Numerical instability and stabilization of the kinematic differential equation using quaternions
The possibility of using quaternions to describe the position of a gyroscope with a given rotating vector is discussed.
Geiger, W.↗
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ATM-CMG control system stability
Stability analyses and simulation data and results are presented for an initial Control Moment Gyroscope system proposed for the Apollo Telescope Mount cluster (later named Skylab) using momentum vector feedback. A compensation filtering technique is presented which significantly improved analytical and simulation performance of the system. This technique is quite similar to the complementary filtering technique and represents an early NASA application.
Anderson, W. W.↗
Parametric instabilities of rotor-support systems with application to industrial ventilators
Rotor support systems interaction with parametric excitation is considered for both unequal principal shaft stiffness (generators) and offset disc rotors (ventilators). Instability regions and types of instability are computed in the first case, and parametric resonances in the second case. Computed and experimental results are compared for laboratory machine models. A field case study of parametric vibrations in industrial ventilators is reported. Computed parametric resonances are confirmed in field measurements, and some industrial failures are explained. Also the dynamic influence and gyroscopic effect of supporting structures are shown and computed.
Parszewski, Z.↗
Torques on a nearly rigid body in a relativistic gravitational field
The effect of post-Newtonian potentials on the rotation of a nearly rigid body is shown to consist of a precession and a torque. The frequency of the precession can be exactly represented by means of suitable differential operators. The relativistic torques in the quadrupole approximation depend on the instantaneous orientation of the principal axes of one body with respect to the position like the classical torque and velocity of the other. For a relatively low mass body, such as a gyroscope, these velocity-dependent torques have no observable consequences.
Caporali, A.↗
Gyro precession and Mach's principle
The precession of a gyroscope is calculated in a nonrelativistic theory due to Barbour which satisfies Mach's principle. It is shown that the theory predicts both the geodetic and motional precession of general relativity to within factors of order 1. The significance of the gyro experiment is discussed from the point of view of metric theories of gravity and this is contrasted with its significance from the point of view of Mach's principle.
Eby, P.↗
Space applications of superconductivity - Instrumentation for gravitational and related studies
Superconducting instruments for gravitational studies and their state of development are discussed. Consideration is given to accelerometers, gravimeters, superconducting gyroscopes, and inertial guidance and navigation systems. This is followed by discussion of applications to tests of gravitational theories, determination of elastic properties of planets, and navigation.
Peterson, R. L.↗
Electrical torques on the electrostatic gyro in the gyro relativity experiment
A comprehensive discussion and calculation of electrical torques on an electrostatic gyro as they relate to the gyroscope experiment to test general relativity is presented. Drift rates were computed for some typical state of the art rotors, including higher harmonics in the rotor shape. The effect of orbital averaging of gravity gradient forces, roll averaging of torques, and the effect of spin averaging on the effective shape of the rotor were considered. The electrical torques are reduced sufficiently in a low g environment to permit a measurement of the relativistic drifts predicted by general relativity.
Eby, P.↗
Introduction to ball bearings
The purpose of a ball bearing is to provide a relative positioning and rotational freedom while transmitting a load between two structures, usually a shaft and a housing. For high rotational speeds (e.g., in gyroscope ball bearings) the purpose can be expanded to include rotational freedom with practically no wear in the bearing. This condition can be achieved by separating the bearing parts with a coherent film of fluid known as an elastohydrodynamic film. This film can be maintained not only when the bearing carries the load on a shaft, but also when the bearing is preloaded to position the shaft to within micro- or nano-inch accuracy and stability. Background information on ball bearings is provided, different types of ball bearings and their geometry and kinematics are defined, bearing materials, manufacturing processes, and separators are discussed. It is assumed, for the purposes of analysis, that the bearing carries no load.
Hamrock, B. J.↗
Conceptual design studies for large free-flying solar-reflector spacecraft
The 1 km diameter reflecting film surface is supported by a lightweight structure which may be automatically deployed after launch in the Space Shuttle. A twin rotor, control moment gyroscope, with deployable rotors, is included as a primary control actuator. The vehicle has a total specific mass of less than 12 g/sq m including allowances for all required subsystems. The structural elements were sized to accommodate the loads of a typical SOLARES type mission where a swam of these free flying satellites is employed to concentrate sunlight on a number of energy conversion stations on the ground.
Hedgepeth, J. M.↗
Torque equilibrium attitude control for Skylab reentry
The method of torque equilibrium attitude control used to control the reentry of Skylab to an altitude below 150 km without the use of thruster fuel once the attitude was established is discussed. The Skylab attitude and pointing control system, which included rate gyros, sun sensors, star tracker, the Apollo telescope mount digital computer, control moment gyros and cold-gas attitude thrusters, is presented. The 12 torque equilibrium attitudes found at which aerodynamic, gravity gradient and gyroscopic torques would balance are indicated, and the three of those at which the solar power supply would be adequate for attitude control are illustrated. The equilibrium seeking method employed is then examined, and the operation and performance of the torque equilibrium attitude control system during the three weeks prior to Skylab reentry are discussed. It is concluded that the torque equilibrium attitude control method developed for Skylab was successful in performing its assigned mission, and will be valuable for the design of future, low-altitude spacecraft or tethered vehicles.
Glaese, J. R.↗
Computational aspects of the control of large flexible structures
This paper advances a unified theory for the modal-space control method developed by these authors for the control of large flexible structures and places the theory on a more rigorous foundation. The unified approach permits the simultaneous treatment of a broad spectrum of interrelated problems. In particular, the theory is valid for both nongyroscopic and gyroscopic systems and for systems with ignorable coordinates resulting from rigid body motions. In addition, it permits a convenient way of studying the question of control spillover. The modal-space control method is different from any other modal control method in that it provides both internal (plant) and external (controller) decoupling.
Meirovitch, L.↗
Stability theorems for multidimensional linear systems with variable parameters
A Liapunov-type approach is used to derive two equivalent theorems which govern the stability of coupled linear systems with varying multiple parameters. The theorems generalize some of the existing theorems applicable to systems with constant parameters and the Sonin-Polya theorem applicable to a single-degree-of-freedom system with variable coefficients. As an illustration, the proposed theorems are applied to mechanical systems with varying inertia, stiffness, gyroscopic, and damping terms, and velocity and position-dependent forces.
Shrivastava, S. K.↗
Engineering aspects of the Stanford relativity gyro experiment
According to certain theoretical predictions, the Newtonian laws of motion must be corrected for the effect of a gravitational field. Schiff (1960) proposed an experiment which would demonstrate the effect predicted by Einstein's Theory of General Relativity on a gyroscope. The experiment has been under development at Stanford University since 1961. The requirements involved make it necessary that the test be performed in a satellite to take advantage of weightlessness in space. In a discussion of engineering developments related to the experiment, attention is given to the development of proportional helium thrusters, the simulation of the attitude control system, aspects of inner loop control, the mechanization of the two-loop attitude control system, the effects of helium slosh on spacecraft pointing, and the data instrumentation system.
Everitt, C. W. F.↗
Gravitation experiments at Stanford
The experimental situation in post-Newtonian gravitation is briefly reviewed in order to reexamine the extent to which experiment supports or refutes general relativity. A description is given of the equivalence principle project, the gyroscope experiment, and the search for gravity waves. It is noted that even though some doubt has been cast on the value of the perihelion advance and the gravitational redshift as precise tests of general relativity in the past few years, many competing theories have been ruled out; in particular, the results from the Viking mission significantly reduce the credibility of the Brans-Dicke theory (Brans and Dicke, 1961). The dimensionless constant omega in this theory is now forced to exceed 50, while the value originally proposed was 6 (omega being infinity in general relativity). It is noted that the gyro experiment described is capable of putting much tighter limits on this parameter, and together with the other experiments in progress will help place gravitational theory on a firmer experimental footing.
Lipa, J. A.↗
The state of the art of general aviation autopilots - Now and in the future
A study was performed under contract with NASA-Langley Research Center to document the state of the art of general aviation (GA) autopilots and provide information about the current status of GA autopilot technology. Results are based on findings obtained from general and product literature, as well as interviews with manufacturers, users and service centers. The autopilot systems are divided into three categories - wing leveler, automatic, and integrated flight control systems, and a listing of currently available autopilots and their available options is presented. Various autopilot components are discussed, such as the display, data entry devices, and computers; gyroscopes, altitude sensors, airspeed sensors and accelerometers are presented as the primary sensor types. Electromechanical servos, pneumatic and hydraulic actuators are compared in their ability to improve airframe response. Recommendations concerning potential areas of further research and possible areas of improvement are also presented.
Roskam, J.↗
Scanner
An aerial vehicle rotating in gyroscopic fashion about one of its axes has an optical system which scans an area below the vehicle in determined relation to vehicle rotation. A sensing device is provided to sense the physical condition of the area of scan and optical means are associated to direct the physical intelligence received from the scan area to the sensing means. Means are provided to incrementally move the optical means through a series of steps to effect sequential line scan of the area being viewed keyed to the rotational rate of the vehicle.
Hummer, R. F.↗
Adaptive control system for large annular momentum control device
A dual momentum vector control concept, consisting of two counterrotating rings (each designated as an annular momentum control device), was studied for pointing and slewing control of large spacecraft. In a disturbance free space environment, the concept provides for three axis pointing and slewing capabilities while requiring no expendables. The approach utilizes two large diameter counterrotating rings or wheels suspended magnetically in many race supports distributed around the antenna structure. When the magnets are energized, attracting the two wheels, the resulting gyroscopic torque produces a rate along the appropriate axis. Roll control is provided by alternating the radiative rotational velocity of the two wheels. Wheels with diameters of 500 to 800 m and with sufficient momentum storage capability require rims only a few centimeters thick. The wheels are extremely flexible; therefore, it is necessary to account for the distributed nature of the rings in the design of the bearing controllers. Also, ring behavior is unpredictably sensitive to ring temperature, spin rate, manufacturing imperfections, and other variables. An adaptive control system designed to handle these problems is described.
Montgomery, R. C.↗
A study of the vent pipe for the gravity probe-B
The Gravity Probe B experiment to test Einstein's relativity theory is a possible Space Shuttle project. Cooling of the gyroscopes and thrusting of the Probe into a zero-drag environment is accomplished by vaporizing liquid helium and venting the gas from the Probe through a nozzle system. In order to avoid malfunctioning of this cooling-thruster system, the pressure difference across the vent pipe-thruster system must be maintained to be less than the vapor pressure of liquid helium at the given temperature. This study investigated helium gas flow through the vent pipe for various configurations, mass flow rates, and pipe diameters. In addition, pertinent properties of both liquid and gaseous helium were investigated. It was observed that helical coiling of the pipe about the Dewar caused less frictional drag and less pressure change than did sharp pipe bending. Also, for various flow rates and nozzle throat area sizes, the system would malfunction for a given bath temperature.
Knoshaug, R. N.↗