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At least 379 records · Page 21

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NASA NTRS2008

Modeling-Error-Driven Performance-Seeking Direct Adaptive Control

This paper presents a stable discrete-time adaptive law that targets modeling errors in a direct adaptive control framework. The update law was developed in our previous work for the adaptive disturbance rejection application. The approach is based on the philosophy that without modeling errors, the original control design has been tuned to achieve the desired performance. The adaptive control should, therefore, work towards getting this performance even in the face of modeling uncertainties/errors. In this work, the baseline controller uses dynamic inversion with proportional-integral augmentation. Dynamic inversion is carried out using the assumed system model. On-line adaptation of this control law is achieved by providing a parameterized augmentation signal to the dynamic inversion block. The parameters of this augmentation signal are updated to achieve the nominal desired error dynamics. Contrary to the typical Lyapunov-based adaptive approaches that guarantee only stability, the current approach investigates conditions for stability as well as performance. A high-fidelity F-15 model is used to illustrate the overall approach.

Kulkarni, Nilesh V.↗

NASA NTRS2013

Real-Time Minimization of Tracking Error for Aircraft Systems

This technology presents a novel, stable, discrete-time adaptive law for flight control in a Direct adaptive control (DAC) framework. Where errors are not present, the original control design has been tuned for optimal performance. Adaptive control works towards achieving nominal performance whenever the design has modeling uncertainties/errors or when the vehicle suffers substantial flight configuration change. The baseline controller uses dynamic inversion with proportional-integral augmentation. On-line adaptation of this control law is achieved by providing a parameterized augmentation signal to a dynamic inversion block. The parameters of this augmentation signal are updated to achieve the nominal desired error dynamics. If the system senses that at least one aircraft component is experiencing an excursion and the return of this component value toward its reference value is not proceeding according to the expected controller characteristics, then the neural network (NN) modeling of aircraft operation may be changed.

Garud, Sumedha↗

NASA NTRS1976

Synthesis techniques for insensitive aircraft control systems

Comparative evaluation of seven insensitive synthesis techniques applied to the control of the longitudinal axis and symmetric flexure modes of the C-5A aircraft is described. These techniques have the common goal of achieving insensitivity to parameter uncertainties and unmodeled dynamics. For this comparison, the 'complete' model was assumed to consist of rigid body dynamics, fifteen flexure modes, unsteady aerodynamics, gust dynamics, and first order actuators for two control inputs. Thirteen flexure modes and the unsteady aerodynamics were treated as neglected dynamics. Dynamic pressure, structural frequency and damping, and the stability derivative were treated as uncertain parameters. Design specifications consisted of a transient response criterion, statistical response criteria, eigenvalue criteria and stability margins. A nominal controller designed without regard to sensitivity served as a benchmark for performance comparisons of the insensitive controllers.

Harvey, C. A.↗

NASA NTRS1990

Some buffet response characteristics of a twin-vertical-tail configuration

A rigid, 1/6 size, full span model of an F-18 airplane was fitted with flexible vertical tails of two different levels of stiffness that were buffet tested in the Langley Transonic Dynamics Tunnel. Vertical tail buffet response results that were obtained over the range of angles of attack from -10 to 40 degs, and over the range of Mach numbers from 0.30 to 0.95 are presented. These results indicate the following: (1) the response occurs in the first bending mode; (2) the response increases with increasing dynamic pressure, but changes in response are not linearly proportional to the changes in dynamic pressure; (3) the response is larger at M = 0.30 than it is at the higher Mach numbers; (4) the maximum intensity of the buffeting is described as heavy to severe using an assessment criteria proposed by another investigator; and (5) the data at different dynamic pressures and for the different tails correlate reasonably well using the buffet excitation parameter derived from the dynamic analysis of buffeting.

Cole, Stanley R.↗

NASA NTRS1982

NASA Dryden's experience in parameter estimation and its uses in flight test

An explanation of the parameter estimation method used at the Dryden Flight Research Facility is presented, and an overview is provided of experience related to the employment of this method, taking into account the utilization of this experience in flight tests. According to a definition of the aircraft parameter estimation problem, the system investigated is asumed to be modeled by a set of dynamic equations containing unknown parameters. To determine the values of the unknown parameters, the system is excited by a suitable input, and the input and actual system response are measured. The values of the unknown parameters are then inferred, based on the requirement that the model response to the given input match the actual system response. Examples of parameter estimation in flight test are discussed, giving attention to the F-14 fighter, the HiMAT (high maneuverable aircraft technology) vehicle, and the Space Shuttle.

Iliff, K. W.↗

NASA NTRS1986

Dynamic loading on parallel shaft gears

A computer-based analysis of the dynamic effects of spur gear systems is presented. The method of analysis with its associated computer code is capable of determining the dynamic response of spur gear systems having involute tooth profiles and standard contact ratios. Various parameters affecting the system dynamic behavior are examined. Numerical results of the analysis are compared with semi-empirical formulae, AGMA (American Gear Manufacturers Association) formulae, and experimental data. A close correlation with the experimental data is obtained.

Lin, H. H. (edward)↗

NASA NTRS1994

Control of unsteady separated flow associated with the dynamic stall of airfoils

A unique active flow-control device is proposed for the control of unsteady separated flow associated with the dynamic stall of airfoils. The device is an adaptive-geometry leading-edge which will allow controlled, dynamic modification of the leading-edge profile of an airfoil while the airfoil is executing an angle-of-attack pitch-up maneuver. A carbon-fiber composite skin has been bench tested, and a wind tunnel model is under construction. A baseline parameter study of compressible dynamic stall was performed for flow over an NACA 0012 airfoil. Parameters included Mach number, pitch rate, pitch history, and boundary layer tripping. Dynamic stall data were recorded via point-diffraction interferometry and the interferograms were analyzed with in-house developed image processing software. A new high-speed phase-locked photographic image recording system was developed for real-time documentation of dynamic stall.

Wilder, M. C.↗

NASA NTRS1991

Parameter estimation for distributed parameter models of complex, flexible structures

Distributed parameter modeling of structural dynamics has been limited to simple spacecraft configurations because of the difficulty of handling several distributed parameter systems linked at their boundaries. Although there is other computer software able to generate such models or complex, flexible spacecraft, unfortunately, neither is suitable for parameter estimation. Because of this limitation the computer software PDEMOD is being developed for the express purposes of modeling, control system analysis, parameter estimation and structure optimization. PDEMOD is capable of modeling complex, flexible spacecraft which consist of a three-dimensional network of flexible beams and rigid bodies. Each beam has bending (Bernoulli-Euler or Timoshenko) in two directions, torsion, and elongation degrees of freedom. The rigid bodies can be attached to the beam ends at any angle or body location. PDEMOD is also capable of performing parameter estimation based on matching experimental modal frequencies and static deflection test data. The underlying formulation and the results of using this approach for test data of the Mini-MAST truss will be discussed. The resulting accuracy of the parameter estimates when using such limited data can impact significantly the instrumentation requirements for on-orbit tests.

Taylor, Lawrence W., Jr.↗

NASA NTRS2009

Control of Systems With Slow Actuators Using Time Scale Separation

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

Stepanyan, Vehram↗

NASA NTRS1983

The application of aerodynamic uncertainties in the design of the entry trajectory and flight control system of the space shuttle orbiter

The process used in the application of aerodynamic uncertainties for the design and verification of the Space Shuttle Orbiter Entry Flight Control System is presented. The uncertainties were used to help set center of gravity, angle of attack and dynamic pressure lateral control divergence parameter as well as C sub n sub beta dynamic were instrumental in setting these placards.

Gamble, J. D.↗

NASA NTRS1979

Dynamic sea surface topography from GEOS-3 altimetry - Determination of some dominant parameters

The second, third and fourth degree zonal harmonics of the quasi-stationary dynamic sea surface topography can be recovered from the GEOS-3 altimetry despite the adverse levels of noise indicated by the crossover discrepancies generated from the best orbits available at the end of 1977 and the GEOS-3 altimetry. Techniques for modelling the global sea surface topography are discussed along with methods for signal recovery in the presence of significant levels of noise. The analysis also provides a means of defining the geocentricity of the system of reference used in preparing the GEOS-3 ephemeris.

Mather, R. S.↗

NASA NTRS1976

The uncertainty threshold principle - Fundamental limitations of optimal decision making under dynamic uncertainty

The fundamental limitations of the optimal control of dynamic systems with random parameters are analyzed by studying a scalar linear-quadratic optimal control example. It is demonstrated that optimum long-range decision making is possible only if the dynamic uncertainty (quantified by the means and covariances of the random parameters) is below a certain threshold. If this threshold is exceeded, there do not exist optimum decision rules. This phenomenon is called the 'uncertainty threshold principle'. The implications of this phenomenon to the field of modelling, identification, and adaptive control are discussed.

Athans, M.↗

NASA NTRSDate not supplied

How Auroral Electron Precipitations Contribute to the Formation of Electron Heat Fluxes to the Ionosphere?

Electron heat fluxes (also called electron thermal fluxes) in the ionosphere are carried by thermal electrons whose energy is below a few eV. Electron heat fluxes greatly impact on electron temperature, which is a fundamental parameter in the ionospheric dynamics. At the high latitude in the auroral regions electron heat flux is originated dominantly from the magnetosphere through high-energy electron energy fluxes. High-energy electron fluxes in the diffuse auroral region can undergo multiple backscatters between the magnetically conjugated regions of both hemispheres, and different kind of wave-particle interactions along the magnetic field line. High-energy electron fluxes in discrete auroral region can be trapped below the auroral acceleration region and can also undergo backscatter and multiple reflection. These processes, in turn, amplify super-thermal electrons (<~500-600 eV) that dominantly form electron heat fluxes through Coulomb collision between thermal electrons. Such electron heat fluxes play an important role to determine electron temperature profile in the ionosphere, which is one of the key parameters that controls the ionospheric dynamics. Thus, it is necessary to include electron heat flux as a topside energy input in all global ionospheric models. We demonstrate all above results based on Superthermal Electron Transport (STET), Superthermal Proton, Electron and Atomic Hydrogen tRansport in the Ionosphere and Thermosphere (SPEAH-RIT), and Comprehensive Inner Magnetosphere and Ionospheres (CIMI) codes developed at NASA Goddard Space Flight Center.

George V. Khazanov↗

NASA NTRS1971

Fluid dynamics in flexible tubes: An application to the study of the pulmonary circulation

Based on an analysis of unsteady, viscous flow through distensible tubes, a lumped-parameter model for the dynamics of blood flow through the pulmonary vascular bed was developed. The model is nonlinear, incorporating the variation of flow resistance with transmural pressure. Solved using a hybrid computer, the model yields information concerning the time-dependent behavior of blood pressures, flow rates, and volumes in each important class of vessels in each lobe of each lung in terms of the important physical and environmental parameters. Simulations of twenty abnormal or pathological situations of interest in environmental physiology and clinical medicine were performed. The model predictions agree well with physiological data.

Kuchar, N. R.↗

NASA NTRS1976

Dynamic analysis of a class of mixed lumped-distributed parameter systems via numerical techniques

The modeling via transfer matrices of mixed lumped-distributed parameter systems with feedback control is discussed and novel methods of obtaining information on the controlled system's dynamic response via numerical methods is presented. These methods utilize numerical searches in the complex plane for the roots of the transcendental characteristic equation to determine the closed loop system eigenvalues. The fast Fourier transform (FFT) algorithm is utilized but in the inverse fashion (from frequency domain to time domain). The information obtained is identical to that contained in a model in modal coordinates, and can be used to construct such a model. An interactive computer program to do the required calculation is described, as well as its application to a manipulator arm design problem.

Book, W. J.↗

NASA NTRS1989

A new adaptive control approach for aerospace vehicles with parameter uncertainties

A new stochastic adaptive control structure is developed for the problem of combined parameter estimation and control of aerospace vehicles with changing parameters. Parameter uncertainties are modeled as first-order Gauss-Markov processes, and are introduced to the system dynamics through a small parameter. It is assumed that an accurate inertial measurement unit gives perfect measurements of the state variables. Since the stochastic system is assumed to be Gauss-Markov, the density function of the parameters given these measurements is conditionally Gaussian. Based on this conditionally Gaussian density, the problem of minimizing a quadratic cost over an infinite time horizon can be set up within the framework of stochastic optimal control theory. The optimal feedback control law is derived from a straightforward expansion of the Hamilton-Jacobi-Bellman equation, based on the LQG solution. The resulting nonlinear controller is applied to the pitch axis control of a space platform with uncertain moments of inertia and is shown to produce marked improvement over a fixed controller.

Hahn, Yungsun↗

NASA NTRS2005

Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

Calhoun Philip C.↗

NASA NTRS1995

Sensitivity analysis of the non-linear dynamic viscoplastic response of 2-d structures with respect to material parameters

A computational procedure is presented for evaluating the sensitivity coefficients of the viscoplastic response of structures subjected to dynamic loading. A state of plane stress is assumed to exist in the structure, a velocity strain-Cauchy stress formulation is used, and the geometric non-linearities arising from large strains are incorporated. The Jaumann rate is used as a frame indifferent stress rate. The material model is chosen to be isothermal viscoplasticity, and an associated flow rule is used with a von Mises effective stress. The equations of motion emanating from a finite element semi-discretization are integrated using an explicit central difference scheme with an implicit stress update. The sensitivity coefficients are evaluated using a direct differentiation approach. Since the domain of integration is the current configuration, the sensitivity coefficients of the spatial derivatives of the shape functions must be included. Numerical results are presented for a thin plate with a central cutout subjected to an in-plane compressive loading. The sensitivity coefficients are generated by evaluating the derivatives of the response quantities with respect to Young's modulus, and two of the material parameters characterizing the viscoplastic response. Time histories of the response and sensitivity coefficients, and spatial distributions at selected times are presented.

Kulkarni, Makarand↗