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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sources NASA NTRS DOE OSTI

NASA NTRS2005

Hubble Space Telescope Magnetometer and Two-Gyro Control Law Design, Implementation, and On-Orbit Performance

For f i h years, the science mission of the Hubble Space Telescope (HST) required using at least three of six rate gyros for attitude control. In the past, HST has mitigated gyro hardware failures by replacement of the failed units through Space Shuttle Servicing Missions. Following the tragic loss of Space Shuttle Columbia on STS-107, the desire to have a safe haven for astronauts during missions has resulted in the cancellation of all planned maxu14 missions to HST. While a robotic servicing mission is being currently being planned, controlling with alternate sensors to replace failed gyros can extend the HST Science mission until the robotic mission can be performed and extend science at HST s end of life. A two-gym control law has been designed and implemented using magnetometers (Magnetic Sensing System - MSS), fixed head star trackers (FHSTs), and Fine Guidance Sensors (FGSs) to control vehicle rate about the missing gyro axis. The three aforementioned sensors are used in succession to reduce HST boresight jitter to less than 7 milli-arcseconds rms and attitude error to less than 10 milli-arcseconds prior to science imaging. The MSS and 2-Gyro (M2G) control law is used for large angle maneuvers and attitude control during earth occultation of FHSTs and FGSs. The Tracker and 2-Gyro (T2G) control law dampens M2G rates and corrects the majority of attitude error in preparation for guide star acquisition with the FGSs. The Fine Guidance Sensor and 2-Gyro (F2G) control law d a m p T2G rates and controls HST attitude during science imaging. This paper describes the M2G control law. Details of M2G algorithms are presented, including computation of the HST 3-axis attitude error estimate, design of the M2G control law, SISO hear stability analyses, and restrictions on operations to maintain the h d t h and safety requirement of a 10degree maximum attitude error. Results of simulations performed in HSTSIM, a high-fidelity non-linear time domain simulation, are presented to predict HST on-orbit performance in attitude hold and maneuver modes. Simulation results are compared to on-orbit data from M2G flight tests performed in November and December 2004 and February 2005. Flight telemetry, using a currently available third gyro, shows that HST attitude error with the new M2G control law is maintained below the 10-degree requirement, and attitude errors are under 2 degrees for 95% of the time.

Wirzburger, John H.↗

DOE OSTI2026

Melter Tests to Define LAW Halide Concentrations, Phase 2

The present work represents the second of two phases to address the formation of secondary sulfate phases while processing high waste loading LAW formulations with elevated halide, chromium, and phosphate feed concentrations over a wide range of LAW waste types, including those with high potassium concentrations. The Test Plan for the present work outlines a series of tests designed to assess the formation of secondary phases over a range of sulfur and halide concentrations for two LAW streams and associated glass formulations as well as crucible testing to identify additives that have the potential to suppress the formation of secondary phases for wastes with high chlorine contents. The combined results from both phases of testing and from previous tests with these LAW waste streams will be used as inputs to future work to develop concentration limits for these components in the LAW glass property composition models and to support the modification and updating of the current WTP LAW glass formulation algorithm.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

NASA NTRS1972

A comparison of CMG steering laws for High Energy Astronomy Observatories (HEAOs)

A comparison of six selected control moment gyro steering laws for use on the HEAO spacecraft is reported. Basic equations are developed to project the momentum and torque of four skewed, single gimbal CMGs into vehicle coordinates. In response to the spacecraft attitude error signal, six algorithms are derived for controlling the CMG gimbal movements. HEAO performance data are obtained using each steering law and compared on the basis of such factors as accuracy, complexity, singularities, gyro hang-up and failure adaption. Moreover, each law is simulated with and without a magnetic momentum management system. The performance of any steering law is enhanced by the magnetic system. Without magnetics, the gimbal angles get large and there are significant differences in steering law performances due to cross coupling and nonlinearities. The performance of the pseudo inverse law is recommended for HEAO.

Davis, B. G.↗

NASA NTRS1976

Digital adaptive control laws for the F-8

NASA is conducting a flight control research program in digital fly-by-wire technology using a modified F-8C aircraft. The first phase of this program used Apollo hardware to demonstrate the practicality of digital fly-by-wire in an actual test vehicle. For the second phase, conventional aircraft sensors and a large floating point digital computer are being utilized to test advanced control laws and redundancy concepts. As part of NASA's research in digital fly-by-wire technology, Honeywell developed digital adaptive flight control laws for flight test in the F-8C. Adaptation of the control laws was to be based on information sensed from conventional aircraft sensors excluding air data. The control laws were constrained to use only existing elevator, rudder, and ailerons as control effectors, each powered by existing actuators. Three adaptive control laws were successfully designed using maximum likelihood estimation, a Liapunov stable model tracker and a self-excited limit cycle concept. The maximum likelihood estimation design was selected as the most promising because of its capability to identify more than surface effectiveness parameters. The adaptive concepts, the control laws and comparisons of predicted performance are described.

Hartmann, G. L.↗

NASA NTRS1976

Frequency modulation at a moving material interface and a conservation law for wave number

An integral conservation law for wave numbers is considered. In order to test the validity of the proposed conservation law, a complete solution for the reflection and transmission of an acoustic wave impinging normally on a material interface moving at a constant speed is derived. The agreement between the frequency condition thus deduced from the dynamic equations of motion and the frequency condition derived from the jump condition associated with the integral equation supports the proposed law as a true conservation law. Additional comparisons such as amplitude discontinuities and Snells' law in a moving media further confirm the stated proposition. Results are stated concerning frequency and wave number relations across a shock front as predicted by the proposed conservation law.

Kleinstein, G. G.↗

NASA NTRS1979

Gust alleviation - Criteria and control laws

The relationships between criteria specified for aircraft gust alleviation and the form of the control laws that result from the criteria are considered. Open-loop gust alleviation based on the linearized, small perturbation equations of aircraft motion is discussed, and an approximate solution of the open-loop control law is presented for the case in which the number of degrees of freedom of the aircraft exceeds the rank of the control effectiveness matrix. Excessive actuator lag is compensated for by taking into account actuator dynamics in the equations of motion, resulting in the specification of a general load network. Criteria for gust alleviation when output motions are gust alleviated and the closed-loop control law derived from them are examined and linear optimal control law is derived. Comparisons of the control laws reveal that the effectiveness of an open-loop control law is greatest at low aircraft frequencies but deteriorates as the natural frequency of the actuators is approached, while closed-loop methods are found to be more effective at higher frequencies.

Rynaski, E. G.↗

NASA NTRS1981

Steering law for parallel mounted double-gimbaled control moment gyros. Revision A

Mounting of double-gimbaled control moment gyros (CMG's) of unlimited outer gimbal angle freedom with all their outer gimbal axes parallel allows drastic simplification of the CMG steering law development hardware. The advantages of the parallel mounting for the CMG steering law development are such that a law could be developed which is applicable to any number of CMG's with arbitrary angular momentum. Parallel mounting of the CMG's in conjunction with the steering law can therefore be considered a CMG kit suitable for many missions of differing momentum requirements. It also means that increasing momentum demands during the design phase of a space vehicle can be easily met by the addition of one or more CMG's of the original momentum capacity rather than a redesign to a larger momentum capacity. Another advantage of the parallel mounting is that the failure of any CMG can be treated like any other, i.e., only one failure mode is possible. The CMG steering law distributes the CMG momentum vectors such that all inner gimbal angles are equal which reduces the rate requirements on the outer gimbal axes. The steering law also spreads the outer gimbals which ensures avoidance of singularities internal to the angular momentum envelope.

Kennel, H. F.↗

NASA NTRS1981

Development and evaluation of automatic landing control laws for light wing loading STOL aircraft

Automatic flare and decrab control laws were developed for NASA's experimental Twin Otter. This light wing loading STOL aircraft was equipped with direct lift control (DLC) wing spoilers to enhance flight path control. Automatic landing control laws that made use of the spoilers were developed, evaluated in a simulation and the results compared with these obtained for configurations that did not use DLC. The spoilers produced a significant improvement in performance. A simulation that could be operated faster than real time in order to provide statistical landing data for a large number of landings over a wide spectrum of disturbances in a short time was constructed and used in the evaluation and refinement of control law configurations. A longitudinal control law that had been previously developed and evaluated in flight was also simulated and its performance compared with that of the control laws developed. Runway alignment control laws were also defined, evaluated, and refined to result in a final recommended configuration. Good landing performance, compatible with Category 3 operation into STOL runways, was obtained.

Feinreich, B.↗

NASA NTRS1988

Digital active control law synthesis for aeroservoelastic systems

This paper presents a formulation for synthesis of digital active control laws for aeroservoelastic systems, which are typically modeled by large order equations in order to accurately represent the rigid and flexible body modes, unsteady aerodynamic forces, actuator dynamics, and gust spectra. The control law is expected to satisfy multiple design requirements on the dynamic loads, responses, actuator deflection and rate limitations, as well as maintain certain stability margins, yet should be simple enough to be implemented by an onboard digital microprocessor. The synthesis procedure minimizes a linear quadratic Gaussian type cost function, by updating selected free parameters of the control law, while satisfying a set of inequality constraints on the design loads, responses and stability margins. A stable classical control law or an estimator based full or reduced order control law can be used as an initial design starting point. The gradients of the cost function and the constraints, with respect to the digital control law design variables are derived analytically, to facilitate rapid convergence. Selected design responses can be treated as constraints instead of lumping them into the cost function, in order to satisfy individual root-mean-square load and response limitations. Constraints are also imposed on the minimum singular value requirements for stability robustness improvement.

Mukhopadhyay, Vivekananda↗

NASA NTRS1989

Flutter suppression control law synthesis for the Active Flexible Wing model

The Active Flexible Wing Project is a collaborative effort between the NASA Langley Research Center and Rockwell International. The objectives are the validation of methodologies associated with mathematical modeling, flutter suppression control law development and digital implementation of the control system for application to flexible aircraft. A flutter suppression control law synthesis for this project is described. The state-space mathematical model used for the synthesis included ten flexible modes, four control surface modes and rational function approximation of the doublet-lattice unsteady aerodynamics. The design steps involved developing the full-order optimal control laws, reducing the order of the control law, and optimizing the reduced-order control law in both the continuous and the discrete domains to minimize stochastic response. System robustness was improved using singular value constraints. An 8th order robust control law was designed to increase the symmetric flutter dynamic pressure by 100 percent. Preliminary results are provided and experiences gained are discussed.

Mukhopadhyay, Vivek↗

NASA NTRS1989

Flutter suppression control law synthesis for the active flexible wing model

Mukhopadhyay, Vivek↗

NASA NTRS1990

Definition and preliminary design of the Laser Atmospheric Wind Sounder (LAWS) phase 1. Volume 2

The steps and engineering trades and analyses used in establishing the initial requirements and in developing a concept and configuration for the laser atmospheric wind sounder (LAWS) instrument. A summary of the performance anticipated from the baseline configuration, and a bibliography are presented. LAWS, which is a facility instrument of the Earth observing system (EOS), is the culmination of over 20 years of effort in the field of laser Doppler wind sensing and will be the first instrument to fly in space capable of providing global-scale tropospheric wind profiles at high spatial resolutions. Global-scale wind profiles are necessary for: (1) more accurate diagnosis of large-scale circulation and climate dynamics; (2) improved numerical weather prediction; (3) improved understanding of mesoscale systems; and (4) improved understanding of global biogeochemical and hydrologic cycles. The objective of phase 1 was to define and perform a preliminary design for the LAWS instrument. The definition phase consisted of identifying realistic concepts for LAWS and analyzing them in sufficient detail to be able to choose the most promising one for the LAWS instrument. Systems and subsystems configurations were then developed for the chosen concept. The concept and subsequent configuration were to be compatible with two prospective platforms: the Japanese polar orbiting platform (JPOP) and as an attached payload on the Space Station Freedom. After a thorough and objective concept selection process, a heterodyne detection Doppler lidar using a CO2 laser transmitter operating a 9.1 micron over a 2.1 micron solid state system was chosen. A configuration for LAWS that meets the performance requirements was designed at the conclusion of phase 1.

Source record↗

NASA NTRS1993

Second law analysis of a conventional steam power plant

A numerical investigation of exergy destroyed by operation of a conventional steam power plant is computed via an exergy cascade. An order of magnitude analysis shows that exergy destruction is dominated by combustion and heat transfer across temperature differences inside the boiler, and conversion of energy entering the turbine/generator sets from thermal to electrical. Combustion and heat transfer inside the boiler accounts for 53.83 percent of the total exergy destruction. Converting thermal energy into electrical energy is responsible for 41.34 percent of the total exergy destruction. Heat transfer across the condenser accounts for 2.89 percent of the total exergy destruction. Fluid flow with friction is responsible for 0.50 percent of the total exergy destruction. The boiler feed pump turbine accounts for 0.25 percent of the total exergy destruction. Fluid flow mixing is responsible for 0.23 percent of the total exergy destruction. Other equipment including gland steam condenser, drain cooler, deaerator and heat exchangers are, in the aggregate, responsible for less than one percent of the total exergy destruction. An energy analysis is also given for comparison of exergy cascade to energy cascade. Efficiencies based on both the first law and second law of thermodynamics are calculated for a number of components and for the plant. The results show that high first law efficiency does not mean high second law efficiency. Therefore, the second law analysis has been proven to be a more powerful tool in pinpointing real losses. The procedure used to determine total exergy destruction and second law efficiency can be used in a conceptual design and parametric study to evaluate the performance of other steam power plants and other thermal systems.

Liu, Geng↗

NASA NTRS1998

High-Alpha Research Vehicle Lateral-Directional Control Law Description, Analyses, and Simulation Results

This report contains a description of a lateral-directional control law designed for the NASA High-Alpha Research Vehicle (HARV). The HARV is a F/A-18 aircraft modified to include a research flight computer, spin chute, and thrust-vectoring in the pitch and yaw axes. Two separate design tools, CRAFT and Pseudo Controls, were integrated to synthesize the lateral-directional control law. This report contains a description of the lateral-directional control law, analyses, and nonlinear simulation (batch and piloted) results. Linear analysis results include closed-loop eigenvalues, stability margins, robustness to changes in various plant parameters, and servo-elastic frequency responses. Step time responses from nonlinear batch simulation are presented and compared to design guidelines. Piloted simulation task scenarios, task guidelines, and pilot subjective ratings for the various maneuvers are discussed. Linear analysis shows that the control law meets the stability margin guidelines and is robust to stability and control parameter changes. Nonlinear batch simulation analysis shows the control law exhibits good performance and meets most of the design guidelines over the entire range of angle-of-attack. This control law (designated NASA-1A) was flight tested during the Summer of 1994 at NASA Dryden Flight Research Center.

Davidson, John B.↗

NASA NTRS1992

How should Fitts' Law be applied to human-computer interaction?

The paper challenges the notion that any Fitts' Law model can be applied generally to human-computer interaction, and proposes instead that applying Fitts' Law requires knowledge of the users' sequence of movements, direction of movement, and typical movement amplitudes as well as target sizes. Two experiments examined a text selection task with sequences of controlled movements (point-click and point-drag). For the point-click sequence, a Fitts' Law model that used the diagonal across the text object in the direction of pointing (rather than the horizontal extent of the text object) as the target size provided the best fit for the pointing time data, whereas for the point-drag sequence, a Fitts' Law model that used the vertical size of the text object as the target size gave the best fit. Dragging times were fitted well by Fitts' Law models that used either the vertical or horizontal size of the terminal character in the text object. Additional results of note were that pointing in the point-click sequence was consistently faster than in the point-drag sequence, and that pointing in either sequence was consistently faster than dragging. The discussion centres around the need to define task characteristics before applying Fitts' Law to an interface design or analysis, analyses of pointing and of dragging, and implications for interface design.

NASA Program Space Human Factors↗

NASA NTRS2008

Control Laws for a Dual-Spin Stabilized Platform

This paper describes two attitude control laws suitable for atmospheric flight vehicles with a steady angular momentum bias in the vehicle yaw axis. This bias is assumed to be provided by an internal flywheel, and is introduced to enhance roll and pitch stiffness. The first control law is based on Lyapunov stability theory, and stability proofs are given. The second control law, which assumes that the angular momentum bias is large, is based on a classical PID control. It is shown that the large yaw-axis bias requires that the PI feedback component on the roll and pitch angle errors be cross-fed. Both control laws are applied to a vehicle simulation in the presence of disturbances for several values of yaw-axis angular momentum bias. It is seen that both control laws provide a significant improvement in attitude performance when the bias is sufficiently large, but the nonlinear control law is also able to provide improved performance for a small value of bias. This is important because the smaller bias corresponds to a smaller requirement for mass to be dedicated to the flywheel.

Lim, K. B.↗

NASA NTRS2013

Robust Operation of Tendon-Driven Robot Fingers Using Force and Position-Based Control Laws

A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each have a corresponding sensor. The system selectively injects a compliance value into the position-based control law when only some sensors are available. A control system includes a host machine and a non-transitory computer-readable medium having a control process, which is executed by the host machine to control the finger via the force- or position-based control law. A method for controlling the finger includes determining the availability of a tension sensor(s), and selectively controlling the finger, using the control system, via the force or position-based control law. The position control law allows the control system to resist disturbances while nominally maintaining the initial state of internal tendon tensions.

Abdallah, Muhammad E↗

NASA NTRS2024

Double Power-law Formation by Sequential Particle Acceleration

Spectral double power laws are common in solar high-energy phenomena such as flares and interplanetary energetic-electron events. However, the physical mechanism that produces the changes in power-law index within a single spectrum is unclear. We developed a fully analytical method of forming single power-law spectra from sequential acceleration of particles orbiting inside and hopping between simulated large-scale magnetic islands formed by flare reconnection. Here, we extend the analytical method to the formation of double power-law spectra by assuming sequential acceleration in two successive regions with different acceleration and particle-transport rates. The resulting spectral distribution is continuous and smooth, with a flattening at low energies, two power-law regions at mid-energies, and a steep rollover at high energies. The model provides analytical expressions for the spectral indices, all energy breaks, and normalization constants as functions of just three physical parameters of each acceleration region: (1) the energy gain in each accelerator, (2) the percentage of particles transferred between accelerators, and (3) the number of accelerators visited. One of the most salient predictions of our work is that the spectral index at high (low) energies is determined by the parameters of the first "seed" (second) acceleration region. By constructing the spectral distribution through an iterative analytical process, the evolution toward a double power law is easily characterized and explained. Our analytical model provides tools to interpret space- and ground-based observations from RHESSI, FOXSI, NuSTAR, Solar Orbiter/STIX, EOVSA, and future high-energy missions.

Solar flares↗