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Review of some of the results of a teleoperator systems technology program devoted to the development of an anthropomorphic unilateral master-slave manipulator system. Following a discussion of the mechanical design details and servo design considerations, the developed system's test results are presented.
Transistorized alternating-current servomechanisms for a basic position servo with rate feedback or network compensation are reviewed. Studies of optimum methods of control position variables in aerospace applications show that no single method is best for all cases. The optimum method is very much dependent upon available devices, generating sources, and load parameters. These are constraints difficult to identify for future aerospace missions. Design and application considerations are discussed, along with step-by-step design procedures. For illustration, specific design problems are used to exemplify the approach to solutions.
Perform analog-to-digital conversion on input signal with staircase circuit having 10% resolution, convert digital result to analog voltage, subtract it from original input signal; read out feedback signals as decimal digit representation during one clock phase and servo-error difference between input and feedback as analog portion during following clock phase.
An engineering model momentum wheel with radial magnetic bearings has been designed and developed and successfully operated to a speed of approximately 500 rad/sec. This speed corresponds to a maximum angular momentum of 83 Nm-sec which is 83% of the design value. The maximum momentum achieved was limited by the suspension servo bandwidth and this, in turn, was limited by the lowest structural resonance of the rotor.
The design, fabrication and flight testing of a powered elevator system for the Augmentor Wing Jet STOL Research Aircraft (AWJSRA or Mod C-8A) are discussed. The system replaces a manual spring tab elevator control system that was unsatisfactory in the STOL flight regime. Pitch control in the AWJSRA is by means of a single elevator control surface. The elevator is used for both maneuver and trim control as the stabilizer is fixed. A fully powered, irreversible flight control system powered by dual hydraulic sources was designed. The existing control columns and single mechanical cable system of the AWJSRA have been retained as has been the basic elevator surface, except that the elevator spring tab is modified into a geared balance tab. The control surface is directly actuated by a dual tandem moving body actuator. Control signals are transmitted from the elevator aft quadrant to the actuator by a linkage system that includes a limited authority series servo actuator.
Variations in total inertia and gravity loads at the joint outputs are treated along with the relative importance of gravity and acceleration-generated reaction torques or forces versus inertia torques or forces. The relation between the dynamical state equations in explicit terms and servoing the manipulator is briefly discussed in the framework of state variable feedback control which also forms the basis of adaptive manipulator control. Exact state equations were determined for total inertia and gravity loads at the joint outputs as a function of joint variables, using the constant inertial and geometric parameters of the individual links defined in the respective link coordinate frames. The range of maximum variations in total inertia and gravity loads at the joint outputs was calculated for both no load and load in the hand. The main result is the construction of a set of greatly simplified state equations which describe the total inertia and gravity load variations at the output of the six joints with an average error of less than 5%.
A gyro-less wing leveler and directional autopilot were developed and flight tested in a single-engine light airplane. The primary purpose of the project was to develop a simple, reliable, low-cost stability augmentation and autopilot system for light aircraft. The wing leveler used a fluidic inertial rate sensor, electronic signal processing circuitry, and vacuum operated servos. A strap-down magnetic heading reference of simple design provided the wing leveler with directional autopilot capability. Flight tests indicated that the performance of the gyro-less wing leveler was equal to that of a commercial wing leveler using a gyroscopic rate sensor. Drift-free, long-term, heading-hold capability of the magnetic heading reference was demonstrated.
Developments in fluid technology and hydraulic equipment are presented. The subjects considered are: (1) the use of fluids in the operation of switches, amplifiers, and servo devices, (2) devices and data for laboratory use in the study of fluid dynamics, and (3) the use of fluids as controls and certain methods of controlling fluids.
A servo-controlled range/elevation scanner for the laser Doppler velocimeter (LDV) was developed and tested in the field to assess its performance in detecting and monitoring aircraft trailing vortices in an airport environment. The elevation scanner provides a capability to manually point the LDV telescope at operator chosen angles from 3.2 deg. to 89.6 deg within 0.2 deg, or to automatically scan the units between operator chosen limits at operator chosen rates of 0.1 Hz to 0.5 Hz. The range scanner provides a capability to manually adjust the focal point of the system from a range of 32 meters to a range of 896 meters under operator control, or to scan between operator chosen limits and at rates from 0.1 Hz to 6.9 Hz. The scanner controls are designed to allow simulataneous range and elevation scanning so as to provide finger scan patterns, arc scan patterns, and vertical line scan patterns. The development and testing of the unit is discussed, along with a fluid dynamic model of the wake vortex developed in a laser Doppler vortex sensor simulation program.
A computer program was developed to describe the three-dimensional motion of the Dynamic Docking Test System active table. The input consists of inertia and geometry data, actuator structural data, forcing function data, hydraulics data, servo electronics data, and integration control data. The output consists of table responses, actuator bending responses, and actuator responses.
Discussion of the guidance system of a balloon-borne coronagraph designed for IR solar corona observations at an altitude of 36 km. The coronagraph has two telescopes, measures 6 m in length, weighs 73 kg, is stabilized by a three-axis system, and has a pointing precision of plus or minus 10 sec of arc. Three torque motors are used to activate the tracking servo system of the coronagraph. An integral control system is used to prevent a permanent instrumental error. The coronagraph has been tested in two balloon missions.
The objective of this work is to perfect and extend the acoustic position technique that was developed at JPL for use in the future Space Processing Laboratory in Space. The main effort is centered on design of a position device for processing of molten materials. Namely, a resonator has the capability of positioning in an extreme temperature gradient and a frequency servo loop to maintain it there as the temperature varies.
This paper is a progress report summarizing theoretical and practical results concerning integration of design and control aspects of manipulator arms for industrial or space applications. The relationships between task specifications, gross motions, fine motions, actuator type and location, size and strength of structural members, control servos and strategies, and overall design evaluation are briefly discussed, with some technical examples.
A prototype fatigue test machine has been designed and fabricated which is suitable for use by an astronaut in conducting constant amplitude materials fatigue tests aboard a Skylab or a shuttle space vehicle. The machine is comprised of a mechanical tester, which would be passed through a small airlock to be supported in the space environment on an extendible boom, and a control console, which would provide remote control from within the space vehicle. The tester is a resonance machine which operates at approximately 60 Hz; vibratory mechanism is symmetrically arranged to minimize external reaction. A control system employing stabilized servo-loop circuits about both mean and varying load components maintains loading accuracy to better than two percent. Specimen installation and control console details are simplified for astronaut use. Power consumption from a 28 volt supply is estimated at between 50 and 80 watts.
System is polarization tracker and comprises variable polarizer, polarization control, and receiver servo loop. System simultaneously receives desired signal and undesired signal which are approximately orthogonal. They can be either paired as left and right circular polarizations or as cross-linear polarizations.
System includes focus-sensing arrangement which controls servo to keep microscope constantly focused on target. Microscope objective is moved along optical axis. System includes two video cameras that are used as transducers for sensing focus. Incoming visual image is split by beam splitter so that one-half of information is fed to each camera.
The results are presented of a trade study designed to identify a synchronous satellite antenna system suitable for receiving and transmitting data from lower orbiting satellites at both S- and K sub u-bands simultaneously as part of the Tracking and Data Relay Satellite System. All related problems associated with maintaining a data link between two satellites with a K sub u-band half-power beamwidth of 0.4 db are considered including data link maintenance techniques, beam pointing accuracies, gimbal and servo errors, solar heating, angle tracking schemes, acquisition problems and aids, tracking accuracies versus SNR, antenna feed designs, equipment designs, weight and power budgets, and detailed candidate antenna system designs.
The author has identified the following significant results. The fact that water resources data can be retransmitted from remote areas of Canada by polar orbiting spacecraft to users in population centers on a near real time basis reliably, accurately, and at relative low cost continues to be demonstrated. Over 60,000 transmissions from the nine data collection platforms installed at Water Survey of Canada gauging stations have been received. The stage and ice-out data retransmitted via ERTS-1 have been plotted on a chart record produced by a water stage servo-manometer installed on the Albany River. The stage increased smoothly until shortly after noon on May 19, 1974. During this time the indicator showed that the ice surface was intact. The stage then dropped sharply and the indicator read that the ice was out. The erratic chart trace after that was consistent with the assumption that the ice surface had broken up and that some short duration jams of broken ice were occurring.