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Device regulates action of hydraulic linkage to control column to minimize hazard to operator. Primary components of device are flow rate control valve, limiter accumulator, and shutoff valve. Limiter may be incorporated into other hydraulic systems to prevent undue wear on hydraulic actuators and associated components.
In the case of complex industrial operations, the use of a multiprocessor for the control of a robotic system has a number of potential advantages over an employment of a single-processor design. In addition to the increased speed of parallel computation, multiprocessors can provide greater reliability. However, the control of a system with a multiprocessor is much more complicated, and requires resolution of a number of design criteria. The degree of coupling, the processor interconnection configuration, and the method of fault detection and correction are factors in the design of a multiprocessor which need to be considered for each particular application. In connection with the present investigation, a five-unit multiprocessor was built to experiment with the multiprocessor control of a robotic system. While the primary application of the multiprocessor involves the control of the Ohio State University (OSU) Hexapod, an 18-degree-of-freedom, motor-driven walking machine, the multiprocessor was designed to be versatile enough for a numbr of other uses.
Digital system gives pilot partial command when primary system fails. Emergency system provides digital control of rigid circulation-control rotor for experimental X-wing aircraft. In addition to centering collective-pitch control, new command provides limited roll control via collective pitch and gyroscopic decoupling in pitch and aerodynamic decoupling.
Control system design for the Active Control Technique Evaluation for Spacecraft (ACES) structure at NASA Marshall Space Flight Center is discussed. The primary objective of this experiment is to design controllers that provide substantial reduction of the line-of-sight pointing errors. Satisfaction of this objective requires the controllers to attenuate beam vibration significantly. The primary method chosen for control design is the optimal projection approach for uncertain systems (OPUS). The OPUS design process allows the simultaneous tradeoff of five fundamental issues in control design: actuator sizing, sensor accuracy, controller order, robustness, and system performance. A brief description of the basic ACES configuration is given. The development of the models used for control design and control design for eight system loops that were selected by analysis of test data collected from the structure are discussed. Experimental results showing that very significant performance improvement is achieved when all eight feedback loops are closed are presented.
An experiment was conducted to evaluate the use of force actuators on a model aircraft interior trim panel as the control element for active control of interior noise. The trim panel, designed specifically for this study, was constructed in three large identical sections and hard mounted to the ring frames of the primary structure. Piezoceramic actuators were bonded to the outer surface of the trim panels. Studies of the interior pressure response due to both the primary source alone and control sources alone were conducted as well as the control cases. A single acoustic loudspeaker, centered at the axial midpoint, generated the acoustic field to be controlled.
An attitude and orbit control system (AOCS) is developed for a 160-m, 450-kg solar sail spacecraft of the Solar Polar Imager (SPI) mission. The SPI mission is one of several Sun- Earth Connections solar sail roadmap missions currently envisioned by NASA. A reference SPI sailcraft consists of a 160-m, 150-kg square solar sail, a 250-kg spacecraft bus, and 50-kg science payloads, The 160-m reference sailcraft has a nominal solar thrust force of 160 mN (at 1 AU), an uncertain center-of-mass/center-of-pressure offset of +/- 0.4 m, and a characteristic acceleration of 0.35 mm/sq s. The solar sail is to be deployed after being placed into an earth escaping orbit by a conventional launch vehicle such as a Delta 11. The SPI sailcraft first spirals inwards from 1 AU to a heliocentric circular orbit at 0.48 AU, followed by a cranking orbit phase to achieve a science mission orbit at a 75-deg inclination, over a total sailing time of 6.6 yr. The solar sail will be jettisoned after achieving the science mission orbit. This paper focuses on the solar sailing phase of the SPI mission, with emphasis on the design of a reference AOCS consisting of a propellantless primary ACS and a microthruster-based secondary (optional) ACS. The primary ACS employs trim control masses running along mast lanyards for pitch/yaw control together with roll stabilizer bars at the mast tips for quadrant tilt (roll) control. The robustness and effectiveness of such a propellantless primary ACS would be enhanced by the secondary ACS which employs tip-mounted, lightweight pulsed plasma thrusters (PPTs). The microPPT-based ACS is mainly intended for attitude recovery maneuvers from off-nominal conditions. A relatively fast, 70-deg pitch reorientation within 3 hrs every half orbit during the orbit cranking phase is shown to be feasible, with the primary ACS, for possible solar observations even during the 5-yr cranking orbit phase.
A system, which estimates the global radius of curvature (GroC) and corrects for changes in GroC on a segmented primary mirror has been developed for and verified on McDonald Observatory's Hobby Eberly Telescope (HET). The GroC estimation and control system utilizes HET's primary mirror control (PMC) system and the Segment Alignment Maintenance System (SAMS), an inductive edge sensor system. A special set of boundary conditions is applied to the derivation of the optimal edge match control. The special boundary conditions allow the further derivation of an observer, which enables estimation and control of the Groc mode to within HET's specification. The magnitude of the GroC mode can then be controlled despite the inability of the SAMS edge sensor system, by itself, to observe or control the GroC mode. The observer can be extended to any segmented mirror telescope. It will be shown that the observer improves with accuracy as the number of segments increases. This paper presents the mathematical theory of the observer. Simulation results will demonstrate the inherent accuracy and robustness of the system. Performance verification data from the HET will be presented.
Description of a three-year exploratory research program for the design, development, and flight evaluation of an Integrated Propulsion Control System (IPCS). The primary objectives of this program are to establish through flight test the potential improvements in steady-state and transient propulsion system performance that can be achieved as a direct result of new modes of control, more direct sensing of engine and inlet parameters, and the use of more sophisticated, high-speed digital computation. A F-111 E aircraft with the left inlet and engine modified to the IPCS configuration will be used to conduct the flight evaluation.
Bioburden control is one of the challenges for the Ultrapure Water System on Space Station Freedom. Bioburden control must enable the system to deliver water with a low bacterial count as well as maintain biological contamination at a manageable level, to permit continued production of quality water. Ozone has been chosen as the primary means of Bioburden control. Planned tests to determine the effectiveness of ozone on free-floating microbes and biofilms are described.
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Flight experiments were conducted with Ames Research Center's Quiet Short-Haul Research Aircraft to evaluate the influence of highly augmented control modes on the ability of pilots to execute precision instrument flight operations in the terminal area, particularly approaches to and landings on a short runway. The aircraft is a powered-lift, short-takeoff and landing configuration that is equipped with a modern digital fly-by-wire flight control system, a head-up display, and a solar head-down display that make it possible to investigate control concepts and display format and content for full envelope, powered-lift operations. Considerable attention has been devoted in this flight program to assessing flightpath and airspeed command and stabilization modes developed using nonlinear, inverse model-following methods. The primary benefit of this control concept was realized when the pilot was required to execute a complex transition and approach under instrument conditions and in the presence of a wide range of wind and turbulence conditions.
The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.
Advanced flight control system design, analysis, and testing methodologies developed at the Ames Research Center are applied in an analytical and flight test evaluation of the Advanced Digital Optical Control System (ADOCS) demonstrator. The primary objectives are to describe the knowledge gained about the implications of digital flight control system design for rotorcraft, and to illustrate the analysis of the resulting handling-qualities in the context of the proposed new handling-qualities specification for rotorcraft. Topics covered in-depth are digital flight control design and analysis methods, flight testing techniques, ADOCS handling-qualities evaluation results, and correlation of flight test results with analytical models and the proposed handling-qualities specification. The evaluation of the ADOCS demonstrator indicates desirable response characteristics based on equivalent damping and frequency, but undersirably large effective time-delays (exceeding 240 m sec in all axes). Piloted handling-qualities are found to be desirable or adequate for all low, medium, and high pilot gain tasks; but handling-qualities are inadequate for ultra-high gain tasks such as slope and running landings.
The Spacecraft Optical Disk Recorder (SODR) is a state of the art mass storage system for future NASA missions requiring high transmission rates and a large capacity storage system. This report covers the design and development of an SODR memory buffer control applications specific integrated circuit (ASIC). The memory buffer control ASIC has two primary functions: (1) buffering data to prevent loss of data during disk access times, (2) converting data formats from a high performance parallel interface format to a small computer systems interface format. Ten 144 p in, 50 MHz CMOS ASIC's were designed, fabricated and tested to implement the memory buffer control function.
The primary objective of the Test Active Control Technology (ACT) System laboratory tests was to verify and validate the system concept, hardware, and software. The initial lab tests were open loop hardware tests of the Test ACT System as designed and built. During the course of the testing, minor problems were uncovered and corrected. Major software tests were run. The initial software testing was also open loop. These tests examined pitch control laws, wing load alleviation, signal selection/fault detection (SSFD), and output management. The Test ACT System was modified to interface with the direct drive valve (DDV) modules. The initial testing identified problem areas with DDV nonlinearities, valve friction induced limit cycling, DDV control loop instability, and channel command mismatch. The other DDV issue investigated was the ability to detect and isolate failures. Some simple schemes for failure detection were tested but were not completely satisfactory. The Test ACT System architecture continues to appear promising for ACT/FBW applications in systems that must be immune to worst case generic digital faults, and be able to tolerate two sequential nongeneric faults with no reduction in performance. The challenge in such an implementation would be to keep the analog element sufficiently simple to achieve the necessary reliability.
Development of MEMS (Microelectromechanical Systems) micropropulsion at the Jet Propulsion Laboratory (JPL) is reviewed. This includes a vaporizing liquid micro-thruster for microspacecraft attitude control, a micro-ion emgine for microspacecraft primary propulsion or large spacecraft fine attitude control, as well as several valve studies, including a solenoid valve studied in collaboration with Moog Space Products Division, and a piezoelectric micro-valve.
High cycle fatigue (HCF) induced failures in aircraft gas turbine and rocket engine turbopump blades is a pervasive problem. Single crystal nickel turbine blades are being utilized in rocket engine turbopumps and jet engines throughout industry because of their superior creep, stress rupture, melt resistance, and thermomechanical fatigue capabilities over polycrystalline alloys. Currently the most widely used single crystal turbine blade superalloys are PWA 1480/1493, PWA 1484, RENE' N-5 and CMSX-4. These alloys play an important role in commercial, military and space propulsion systems. Single crystal materials have highly orthotropic properties making the position of the crystal lattice relative to the part geometry a significant factor in the overall analysis. The failure modes of single crystal turbine blades are complicated to predict due to the material orthotropy and variations in crystal orientations. Fatigue life estimation of single crystal turbine blades represents an important aspect of durability assessment. It is therefore of practical interest to develop effective fatigue failure criteria for single crystal nickel alloys and to investigate the effects of variation of primary and secondary crystal orientation on fatigue life. A fatigue failure criterion based on the maximum shear stress amplitude /Delta(sub tau)(sub max))] on the 24 octahedral and 6 cube slip systems, is presented for single crystal nickel superalloys (FCC crystal). This criterion reduces the scatter in uniaxial LCF test data considerably for PWA 1493 at 1200 F in air. Additionally, single crystal turbine blades used in the alternate advanced high-pressure fuel turbopump (AHPFTP/AT) are modeled using a large-scale three-dimensional finite element model. This finite element model is capable of accounting for material orthotrophy and variation in primary and secondary crystal orientation. Effects of variation in crystal orientation on blade stress response are studied based on 297 finite element model runs. Fatigue lives at critical points in the blade are computed using finite element stress results and the failure criterion developed. Stress analysis results in the blade attachment region are also presented. Results presented demonstrates that control of secondary and primary crystallographic orientation has the potential to significantly increase a component S resistance to fatigue crack growth with- out adding additional weight or cost. [DOI: 10.1115/1.1413767]
The Hubble Space Telescope features the most exacting line of sight jitter requirement thus far imposed on a spacecraft pointing system. Consideration of the fine pointing requirements prompted an attempt to isolate the telescope from the low level vibration disturbances generated by the attitude control system reaction wheels. The primary goal was to provide isolation from axial component of wheel disturbance without compromising the control system bandwidth. A passive isolation system employing metal springs in parallel with viscous fluid dampers was designed, fabricated, and space qualified. Stiffness and damping characteristics are deterministic, controlled independently, and were demonstrated to remain constant over at least five orders of input disturbance magnitude. The damping remained purely viscous even at the data collection threshold of .16 x .000001 in input displacement, a level much lower than the anticipated Hubble Space Telescope disturbance amplitude. Vibration attenuation goals were obtained and ground test of the vehicle has demonstrated the isolators are transparent to the attitude control system.