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Inviscid flux Jacobian matrices and their properties used in numerical solutions of conservation laws are extended to general, equilibrium gas laws. Exact and approximate generalizations of the Roe average are presented. Results are given for one-dimensional flow, and then extended to three-dimensional flow with time-varying grids.
An interactive graphical proximity operations planning system was developed, which allows on-site design of efficient, complex, multiburn maneuvers in a dynamic multispacecraft environment. Maneuvering takes place in and out of the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of orbital dynamics and complex time-varying operational constraints. This difficulty is greatly overcome by visualizing the relative trajectories and the relevant constraints in an easily interpretable graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of a Space Station and co-orbiting spacecraft on the background of the Station's orbital plane. The operator has control over the two modes of operation: a viewing system mode, which enables the exporation of the spatial situation about the Space Station and thus the ability to choose and zoom in on areas of interest; and a trajectory design mode, which allows the interactive editing of a series of way points and maneuvering burns to obtain a trajectory that complies with all operational constraints. A first version of this display was completed. An experimental program is planned in which operators will carry out a series of design missions which vary in complexity and constraints.
The internal three-dimensional steady and time-varying flow through the diffusing elements of a centrifugal impeller were investigated using a moderate scale, subsonic, mixed flow research compressor facility. The characteristics of the test facility which permit the measurement of internal flow conditions throughout the entire research compressor and radial diffuser for various operating conditions are described. Results are presented in the form of graphs and charts to cover a range of mass flow rates with inlet guide vane settings varying from minus 15 degrees to plus 45 degrees. The static pressure distributions in the compressor inlet section and on the impeller and exit diffuser vanes, as well as the overall pressure and temperature rise and mass flow rate, were measured and analyzed at each operating point to determine the overall performance as well as the detailed aerodynamics throughout the compressor.
An assessment of quantitative methods and measures for measuring launch commit criteria (LCC) performance measurement trends is made. A statistical performance trending analysis pilot study was processed and compared to STS-26 mission data. This study used four selected shuttle measurement types (solid rocket booster, external tank, space shuttle main engine, and range safety switch safe and arm device) from the five missions prior to mission 51-L. After obtaining raw data coordinates, each set of measurements was processed to obtain statistical confidence bounds and mean data profiles for each of the selected measurement types. STS-26 measurements were compared to the statistical data base profiles to verify the statistical capability of assessing occurrences of data trend anomalies and abnormal time-varying operational conditions associated with data amplitude and phase shifts.
A laboratory experiment was conducted to quantify the annoyance of people to the flyover noise of advanced turboprop aircraft with counter-rotating propellers (CRP) having a different number of blades on each rotor (nxm, e.g., 10 x 8, 12 x 11). The objectives were: (1) compare annoyance to nxm CRP advanced turboprop aircraft with annoyance to conventional turboprop and jet aircraft; (2) determine the effects of tonal content on annoyance; and (3) determine the ability of aircraft noise measurement procedures and corrections to predict annoyance for this new class of aircraft. A computer synthesis system was used to generate 35 realistic, time-varying simulations of advanced turboprop takeoff noise in which the tonal content was systematically varied to represent combinations of 15 fundamental frequency (blade passage frequency) combinations and three tone-to-broadband noise ratios. The fundamental frequencies, which represented blade number combinations from 6 x 5 to 13 x 12 and 7 x 5 to 13 x 11, ranged from 112.5 to 292.5 Hz. The three tone-to-broadband noise ratios were 0, 15, and 30 dB. These advanced turboprop simulations along with recordings of five conventional turboprop takeoffs and five conventional jet takeoffs were presented at D-weighted sound pressure levels of 70, 80, and 90 dB to 64 subjects in an anechoic chamber. Analyses of the subjects' annoyance judgments compare the three categories of aircraft and examine the effects of the differences in tonal content among the advanced turboprop noises. The annoyance prediction ability of various noise measurement procedures and corrections is also examined.
Three strategies for adaptive control of cooperative dual-arm robots are described. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through the load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions, while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are rejected by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. The controllers have simple structures and are computationally fast for on-line implementation with high sampling rates.
A reconfigurable nonlinear control system design methodology is proposed to automatically correct computed slew torque commands of space-based pointing systems for the effects of slew-induced structural deformations. The possibility of forcing an elastic structure, such as that of a space-based instrument frame, to deform in a preselected way in response to rapid slews is demonstrated. To accomplish this, a supervisory controller must select a pair of algorithms, one for structural counterexcitation and the other for slew torque correction. It is shown how the reachability and subsequent tracking of the appropriate 'slow manifold', where the control algorithms are valid, can be ensured by a fast tracking loop, with time-varying gain dependent only on the commanded angular acceleration.
The authors present a novel method called time-varying transfer function estimation (TTFE) in which time-domain parameters are computed through identification in the frequency domain. The method is particularly well suited for flexible structure control problems. An example of a flexible manipulator system is presented for which a self-tuning control law with frequency shaping is derived and demonstrated.
A direct adaptive scheme based on the use of linear time-varying periodic controllers is proposed which estimates online the periodic coefficients of the controller. It is shown that adaptive stabilization is attained for all possibly nonstably invertible plants of known order but unknown delay. Although no appeal is made to persistency of excitation arguments, a provision is needed to avoid the singularity of an estimated matrix, this property being required only for the analysis and not the control calculations.
The output from the NCAR Thermospheric General Circulation Model was used to simulate the time and altitude-dependent F-region ion frictional heating rate. These ion-heating profiles, computed as a functionm of UT along the locus of specific flux tubes, were used as boundary conditions in the Gombosi et al. (1985) polar wind model to simulate the plasma heating history of a flux tube traversing the cusp region. Using derived time-varying frictional heating rates such as those experienced by these flux tubes, it is shown that transverse ion heating below 500 km can provide sufficient energy to perturb the velocity distribution of the major ion species.
Finite-difference and finite-volume formulations are analyzed in order to clear up the confusion concerning their application to the numerical solution of conservation laws. A new coordinate-free formulation of systems of conservation laws is developed, which clearly distinguishes the role of physical vectors from that of algebraic vectors which characterize the system. The analysis considers general types of equations: potential, Euler, and Navier-Stokes. Three-dimensional unsteady flows with time-varying grids are described using a single, consistent nomenclature for both formulations. Grid motion due to a non-inertial reference frame as well as flow adaptation is covered. In comparing the two formulations, it is found useful to distinguish between differences in numerical methods and differences in grid definition. The former plays a role for non-Cartesian grids, and results in only cosmetic differences in the manner in which geometric terms are handled. The differences in grid definition for the two formulations is found to be more important, since it affects the manner in which boundary conditions, zonal procedures, and grid singularities are handled at computational boundaries. The proper interpretation of strong and weak conservation-law forms for quasi-one-dimensional and axisymmetric flows is brought out.
A method for compensating the effects of network-induced delays in integrated communication and control systems (ICCS) is proposed, and a finite-dimensional time-invariant ICCS model is developed. The problem of analyzing systems with time-varying and stochastic delays is circumvented by the application of a deterministic observer. For the case of controller-to-actuator delays, the observed design must rely on an extended model which represents the delays as additional states.
Modern numerical techniques employing properties of flux Jacobian matrices are extended to general, nonequilibrium flows. Generalizations of the Beam-Warming scheme, Steger-Warming and van Leer Flux-vector splittings, and Roe's approximate Riemann solver are presented for 3-D, time-varying grids. The analysis is based on a thermodynamic model that includes the most general thermal and chemical nonequilibrium flow of an arbitrary gas. Various special cases are also discussed.
Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.
Magnetic torquing of spacecraft has been an important mechanism for attitude control since the earliest satellites were launched. Typically a magnetic control system has been used for precession/nutation damping for gravity-gradient stabilized satellites, momentum dumping for systems equipped with reaction wheels, or momentum-axis pointing for spinning and momentum-biased spacecraft. Although within the small satellite community there has always been interest in expensive, light-weight, and low-power attitude control systems, completely magnetic control systems have not been used for autonomous three-axis stabilized spacecraft due to the large computational requirements involved. As increasingly more powerful microprocessors have become available, this has become less of an impediment. These facts have motivated consideration of the all-magnetic attitude control system presented here. The problem of controlling spacecraft attitude using only magnetic torquing is cast into the form of the Linear Quadratic Regulator (LQR), resulting in a linear feedback control law. Since the geomagnetic field along a satellite trajectory is not constant, the system equations are time varying. As a result, the optimal feedback gains are time-varying. Orbit geometry is exploited to treat feedback gains as a function of position rather than time, making feasible the onboard solution of the optimal control problem. In simulations performed to date, the control laws have shown themselves to be fairly robust and a good candidate for an onboard attitude control system.
The algorithm's objective is to efficiently solve Dynamic Linear Programs (DLP) by taking advantage of their special staircase structure. This algorithm constitutes a stepping stone to an improved algorithm for solving Dynamic Quadratic Programs, which, in turn, would make the nonlinear programming method of Successive Quadratic Programs more practical for solving trajectory optimization problems. The ultimate goal is to being trajectory optimization solution speeds into the realm of real-time control. The algorithm exploits the staircase nature of the large constraint matrix of the equality-constrained DLPs encountered when solving inequality-constrained DLPs by an active set approach. A numerically-stable, staircase QL factorization of the staircase constraint matrix is carried out starting from its last rows and columns. The resulting recursion is like the time-varying Riccati equation from multi-stage LQR theory. The resulting factorization increases the efficiency of all of the typical LP solution operations over that of a dense matrix LP code. At the same time numerical stability is ensured. The algorithm also takes advantage of dynamic programming ideas about the cost-to-go by relaxing active pseudo constraints in a backwards sweeping process. This further decreases the cost per update of the LP rank-1 updating procedure, although it may result in more changes of the active set that if pseudo constraints were relaxed in a non-stagewise fashion. The usual stability of closed-loop Linear/Quadratic optimally-controlled systems, if it carries over to strictly linear cost functions, implies that the saving due to reduced factor update effort may outweigh the cost of an increased number of updates. An aerospace example is presented in which a ground-to-ground rocket's distance is maximized. This example demonstrates the applicability of this class of algorithms to aerospace guidance. It also sheds light on the efficacy of the proposed pseudo constraint relaxation scheme.
The behavior of the reverse flow ceiling jet against the ventilation flow from 0.58 to 0.87 m/s was investigated in a 1/3 scale model of a wide body aircraft interior. For all tests, strong reverse-flow ceiling jets of hot gases were detected well upstream of the fire. Both thicknesses of the reverse-flow ceiling jet and the smoke layer increased with the fire-crossflow parameter. The thickness of the smoke layer where the smoke flows along the main flow below the reverse-flow ceiling jet was almost twice that of the reverse-flow ceiling jet. Detailed spatial and time-varying temperatures of the gas in the test section were measured, and velocity profiles were also measured using a temperature compensated hot film.
On-orbit system identification (ID) of large space systems is essential for various reasons. For example, the complex composite structure of such systems cannot be ground-tested; their structural dynamic characteristics must be known accurately in order to accomplish active control. Furthermore, such capability can be used to characterize/identify various disturbances. The identification process is consisted of four principal elements: (1) modeling, (2) the estimation algorithm, (3) input system, and (4) measurement system. These elements are highly correlated and all togerher determine the success of the identification problem. Accurate modeling of large space systems is the most important element of the identification process. Large flexible structures are non-linear and infinite dimensional systems with highly coupled parameters and low frequency packed modes. In addition, these systems are subject to stochastic and time-varying disturbances, they have structural parameters which can vary due to on-orbit assembly deployment, and operations. These systems are generally; however, represented by constant coefficient, finite order differential equations. The non-linearities, coupling and noise effects are also often neglected. Moreover, identification experiment designs which lead to highly complex optimization problems usually require the simultaneous choice of ID algorithm, sensor, and actuator type and placement. On-orbit bandwidth and power restrictions on excitation, limited data window, and restrictions on sensor/actuator type, placement and number, has led to practical questions of implementations.