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At least 397 records · Page 22

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NASA NTRS1992

Vibration control of a manipulator tip on a flexible body

Vibration control of a rigid manipulator tip on a main flexible uniform beam is examined. It is proposed to add a compensator between the manipulator and the beam to rotate and extend/retrieve the manipulator during the control period. The 2D station-keeping maneuvers within the linear range without gravity and damping are considered. The compensatory open-loop control law, which depends on the amplitudes of the beam's flexible deformations at the connection joint, is synthesized using linear quadratic regulator techniques. After introducing the compensatory control into the system, system control is still stable, and the tip coordinates of the manipulator can be made to closely follow the rigid beam motion, which is assumed to be a desired motion.

Xu, J.↗

NASA NTRS1983

The dynamics and control of large flexible space structures, 6

The controls analysis based on a truncated finite element model of the 122m. Hoop/Column Antenna System focuses on an analysis of the controllability as well as the synthesis of control laws. Graph theoretic techniques are employed to consider controllability for different combinations of number and locations of actuators. Control law synthesis is based on an application of the linear regulator theory as well as pole placement techniques. Placement of an actuator on the hoop can result in a noticeable improvement in the transient characteristics. The problem of orientation and shape control of an orbiting flexible beam, previously examined, is now extended to include the influence of solar radiation environmental forces. For extremely flexible thin structures modification of control laws may be required and techniques for accomplishing this are explained. Effects of environmental torques are also included in previously developed models of orbiting flexible thin platforms.

Bainum, P. M.↗

NASA NTRS1982

Ultrasonic Transducer Analyzer

Ultrasonic transducer-beam-intensity distributions are determined by analyzing echoes from a spherical ball. Computers control equipment and process data. Important beam characteristics, such as location of best beam focus and beam diameter at focus, can be determined quickly from extensive set of plots generated by apparatus.

Grounds, M. K.↗

NASA NTRS1984

Experimental demonstration of the control of flexible structures

The Large Space Structure Technology Flexible Beam Experiment employs a pinned-free flexible beam to demonstrate such required methods as dynamic and adaptive control, as well as various control law design approaches and hardware requirements. An attempt is made to define the mechanization difficulties that may inhere in flexible structures. Attention is presently given to analytical work performed in support of the test facility's development, the final design's specifications, the control laws' synthesis, and experimental results obtained.

Schaechter, D. B.↗

NASA NTRS1989

ARCS 3 ionospheric artificial argon ion beam injections - Waves near the heavy ion gyrofrequencies

Low-frequency electric field data below the proton gyrofrequency are presented for the duration of the argon ion beam experiment conducted as part of the Argon Release for Controlled Studies (ARCS) program. An argon ion beam was injected from the subpayload antiparallel or perpendicular to the magnetic field at altitudes from 250 to 405 km. During the injections, the wave spectra were broadband near the subpayload and narrow-band near heavy ion gyrofrequencies at perpendicular separation distances between 42 and 254 m. It is suggested that the narrow-band waves are associated with both the perpendicular argon ion beam and an unexpected flux of low-energy ions which peaked in energy near 15 eV and pitch angle near 90 deg with respect to the magnetic field.

Erlandson, R. E.↗

NASA NTRS1994

Dynamical observer for a flexible beam via finite element approximations

The purpose of this view-graph presentation is a computational investigation of the closed-loop output feedback control of a Euler-Bernoulli beam based on finite element approximation. The observer is part of the classical observer plus state feedback control, but it is finite-dimensional. In the theoretical work on the subject it is assumed (and sometimes proved) that increasing the number of finite elements will improve accuracy of the control. In applications, this may be difficult to achieve because of numerical problems. The main difficulty in computing the observer and simulating its work is the presence of high frequency eigenvalues in the finite-element model and poor numerical conditioning of some of the system matrices (e.g. poor observability properties) when the dimension of the approximating system increases. This work dealt with some of these difficulties.

Manitius, Andre↗

NASA NTRS1982

Coherently pulsed laser source

An electronically controllable apparatus is described which modulates a continuous wave laser beam so as to produce an output beam consisting of coherent pulses that are electronically controllable as to both pulse repetition rate and pulse width. The apparatus includes two acoustic devices positioned so that the laser beam passes through them in sequence, and apparatus for passing sound waves through the devices to frequency shift the laser radiation as well as to diffract it. Each acoustic device generates sound waves containing a group of frequencies which result in spaced pulses. The first acoustic device is countered by the second acoustic device to produce a collimated, coherently pulsed, laser beam.

Margolis, J. S.↗

NASA NTRS1975

Single laser beam of spatial coherence from an array of GaAs lasers - Free-running mode

Spatially coherent radiation from a monolithic array of three GaAs lasers in a free-running mode is reported. The lasers, with their mirror faces antireflection coated, are operated in an external optical cavity built of spherical lenses and plane mirrors. The spatially coherent-beam formation makes use of the Fourier-transformation property of the internal lenses. Transverse mode control is accomplished by a spatial filter. The optical cavity is similar to that used for the phase-controlled mode of spatially coherent-beam formation; only the spatial filters are different. In the far field (when restored by an external lens), the intensities of the lasers in the array are concentrated in a single laser beam of spatial coherence, without any grating lobes. The far-field distribution of the laser array in the free-running mode differs significantly from the interference pattern of the phase-controlled mode. The modulation characteristics of the optical waveforms of the two modes are also quite different because modulation is related to the interaction of the spatial filter with the longitudinal modes of the laser array within the optical cavity. The modulation of the optical waveform of the free-running mode is nonperiodic, confirming that the fluctuations of the optical fields of the lasers are random.

Philipp-Rutz, E. M.↗

NASA NTRS1985

Sequentially deployable maneuverable tetrahedral beam

A tetrahedral beam that can be compactly stowed, sequentially deployed, and widely manipulated to provide a structurally sound yet highly maneuverable truss structure is comprised of a number of repeating units of tandem tetralhedral sharing common sides. Fixed length battens are jointed into equilateral triangles called batten frames. Apexes of adjacent triangles are interconnected by longerons having a mid-point folding hinge. Joints, comprised of gussets pivotabley connected by links, permit two independent degrees of rotational freedom between joined adjacent batten frames, and provide a stable structure from packaged configuration to complete deployment. The longerons and joints can be actuated in any sequence, independently of one another. The beam is suited to remote actuation. Longerons may be provided with powered mid-point hinges enabling beam erection and packaging under remote control. Providing one or more longerons with powered telescoping segments permits the shape of the beam central axis to be remotely manipulated so that the beam may function as a remote manipulator arm.

Mikulas, M. M., Jr.↗

NASA NTRS1986

Reduced modeling of flexible structures for decentralized control

Based upon the modified finite element-transfer matrix method, this paper presents a technique for reduced modeling of flexible structures for decentralized control. The modeling decisions are carried out at (finite-) element level, and are dictated by control objectives. A simply supported beam with two sets of actuators and sensors (linear force actuator and linear position and velocity sensors) is considered for illustration. In this case, it is conjectured that the decentrally controlled closed loop system is guaranteed to be at least marginally stable.

Yousuff, A.↗

NASA NTRS1984

Modelling issues of the SCOLE control problem

Nonlinear and linear equations of motions were derived. The preliminary investigation consisted of model beam as truss structure, effects of truss structure on control design, and effects of reflector offset on control design. It was concluded that the offset of the reflector c.g. from the beam reflector attach point is dynamically significant. Also, truss effects may also significantly effect the performance of the controller if ignored. If the truss is included in the modeling of the NASA/SCOLE configuration, a practically implementable scheme is available to reduce the model order.

Hotz, A. F.↗

NASA NTRS1990

Experimental implementation of the modified independent modal space control method

An experimental realization of a modified independent modal space control (MIMSC) method to control the vibration of a flexible cantilevered beam is presented. In its operation the method relies on the use of one piezoelectric actuator to control several vibration modes through a time-sharing strategy. The effectiveness of the MIMSC method in damping out the beam vibration is demonstrated by comparing the results with those obtained by other modal control methods. Two methods are considered, the independent modal space control method and the pseudo-inverse method. The feasibility of the MIMSC method as a viable alternative for controlling large flexible structures with a very small number of actuators is emphasized.

Baz, A.↗

NASA NTRS2004

Spatial light modulators for full cross-connections in optical networks

A polarization-independent optical switch is disclosed for switching at least one incoming beam from at least one input source to at least one output drain. The switch includes a polarizing beam splitter to split each of the at least one incoming beam into a first input beam and a second input beam, wherein the first input beam and the second input beams are independently polarized; a wave plate optically coupled to the second input beam for converting the polarization of the second input beam to an appropriately polarized second input beam; a beam combiner optically coupled to the first input beam and the modified second input beam, wherein the beam combiner accepts the first input beam and the modified second input beam to produce a combined beam; the combined beam is invariant to the polarization state of the input source's polarization; and a controllable spatial light modulator optically coupled to the combined beam, wherein the combined beam is diffracted by the controllable spatial light modulator to place light at a plurality of output locations.

Juday, Richard D.↗

NASA NTRS1991

Modeling of the slewing control of a flexible structure

This paper presents a formulation for the modeling of a single-link flexible beam that is undergoing slewing motion at an actively controlled pinned end, where the other end of the beam is free. This pinned end, or slewing axis, is of fixed orientation such that the beam rotates in the horizontal plane. A geared dc electric motor is connected to the beam at the slewing axis. A position and a velocity sensor are placed at this hinged location, and their proportional feedback provides a position control system about the slewing axis. The motor characteristics, gear ratio, and the position feedback constant determine an equivalent rotational spring constant, often called the servo stiffness. This paper generalizes the structure's boundary conditions at the slewing axis to include the effects of the servo system. It is shown that the clamped-free beam assumption for the dynamics of the structure is a valid assumption if the ratio of the servo stiffness to beam flexibility is high. However, for moderate or low values of this ratio, the clamped-free beam leads to erroneous system models so that it becomes necessary to consider the effects of the driving servo on the dynamics of the flexible beam.

Garcia, Ephrahim↗

NASA NTRS1984

Enhanced vibration controllability by minor structural modifications

A procedure for checking whether small changes in a structure have the potential for significant enhancements of its vibration control system is described. The first step in the procedure consists of the calculation of the sensitivity of the required strength of the control system to small changes in structural parameters. The second step consists of the optimization of the structural parameters to produce maximal reduction in required control system strength with minimal change in the structure. The procedure has been demonstrated for a flexible beam supported by four cables and controlled by a rate feedback single-colocated force-actuator velocity-sensor pair. Large changes in control strength requirement were obtained with small structural modifications. Analytical predictions of such effects have also been validated experimentally.

Haftka, R. T.↗

NASA NTRS1975

Interactive handling of TV and range data for remotely controlled systems

The sensory subsystem of the JPL robotics project is described. The first sensory instrument is a pair of TV cameras, which provides a stereo view of the area of interest. The second is a laser range finder, which can be aimed in a requested direction and measure distance to a surface point that reflects the beam back. Both instruments are controlled by and are interfaced to computer. The calibration process and basic applications to obtain measurements of the external environment are described.

Yakimovsky, Y.↗

NASA NTRS1985

An integrated development facility for the calibration of low-energy charged particle flight instrumentation

A system was developed for the calibration and development of thermal ion instrumentation. The system provides an extended beam with usable current rates, approx. 1 pA/sq cm, at beam energies as low as 1 eV, with much higher values available with increasing energy. A tandem electrostatic and variable geometry magnetic mirror configuration within the ion source optimizes the use of the ionizing electrons. The system is integrated under microcomputer control to allow automatic control and monitoring of the beam energy and composition and the mass and angle-dependent response of the instrument under test. The system is pumped by a combination of carbon vane and cryogenic sorption roughing pumps and ion and liquid helium operating pumps.

Biddle, A. P.↗

NASA NTRS2005

Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed

This report summarizes the activities on "Implementation of Real-Time Feedback Flow Control Algorithms on a Canonical Testbed." The work summarized consists primarily of two parts. The first part summarizes our previous work and the extensions to adaptive ID and control algorithms. The second part concentrates on the validation of adaptive algorithms by applying them to a vibration beam test bed. Extensions to flow control problems are discussed.

Tian, Ye↗