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The layout of a technology base is reported from which a mechanically gimballed, directional antenna can be developed to support a manned space station proposed for the late 1970's. The effort includes the concept definition for the antenna assembly, an evaluation of available technology, the design of critical subassemblies and the design of critical subassembly tests.
Results are presented of experimental investigation of the controlled and uncontrolled dynamical behavior of a rotating or artificial gravity space station including flexible body effects. A dynamically scaled model was supported by a spherical air bearing which provided a nearly moment free environment. Reaction jet system were provided for spin-up and spin-down and for damping of wobble motion. Two single-gimbal gyros were arranged as a control moment gyro wobble damping system. Remotely controllable movable masses were provided to simulate mass shift disturbances such as arise from crew motions. An active mass balance wobble damping system which acted to minimize the wobble motions induced by crew motions was also installed. Flexible body effects were provided by a pair of inertia augmentation booms. Inertia augmentation booms are contemplated for use on rotating space stations to cause the spin axis moment of inertia to be the largest of the three moments of inertia as is necessary to assure gyroscopic stability. Test runs were made with each of the control systems with the booms locked (rigid body) and unlocked (flexible body).
Study of the normal and clamped modes of operation and dynamic response characteristics of the gimbaled control moment gyro (CMG) designed to fulfill the stringent pointing requirements of the Skylab telescope mount when the spacecraft is under the influence of both external and internal torques. The results indicate that the clamped mode of operation provides a feasible approach for significantly improving the system characteristics.
Development of laser systems to acquire and track targets in applications such as the rendezvous and docking of two spacecraft. A scan technique is described whereby a narrow laser beam is simultaneously scanned with an equally narrow receiver field-of-view without the aid of mechanical gimbals. Equations are developed in order to examine the maximum acquisition and tracking rates, and the maximum target range for a scanning laser radar system. A recently built prototype of a small, lightweight, low-power-consuming scanning laser radar is described.
Drive enables two concentric output shafts to be controlled independently or rotated as a unit. Possible uses are pointing and tracking devices, rotary camera shutters with variable light control, gimbal systems with yaw and pitch movement, spectrometer mirror scanning devices, etc.
A failure detection and isolation philosophy applicable to multiple off-the-shelf gimbaled IMUs are discussed. The equations developed are implemented and evaluated with actual shuttle trajectory simulations. The results of these simulations are presented for both powered and unpowered flight phases and at operational levels of four, three, and two IMUs. A multiple system checkout philosophy is developed and simulation results presented. The final task develops a laboratory test plan and defines the hardware and software requirements to implement an actual multiple system and evaluate the interim study results for space shuttle application.
The mathematical modeling and programming of a complete simulation program for a space station computer-steered high gain antenna are described. The program provides for reading input data cards, numerically integrating up to 50 first order differential equations, and monitoring up to 48 variables on printed output and on plots. The program system consists of a high gain antenna, an antenna gimbal control system, an on board computer, and the environment in which all are to operate.
A semiautomatic self-leveling lunar gravimeter has been designed for the Apollo 17 mission. This traverse gravimeter, which is completely self-contained and powered by an internal battery, was used to measure gravity at predetermined stops along the route of the Lunar Rover Vehicle. The gravity sensor is a vibrating string accelerometer (VSA) enclosed in a temperature-controlled oven and gimballed leveling assembly. This instrument is capable of resolving gravity differences as small as 0.035 milligal (1 mgal = 0.001 cm/s) on the moon and yet also is able to measure the earth's gravity field of 980,000 milligals. Twenty-two measurements were taken on the moon during the Apollo 17 mission, during which the VSA temperature never varied more than 0.005 C. The flight results indicate an instrument accuracy of better than 2 mgal.
The natural frequencies and dynamic responses of the NERVA 400E engine thrust train were determined for nuclear space operations (NSO), and earth-orbital shuttle (EOS) during launch and boost conditions. For NSO, a mini-tank configuration was analyzed with the forward end of the upper truss assumed fixed at the stage/mini-tank interface. For EOS, both a mini-tank and an engine only configuration were analyzed for a specific engine assembly support (EAS) stiffness. For all cases the effect of the shield on dynamic response characteristics was determined by performing parallel analyses with and without the shield. Gimbaling loads were not generated as that effort was scheduled after the termination date. The analysis, while demonstrating the adequacy of the engine design, revealed serious deficiencies in the EAS. Responses at the unsupported ends of the engine are excessive. Responses at the nuclear subsystem interface appear acceptable. It is recommended that additional analysis and design effort be expended upon the EAS to ensure that all engine responses stay within reasonable bounds.
The differential maneuvering simulator for simulating two aircraft or spacecraft operating in a differential mode is described. Tests made to verify that the system could provide the required simulated aircraft motions are given. The mathematical model which converts computed aircraft motions into the required motions of the various projector gimbals is described.
Foil bearings were designed and manufactured to replace pivoted-shoe journal bearings in an existing Brayton Cycle turbo-alternator-compressor. The design of this unconventional rotor support was accomplished within the constraints and space limitations imposed by the present machine, and the substitution of foil bearings was effected without changes or modification other machine components. A housing and a test rig were constructed to incorporate the new foil-bearing support into a unified assemble with an air-driven rotor and the gimbal-mounted thrust bearing, seals, and shrouds of an actual Brayton Rotating Unit. The foil bearing required no external pressure source, and stable self-acting rotation was achieved at all speeds up to 43,200 rpm. Excellent wipe-wear characteristics of the foil bearing permitted well over 1000 start-stop cycles with no deterioriation of performance in the entire speed range.
An in-depth study of an Earth Storable Bimodal (ESB) Engine using earth storable propellants N2O/N2H4 and operating in either a monopropellant or bipropellant mode was conducted. Detailed studies were completed for both a hot-gas, regeneratively cooled thrust chamber and a ducted hot-gas, film cooled thrust chamber. Hydrazine decomposition products were used for cooling in either configuration. The various arrangements and configurations of hydrazine reactors, secondary injectors, chambers and gimbal methods were considered. The two basic materials selected for the major components were columbium alloys and L-605. The secondary injector types considered were previously demonstrated by JPL and consisted of a liquid-on-gas triplet, a liquid-on-gas doublet, and a liquid-on-gas coaxial injector. Various design tradeoffs were made with different reactor types located at: the secondary injector station, the thrust chamber throat, and the nozzle/extension interface. Associated thermal, structural, and mass analyses were completed.
A computer program has been developed and demonstrated that can analyze the response of space shuttle to atmospheric turbulence. The method developed accounts for propellant slosh, gimballed engine, and stability augmentation system (SAS) coupling with the elastic vehicle. Statistical outputs are generated that relate vehicle loads and accelerations to level of random turbulence. For discrete turbulence descriptions, response time-histories are computed. Preliminary turbulence response analyses of space shuttle were conducted for one ascent and one booster flyback subsonic flight condition. The ascent case considered both symmetric and antisymmetric boundary conditions, while only the symmetric analysis was conducted for booster flyback. The three conditions were analyzed with SAS active and inactive, but apparent instabilities with SAS active (arising from improper gains) invalidated the results. Load and acceleration responses in all cases, however, were well within vehicle design limits.
A three axis inertial system was packaged in an Apollo gimbal fixture for fine grain evaluation of strapdown system performance in dynamic environments. These evaluations have provided information to assess the effectiveness of real-time compensation techniques and to study system performance tradeoffs to factors such as quantization and iteration rate. The strapdown performance and tradeoff studies conducted include: (1) Compensation models and techniques for the inertial instrument first-order error terms were developed and compensation effectivity was demonstrated in four basic environments; single and multi-axis slew, and single and multi-axis oscillatory. (2) The theoretical coning bandwidth for the first-order quaternion algorithm expansion was verified. (3) Gyro loop quantization was identified to affect proportionally the system attitude uncertainty. (4) Land navigation evaluations identified the requirement for accurate initialization alignment in order to pursue fine grain navigation evaluations.
The paper reviews developments in failure detection and isolation techniques applicable to gimballed and strapdown systems. It examines basic redundancy management goals of improved reliability, performance and logistic costs, and explores mechanizations available for both input and output data handling. The meaning of redundant system reliability in terms of available coverage, system MTBF, and mission time is presented and the practical hardware performance limitations of failure detection and isolation techniques are explored. Simulation results are presented illustrating implementation coverages attainable considering IMU performance models and mission detection threshold requirements. The implications of a complete GN&C redundancy management method on inertial techniques are also explored.
A three axis inertial system is packaged in an Apollo gimbal fixture for fine grain evaluation of strapdown system performance in dynamic environments. These evaluations have provided information to assess the effectiveness of real-time compensation techniques and to study system performance tradeoffs to factors such as quantization iteration rate. The strapdown performance and tradeoff studies conducted in this program are discussed.
The application of control moment gyroscopes to the pointing and control system of the large space telescope is discussed. The parameter plane analysis technique is used to present the nonlinearity representing the control moment gyroscope gimbal bearing friction. The technique affords both analytic and graphic portrayal of the effects of variations is selected system parameters. Diagrams of the systems involved in the tests are presented.
An Integrated Power/Attitude Control System (IPACS) concept consisting of an array of spinning flywheels, with or without gimbals, capable of performing the dual function of power storage and generation, as well as attitude control has been investigated. This system provides attitude control through momentum storage, and replaces the storage batteries onboard the spacecraft. The results of the investigation are presented in two volumes. The trade-off studies performed to establish the feasibility, cost effectiveness, required level of development, and boundaries of application of IPACS to a wide variety of spacecraft are discussed. The conceptual designs for a free-flying research application module (RAM), and for a tracking and data relay satellite (TDRS) are presented. Results from dynamic analyses and simulations of the IPACS conceptual designs are included.