall mounted in a flexible frame model; development of a data fitting scheme using a branch analysis with a Newton-Raphson scheme in multiple dimensions to determine values of critical parameters in the actual experimental apparatus; and investigation of the ART effect with real panels as opposed to the spring-mass-damper systems currently used in much of the theory.

Bliss, Donald B.↗
NASA NTRS2024

2024 Software for NASA Science Mission Directorate Workshop Report

The 2024 Software for the NASA Science Mission Directorate Workshop was the first workshop of its kind in over 10 years. The numerous attendees and high level of interaction in this hybrid workshop portrayed the untapped interest and energy in the NASA SMD community about software. Over 100 takeaways were collected from the hosted discussions in four key areas - Communication, Communities, Funding and Clarity - as summarized in this report. One takeaway was representative of all four categories: “Software is not hardware; it is organic and needs a different model. You often don't know which components will be Open-Source reusable until later in the development cycle.” For the communication category, this takeaway motivates the reduction of silos by shifting towards a model that better supports community collaboration on common challenges and a more streamlined and improved software release process. For the communities category, the same statement points to forming communities of practice with varying scopes and a new approach to recognition and incentives for open-source software contributions. Concerning funding, this statement motivates a more sustained and flexible funding model that better supports the software foundation needed for NASA’s long-term success, including the collaboration and infrastructure a good foundation requires. The new approach to clarity motivated by this statement calls for significant changes to the software release process and related policies to streamline compliance, align those policies with the open-source science culture NASA is promoting and with each other, and simplify use of the cloud. It is time to recognize software as a foundational component of NASA with an organic nature not properly supported by current approaches. Different models are needed in all four areas to shift the NASA SMD software community and governance structures into a more efficient, open, and collaborative ecosystem - one that enables ground-breaking science and daring exploration into the coming decades

science↗
NASA NTRS1978

The dynamics and control of large flexible space structures. Part A: Discrete model and modal control

Attitude control techniques for the pointing and stabilization of very large, inherently flexible spacecraft systems were investigated. The attitude dynamics and control of a long, homogeneous flexible beam whose center of mass is assumed to follow a circular orbit was analyzed. First order effects of gravity gradient were included. A mathematical model which describes the system rotations and deflections within the orbital plane was developed by treating the beam as a number of discretized mass particles connected by massless, elastic structural elements. The uncontrolled dynamics of the system are simulated and, in addition, the effects of the control devices were considered. The concept of distributed modal control, which provides a means for controlling a system mode independently of all other modes, was examined. The effect of varying the number of modes in the model as well as the number and location of the control devices were also considered.

Bainum, P. M.↗
NASA NTRS1992

Dynamic modeling and control of multibody mechanical systems which are structurally flexible

This paper concerns the dynamic modeling and control of multibody, open-chained, structurally flexible, mechanical systems where the bodies are connected by revolute joints. The equations of motion are formulated based on a matrix form of Lagrange's equations for inertial quasi-coordinates. Each body is treated as a substructure of the system. For the purposes of simulation and control, the equations of motion are separated into two sets of equations using a perturbation approach: one to describe large rigid-body motions of the articulated system and the other to describe small linear motions of the bodies about the large motions. A biologically natural control strategy is used for vibration suppression and tracking the prescribed motion.

Quinn, R. D.↗
NASA NTRS1975

Prediction of payload vibration environments by mechanical admittance test techniques

A series of experiments was conducted with simple beam and mass launch vehicle and payload models in order to determine the validity of mechanical admittance/impedance techniques applied to development of improved payload vibration tests. Admittances and impedances were measured from tests of the individual components to form matrices which were combined analytically to allow prediction of responses for the complete system. Results were computed for a transmission matrix approach and an admittance matrix approach. Both a rigid body and a flexible payload model were considered. The results clearly demonstrate that the transmission matrix method is too sensitive to measurement error to be practical for this application, while the pure admittance matrix method produces quite satisfactory results. The effects of various errors on the final results are demonstrated.

Kana, D. D.↗
NASA NTRS1984

Exhibit D modular design attitude control system study

A dynamically equivalent four body approximation of the NASTRAN finite element model supplied for hybrid deployable truss to support the digital computer simulation of the ten body model of the flexible space platform that incorporates the four body truss model were investigated. Coefficients for sensitivity of state variables of the linearized model of the three axes rotational dynamics of the prototype flexible spacecraft were generated with respect to the model's parameters. Software changes required to accommodate addition of another rigid body to the five body model of the rotational dynamics of the prototype flexible spacecraft were evaluated.

Chichester, F.↗
NASA NTRS1986

Space Infrared Telescope Facility/Multimission Modular Spacecraft Attitude Control System conceptual design

A control system utilizing the Multi-mission Modular Spacecraft (MMS) Attitude Control System (ACS) was developed and analyzed for the Space Infrared Telescope Facility (SIRTF) spacecraft. Alternative torquer augmentation schemes were studied to determine viable ACS approaches. A control law was developed to use a dual set of single-axis Control Moment Gyros (CMGs) for two-axis control. Flexible structural models were developed using a high fidelity, flight tested NASTRAN model of the MMS, coupled with a NASTRAN model of the SIRTF telescope. Modal significance criteria were employed to reduce the structural model. Multivariable interactive techniques were used to synthesize the control system (including the structural filters). Control system performance for the SIRTF operational modes (quiescent inertial hold, slewing, nodding, and rastering) was then determined using both single-axis and three-axis simulations). The control system described met performance requirements for all modes but the raster with the use of CMGs. The raster performance was limited by the structural flexibility.

Class, Brian F.↗
NASA NTRS2024

A Systematic Methodology for Modeling and Attitude Control of Multi-body Space Telescopes

This paper derives a symbolic multi-body rigid nonlinear model for a space telescope using Stoneking’s implementation of Kane’s method. This symbolic nonlinear model is linearized using Matlab symbolic functions diff and inv because the analytic linearization is intractable for manual derivation. The linearized system model is then used to design the controllers using both linear quadratic regulator (LQR) and robust pole assignment methods. The closed-loop systems for the two designs are simulated using both the rigid model as well as a second model containing flexible modes. The performances of the two designs are compared based on the simulation testing results. Our conclusion is that the robust pole assignment design offers better performance than that of the LQR system in terms of actuator usage and pointing accuracy. However, the LQR approach remains an effective first design step that can inform the selection of real eigenvalues for robust pole assignment. The proposed method may be used for the modeling and controller designs for various multi-body systems.

Modeling↗
NASA NTRS1989

Orthogonal canonical forms for second-order systems

The authors prove that a linear second-order system with arbitrary damping cannot be reduced to Hessenberg-triangular form by means of orthogonal transformations, while this reduction is always possible for the modal damping commonly assumed for models of flexible structures. The type of canonical form obtainable by means of orthogonal transformations acting on a second-order system is heavily dependent on the type of damping considered. If the damping matrix is merely positive semi-definite symmetric, it is generally not possible to obtain a reduction to Hessenberg-triangular form, while this reduction is trivial for zero or Rayleigh damping. If damping is modal, however, as is commonly assumed in structural models, the reduction exists and is nontrivial. Furthermore, reduction to triangular second-order Schur form is always possible for such damping: this canonical form appears likely to have applications to second-order system theory.

Williams, Trevor↗
NASA NTRS1980

Analytical simulation of nonlinear satellite links

It is noted that performance predictions for nonlinear digital satellite channels are usually obtained by either purely analytical methods or Monte Carlo simulations. When used with other than very simple channel models, however, they become extremely costly. It is shown that, through analytical modeling of the effect of the nonlinearity on the uplink waveform, it is possible to obtain approximate performance predictions with a minimum of computer time. It is also demonstrated that the results agree quite well with Monte Carlo simulations and that significant trade-offs can be performed with this tool. An analytical simulation based on Blachman's (1968) definition of signal x signal, signal x noise, and noise x noise terms is shown to provide the required flexibility for modeling the effect of signal distortions on the link performance and to produce good results over a wide range of nonlinearities and channel conditions.

Braun, W. R.↗