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At least 415 records · Page 23

Flight Tests of a 0.13-Scale Model of the Convair XFY-1 Vertically Rising Airplane with the Lower Vertical Tail Removed, TED No.DE 368

An experimental investigation has been conducted to determine the dynamic stability and control characteristics in hovering and transition flight of a 0.13-scale flying model of the Convair XFY-1 vertically rising airplane with the lower vertical tail removed. The purpose of the tests was to obtain a general indication of the behavior of a vertically rising airplane of the same general type as the XFY-1 but without a lower vertical tail in order to simplify power-off belly landings in an emergency. The model was flown satisfactorily in hovering flight and in the transition from hovering to normal unstalled forward flight (angle of attack approximately 30deg). From an angle of attack of about 30 down to the lowest angle of attack covered in the flight tests (approximately 15deg) the model became progressively more difficult to control. These control difficulties were attributed partly to a lightly damped Dutch roll oscillation and partly to the fact that the control deflections required for hovering and transition flight were too great for smooth flight at high speeds. In the low-angle-of-attack range not covered in the flight tests, force tests have indicated very low static directional stability which would probably result in poor flight characteristics. It appears, therefore, that the attainment of satisfactory directional stability, at angles of attack less than 10deg, rather than in the hovering and transition ranges of flight is the critical factor in the design of the vertical tail for such a configuration.

Lovell, Powell M., Jr.↗

Flexible structure experiments at JPL and WPAFB - H-infinity controller designs

The authors describe some control system experiments which were carried out on flexible structure facilities at the Jet Propulsion Laboratory (JPL) and the Wright Patterson Air Force Base (WPAFB). They document some recent design studies for two contrasting flexible structure facilities. The first facility was the JPL/AFAL flexible antenna in Pasadena, California. The second was the WPAFB 12-meter cantilever truss in Dayton, Ohio. Each structure possessed a number of flexible modes of vibration which were lightly damped. The purpose of the experiments was to achieve active damping of the flexible modes via a digital control system. The feedback controllers were designed using the H-infinity technique of weighted gap optimization to increase the structural damping and achieve robust control.

Buddie, Scott A.↗

Dynamic mechanical properties of N-phenylnadimide modified PMR polyimide composites

Temperature-frequency dependence of alpha, beta, and gamma transitions was determined using a Rheometrics dynamic spectrometer on a series of unidirectional Celion 6000/N-phenylnadimide (PN) modified PMR polyimide composites. The objective was to see if any correlations exist between crosslinked network structure and dynamic mechanical properties. Variation in crosslinked network structures was achieved by altering the polyimide formulation through addition of various quantities of PN into the standard PMR-15 composition. As a control, PMR-15 composite system exhibited well-defined alpha, beta, and gamma transitions in the regions of 360, 100, and -120 C, respectively. Their activation energies were estimated to be 232, 60, and 14 kcal/mole, respectively. Increasing the amount of PN concentration caused lowering of the activation energies of the three relaxations, a decrease of the glass transition temperature, and increasing intensities of the three damping peaks, compared to the control PMR-15 counterpart. These dynamic mechanical responses were in agreement with formation of a more flexible copolymer from PN and PMR-15 prepolymer.

Pater, Ruth H.↗

Data-driven Optimal Control Strategy for Virtual Synchronous Generator via Deep Reinforcement Learning Approach

This paper aims at developing a data-driven optimal control strategy for virtual synchronous generator (VSG) in the scenario where no expert knowledge or requirement for system model is available. Firstly, the optimal and adaptive control problem for VSG is transformed into a reinforcement learning task. Specifically, the control variables, i.e., virtual inertia and damping factor, are defined as the actions. Meanwhile, the active power output, angular frequency and its derivative are considered as the observations. Moreover, the reward mechanism is designed based on three preset characteristic functions to quantify the control targets: (1) maintaining the deviation of angular frequency within special limits; (2) preserving well-damped oscillations for both the angular frequency and active power output; (3) obtaining slow frequency drop in the transient process. Next, to maximize the cumulative rewards, a decentralized deep policy gradient algorithm, which features model-free and faster convergence, is developed and employed to find the optimal control policy. With this effort, a data-driven adaptive VSG controller can be obtained. By using the proposed controller, the inverter-based distributed generator can adaptively adjust its control variables based on current observations to fulfill the expected targets in model-free fashion. Finally, simulation results validate the feasibility and effectiveness of the proposed approach.

24 POWER TRANSMISSION AND DISTRIBUTION↗

Controls-structures-interaction dynamics during RCS control of the Orbiter/SRMS/SSF configuration

During the assembly flights of the Space Station Freedom (SSF), the Orbiter will either dock with the SSF and retract to the final berthed position, or will grapple the SSF using the Shuttle Remote Manipulator System (SRMS) and maneuver the SRMS coupled vehicles to their final berthed position. The SRMS method is expected to take approximately one to one and a half hours to complete and require periodic attitude corrections by either the Orbiter or the SSF reaction control system (RCS) or continuous control by a control moment gyro (CMG) system with RCS desaturation as required. Free drift of the attached vehicles is not currently thought to be acceptable because the desired system attitude will quickly deteriorate due to unbalanced gravity gradient and aerodynamic torques resulting in power generation problems, thermodynamic control problems, and communications problems. This paper deals with the simulation and control of the SRMS during trunnion/latch interaction dynamics and during RCS maneuvers. The SRMS servo drive joints have highly non-linear elastic characteristics which tend to degrade sensitive control strategies. In addition the system natural frequencies are extremely low and depend on the drive joint deflections and SRMS geometric position. The lowest mean period of oscillation for the Orbiter/SRMS/SSF(MB6) system in brakes hold mode positioned near the final berthed position is approximately 120 seconds. A detailed finite element model of the SRMS has been developed and used in a newly developed SRMS systems dynamics simulation to investigate the non-linear transient response dynamics of the Orbiter/SRMS/SSF systems. The present SRMS control strategy of brakes only recommended by the Charles Draper Labs is contrasted with a robust controller developed by the authors. The robust controller uses an optimal inear quadratic regulator (LQR) to optimally place the closed-loop poles of a multivariable continuous-time system within the common region of an open sector with the sector angle plus or minus 45 degrees from the negative real axis, and the left-hand side of a parallel to the imaginary axis in the complex s-plane. This guarantees that the critical damping ratio for the desired control modes is equal to or in excess of 0.707. The matrix sign function is used for solving the Riccati equations which appear in the controller design procedure. Fast and stable algorithms have recently been developed for the computation of the matrix sign function. Simulation results are given which demonstrate the potential CSI involvement for the current SRMS control system and the proposed control system.

Schliesing, J. A.↗

Robust multi‐loop control of a floating wind turbine

Abstract A principal challenge facing the control of floating offshore wind turbines (FOWTs) is the problem of instability, or “negative damping,” when using blade pitch feedback to control generator speed. This closed‐loop instability can be attributed to non‐minimum phase zeros in the transfer function from blade pitch to generator speed. Standard approaches to improving stability and performance include robust tuning of control gains and introducing multiple feedback loops to respond to platform motion. Combining these approaches is nontrivial because multiple control loops complicate the impact of coupling in the system dynamics. The single‐loop approach to analyzing stability robustness neglects inter‐loop coupling, while a simplistic multi‐loop approach is highly sensitive to dimensional scaling and overestimates the robustness of the single‐loop controller. This work proposes a sensitivity representation that separates some of the natural FOWT dynamic coupling into a parallel feedback loop in the sensitivity function loop to address both of these concerns. The modified robustness measure is used with a simplified linear FOWT model to optimize scheduled multi‐loop control parameters in an automated tuning procedure. This controller is implemented for the 10‐MW Ultraflexible Smart FLoating Offshore Wind Turbine (USFLOWT) and compared against conventional single‐ and multi‐loop controllers tuned using frequency‐domain analysis and high‐fidelity OpenFAST simulations. The multi‐loop robust controller shows the highest overall performance in generator speed regulation and tower load reduction, though consideration of power quality, actuator usage, and other structural loading leads to additional trade‐offs.

Stockhouse, David↗

A design procedure for active control of beam vibrations

The transverse vibrations of beams is discussed and a methodology for the design of an active damping device is given. The Bernoulli-Euler equation is used to derive a transcendental transfer function, which relates a torque applied at one end of the beam to the rotational position and velocity at that point. The active damping device consists of a wire, a linear actuator and a short torque arm attached to one end of the beam. The action of the actuator varies a tension in the wire and creates a torque which opposes the rotation of the beam and thus damps vibration. A design procedure for such an active damper is given. This procedure shows the relationships and trade-offs between the actuator stroke, power required, stress levels in the wire and beam and the geometry of the beam and wire. It is shown that by consideration of the frequency response at the beam natural frequencies, the aforementioned relationships can be greatly simplified. Similarly, a simple way of estimating the effective damping ratios and eigenvalue locations of actively controlled beams is presented.

Dickerson, S. L.↗

Compliant Behaviors for Supervised and Autonomous Robotic Operations

The demands of traditional industrial robotics differ significantly from those of remote, supervised operations in hostile environments, such as operations in space. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. PTWL was tested on a variety of quasi-static and dynamic tasks that may be useful for future space operations. Results demonstrate that PTWL is a powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Joseph D. Cressman↗

Compliant Robotic Behaviors for Satellite Servicing

The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Compliance↗

The Impact of Structural Vibration on Flying Qualities of a Supersonic Transport

A piloted simulation experiment has been conducted in the NASA Langley Visual/Motion Simulator facility to address the impact of dynamic aeroelastic effects on flying qualities of a supersonic transport. The intent of this experiment was to determine the effectiveness of several measures that may be taken to reduce the impact of aircraft flexibility on piloting tasks. Potential solutions that were examined included structural stiffening, active vibration suppression, and elimination of visual cues associated with the elastic modes. A series of parametric configurations was evaluated by six test pilots for several types of maneuver tasks. During the investigation, several incidents were encountered in which cockpit vibrations due to elastic modes fed back into the control stick through involuntary motions of the pilot's upper body and arm. The phenomenon, referred to as biodynamic coupling, is evidenced by a resonant peak in the power spectrum of the pilot's stick inputs at a structural mode frequency. The results of the investigation indicate that structural stiffening and compensation of the visual display were of little benefit in alleviating the impact of elastic dynamics on the piloting tasks, while increased damping and elimination of control-effector excitation of the lowest frequency modes offered great improvements when applied in sufficient degree.

David L Raney↗

Modal damping enhancement in large space structures using AMCD's

The use of an annular momentum control device (AMCD) is proposed for enhancing the modal damping of large space structures (LSS's) during fine pointing missions. Theoretical and experimental studies proved that an AMCD cannot destabilize the LSS and that the system is asymptotically stable under certain conditions.

Joshi, S. M.↗

Line-of-sight performance improvement with reaction-wheel isolation

Design techniques used to isolate and damp vibrations from the reaction control wheels assembly (RCA) from the structural dynamics of the Hubble Space Telescope are described. The four RCAs can generate sufficient torque for large maneuvers and precision control during fine pointing. The RCAs are to operate continuously during observations and thereby pose the potential of inducing jitter. The image stability must be constrained to less than 0.007 arcsec rms per 24 hr and pointing accuracy must be 0.01 arcsec for 100 hr. Vibration-producing characteristics of the RCAs are identified, and test results are provided from measurements of the magnitudes of the associated disturbances. Design features and test results for the vibration isolators employed with the RCAs to effect viscous damping of RCA axial perturbations are presented. The dampers are expected to reduce jitter effects of RCA operation by a half.

Rodden, J. J.↗

Hybrid Damping System for an Electronic Equipment Mounting Shelf

The objective of this study was to design and construct a vibration control system for an electronic equipment shelf to be evaluated in the NASA Dryden FTF-11. The vibration control system was a hybrid system which included passive and active damping techniques. Passive damping was fabricated into the equipment shelf using ScothDamp(trademark) damping film and aluminum constraining layers. Active damping was achieved using a two channel active control circuit employing QuickPack(trademark) sensors and actuators. Preliminary Chirp test results indicated passive damping smoothed the frequency response while active damping reduced amplitudes of the frequency response for most frequencies below 500Hz.

Voracek, David↗

Hybrid Damping System for an Electronic Equipment Mounting Shelf

The objective of this study was to design and construct a vibration control system for an electronic equipment shelf to be evaluated in the NASA Dryden FTF-II. The vibration control system was a hybrid system which included passive and active damping techniques. Passive damping was fabricated into the equipment shelf using ScothDamp(trademark) damping film and aluminum constraining layers. Active damping was achieved using a two channel active control circuit employing QuickPack(trademark) sensors and actuators. Preliminary Chirp test results indicated passive damping smoothed the frequency response while active damping reduced amplitudes of the frequency response for most frequencies below 500Hz.

Voracek, David↗

The Langley Research Center CSI phase-0 evolutionary model testbed-design and experimental results

A testbed for the development of Controls Structures Interaction (CSI) technology is described. The design philosophy, capabilities, and early experimental results are presented to introduce some of the ongoing CSI research at NASA-Langley. The testbed, referred to as the Phase 0 version of the CSI Evolutionary model (CEM), is the first stage of model complexity designed to show the benefits of CSI technology and to identify weaknesses in current capabilities. Early closed loop test results have shown non-model based controllers can provide an order of magnitude increase in damping in the first few flexible vibration modes. Model based controllers for higher performance will need to be robust to model uncertainty as verified by System ID tests. Data are presented that show finite element model predictions of frequency differ from those obtained from tests. Plans are also presented for evolution of the CEM to study integrated controller and structure design as well as multiple payload dynamics.

Belvin, W. K.↗