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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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NASA NTRS1984

Inertial storage for satellites

A new system is being developed that performs satellite attitude control, attitude reference, and energy storage utilizing inertia wheels. The baseline approach consists of two counter rotating flywheels suspended in specially designed magnetic bearings, spin axis motor/generators, and a control system. The control system regulates the magnetic bearings and spin axis motor/generators and interacts with other satellite subsystems (photovoltaic array, star trackers, Sun sensors, magnetic torquers, etc.) to perform the three functions. Existing satellites utilize separate subsystems to perform attitude control, provide attitude reference, and store energy. These functions are currently performed using reaction or momentum wheels, gyros, batteries, and devices that provide an absolute reference (Sun sensors and star trackers). A Combined Attitude, Reference, and Energy Storage (CARES) system based on high energy density inertial energy storage wheels (flywheels) has potential advantages over existing technologies. Even when used only for energy storage, this system offers the potential for substantial improvements in life, energy efficiency, and weight over existing battery technologies. Utilizing this same device for both attitude control and attitude reference would result in significant additional savings in overall satellite weight and complexity.

Eisenhaure, D.↗

NASA NTRS1984

Development and Certification of a New Stall Warning and Avoidance System

Several methods may be employed to improve natural stall characteristics. The method employed on all learjets to obtain improved stall characteristics is a stall warning and avoidance system that employs angle of attack vanes, an electronic computer, a control column shaker motor, and a torquer which drives the control column in a pusher mode to avoid unwanted further buildup of angle of attack. The new system was developed with changes that improve system response with no performance penalty or increase in turbulence sensitivity. The following changes were made included modified system time constants and (alpha) time rate of change of vane angle dead zone and the addition of an alpha signal limiter and an alpha cut out below a specified angle of attack.

Gertsen, W. M.↗

NASA NTRS1985

A Gimbal sizing analysis for an IPACS rotating assembly

All major components of an integrated power/attitude control system (IPACS) assembly were analyzed for testing, launch, and operational stresses. The conceptual design for the outer gimbal and mounting ring structures were developed and analyzed along with preliminary designs of the pivot and torquer assemblies. Results from the system response analysis and the thermal analysis are also presented. Gimballing of this rotating assembly should present few difficulties as the maximum gimballing rate is quite low. However, the inner gimbal assembly in its current configuration must be modified to develop the system from a laboratory concept to a realistic flight hardware status.

Burke, P. R.↗

NASA NTRS1985

Hardware math for the 6502 microprocessor

A floating-point arithmetic unit is described which is being used in the Ground Facility of Large Space Structures Control Verification (GF/LSSCV). The experiment uses two complete inertial measurement units and a set of three gimbal torquers in a closed loop to control the structural vibrations in a flexible test article (beam). A 6502 (8-bit) microprocessor controls four AMD 9511A floating-point arithmetic units to do all the computation in 20 milliseconds.

Kissel, R.↗

NASA NTRS1984

Initial experiments on the end-point control of a flexible one-link robot

The present investigation is concerned with initial experiments regarding a specific unsolved control problem which appeared to be central to advances in the art of robotics. This problem involves the control of a flexible member (one link of a robot system). The position of the end-effector, called the end point or tip, is controlled by measuring that position and using the measurement as a basis for applying control torque to the other end of the flexible member, as for instance, the robot's elbow joint. A description is presented of the features of the first experimental arm which has been made, and an outline is provided of the general strategy for controlling it using its tip sensor and shoulder torquer.

Cannon, R. H., Jr.↗

NASA NTRS1986

Nonlinear adaptive control of an elastic robotic arm

An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.

Singh, S. N.↗

NASA NTRS1986

Nonlinear attitude control of elastic spacecraft-antenna system

An approach to large angle rotational maneuvers of a spacecraft-beam-tip body (an antenna or a reflector) configuration based on nonlinear invertibility and linear feedback stabilization is presented. A control law u sub d is derived to obtain independent decoupled control of attitude angles, lateral elastic deflections, slopes due to bending and angular deflection due to torsion at the tip of the beam using torquers and force actuators. For the stabilization of the elastic oscillations, a linear feedback control law, u sub s, is obtained based on a linearized model about the terminal state augmented with a servo-compensator. Simulation results obtained for single axis control, for simplicity, show that large slewing and elastic mode stabilization can be accomplished in spite of uncertainty in the system using the total control u = u sub d + u sub s.

Singh, S. N.↗

NASA NTRS1986

Nonlinear attitude control of flexible spacecraft under disturbance torque

A control law for large-angle single-axis rotational maneuvers of a spacecraft-beam-tip body (an antenna or a reflector) configuration is presented. It is assumed that an unknown but bounded disturbance torque is acting on the spacecraft. A model reference adaptive torque control law is derived for the slewing of the space vehicle. This controller includes a dynamic system in the feedback path and requires only attitude angle and rate of the space vehicle for feedback. For damping out the elastic motion excited by the slewing maneuver, a stabilizer is designed assuming that a torquer and a force actuator are available at the tip body. The stabilizer uses only the flexible modes for the synthesis of the control law. Simulation results are presented to show that fast, large-angle rotational maneuvers can be performed using the adaptive controller and the stabilizer in spite of the presence of continuously acting unknown torque on the spacecraft.

Singh, Sahjendra N.↗

NASA NTRS1986

Space Infrared Telescope Facility/Multimission Modular Spacecraft Attitude Control System conceptual design

A control system utilizing the Multi-mission Modular Spacecraft (MMS) Attitude Control System (ACS) was developed and analyzed for the Space Infrared Telescope Facility (SIRTF) spacecraft. Alternative torquer augmentation schemes were studied to determine viable ACS approaches. A control law was developed to use a dual set of single-axis Control Moment Gyros (CMGs) for two-axis control. Flexible structural models were developed using a high fidelity, flight tested NASTRAN model of the MMS, coupled with a NASTRAN model of the SIRTF telescope. Modal significance criteria were employed to reduce the structural model. Multivariable interactive techniques were used to synthesize the control system (including the structural filters). Control system performance for the SIRTF operational modes (quiescent inertial hold, slewing, nodding, and rastering) was then determined using both single-axis and three-axis simulations). The control system described met performance requirements for all modes but the raster with the use of CMGs. The raster performance was limited by the structural flexibility.

Class, Brian F.↗

NASA NTRS1987

Robust nonlinear attitude control of flexible spacecraft

This paper presents an approach to large-angle rotational maneuvers of a spacecraft-beam-tip body configuration based on nonlinear invertibility and linear feedback stabilization. A control law u sub d is derived for the decoupled control of attitude angles, lateral elastic deflections, slopes due to bending and angular deflection due to torsion at the tip of the beam using torquers and force actuators. For the stabilization of the elastic modes, a linear feedback control law u sub s is obtained based on a linearized model augmented with a servocompensator. Simulation results are presented to show that large slewing and elastic mode stabilization can be accomplished.

Singh, Sahjendra N.↗

NASA NTRS1988

The dynamics and control of large-flexible space structures, part 10

A mathematical model is developed to predict the dynamics of the proposed orbiting Spacecraft Control Laboratory Experiment (SCOLE) during the station keeping phase. The equations of motion are derived using a Newton-Euler formulation. The model includes the effects of gravity, flexibility, and orbital dynamics. The control is assumed to be provided to the system through the Shuttle's three torquers, and through six actuators located by pairs at two points on the mast and at the mass center of the reflector. The modal shape functions are derived using the fourth order beam equation. The generic mode equations are derived to account for the effects of the control forces on the modal shape and frequencies. The equations are linearized about a nominal equilibrium position. The linear regulator theory is used to derive control laws for both the linear model of the rigidized SCOLE as well as that of the actual SCOLE including the first four flexible modes. The control strategy previously derived for the linear model of the rigidized SCOLE is applied to the nonlinear model of the same configuration of the system and preliminary single axis slewing maneuvers conducted. The results obtained confirm the applicability of the intuitive and appealing two-stage control strategy which would slew the SCOLE system, as if rigid to its desired position and then concentrate on damping out the residual flexible motions.

Bainum, Peter M.↗

NASA NTRS1988

A precision pointing system for space telescope class optical trackers

This paper reports on the results of a study effort whose main objective was to develop a conceptual design for a space based, large-payload (3000 kg) pointing system capable of both rapid slew maneuvers (0.35 rad/sec-squared) and very stable tracking (1 microrad, 1 sigma, each axis). The key features of the resulting solution are: (1) cross elevation over elevation gimbal system, (2) closed cross elevation gimbal ring, (3) graphite-epoxy structure, (4) two-motor reactionless joint torquers, (5) payload mounted vernier reaction wheel, and (6) gyrostabilized model following control system.

Sevaston, George E.↗

NASA NTRS1988

The dynamics and control of the orbiting spacecraft control laboratory experiment (SCOLE) during station keeping

A mathematical model is developed to predict the dynamics of the proposed orbiting Spacecraft Control Laboratory Experiment during the station keeping phase. The Shuttle as well as the reflector are assumed to be rigid, the mast is flexible and is assumed to undergo elastic displacements very small as compared with its length. The equations of motion are derived using a Newton-Euler formulation. The model includes the effects of gravity, flexibility, and orbital dynamics. The control is assumed to be provided to the system through the Shuttle's three torquers, and through six actuators located by pairs at two points on the mast and at the mass center of the reflector. At each of the locations, an actuator acts parallel to the roll axis while the other one acts parallel to the pitch axis. It is seen that, in the presence of gravity-gradient torques in the system dynamics, the system assumes a new equilibrium position about which the equations must be linearized, primarily due to the offset in the mast attachment point to the reflector. The linear regulator theory is used to derive control laws for the linear model of the SCOLE including the first four flexible modes. Numerical results confirm the robustness of this control strategy for station keeping with maximum control efforts significantly below saturation levels.

Bainum, Peter M.↗

NASA NTRS1988

The dynamics and control of large flexible space structures, part 11

A mathematical model is developed to predict the dynamics of the proposed Spacecraft Control Laboratory Experiment during the stationkeeping phase. The Shuttle and reflector are assumed to be rigid, while the mass connecting the Shuttle to the reflector is assumed to be flexible with elastic deformations small as compared with its length. It is seen that in the presence of gravity-gradient torques, the system assumes a new equilibrium position primarily due to the offset in the mass attachment point to the reflector from the reflector's mass center. Control is assumed to be provided through the Shuttle's three torquers and throught six actuators located by painrs at two points on the mass and at the reflector mass center. Numerical results confirm the robustness of an LQR derived control strategy during stationkeeping with maximum control efforts significantly below saturation levels. The linear regulator theory is also used to derive control laws for the linearized model of the rigidized SCOLE configuration where the mast flexibility is not included. It is seen that this same type of control strategy can be applied for the rapid single axis slewing of the SCOLE through amplitudes as large as 20 degrees. These results provide a definite trade-off between the slightly larger slewing times with the considerable reduction in over-all control effort as compared with the results of the two point boundary value problem application of Pontryagin's Maximum Principle.

Bainum, Peter M.↗

NASA NTRS1988

Space telescope pointing control

The Space Telescope pointing control system is designed to meet the fine pointing performance of 0.007 arc-sec stability, maneuver the telescope 90 deg in 18 min, or less, and provide the capability for deployment from, and retrieval by, the space shuttle. The pointing control system objectives are met using fine guidance sensors for attitude information, reaction wheel assemblies sized to provide both the torque required for pointing, and magnetometers and magnetic torquers for momentum management. A digital computer is used to calculate the control law, attitude reference, momentum management law, and command generator. The command generator shapes the acceleration and incremental angle commands to the control system to limit structural mode excitation. The control techniques are briefly discussed.

Dougherty, Hugh↗

NASA NTRS1990

A design algorithm using Z-plane closed loop pole placement

It is argued that the design of a single input single output (SISO) control system is simplified if the designer has direct control over the closed loop poles. A space-laser-communications design example utilizing a two-transform algorithm that constructs a generic discrete compensator is presented. The plant in the example has an anti-aliasing filter, a double integrator, a torquer time constant, and a sample-and-hold as continuous elements, and a discrete proportional plus integral module. This fifth-order system is representative of many instrument pointing control systems. Poles resulting from the compensator are placed near the origin of the Z-plane so that the response is dominated by the closed loop poles from the plant. Root locus, time response, and frequency response data are given. Normalization by the sample interval is used to provide a dimensionless example.

Gatlin, James A.↗

NASA NTRS1992

Performance of a superconducting large-angle magnetic suspension

SatCon Technology Corporation is working toward the development of an advanced-concept Control Moment Gyro (CMG). The advanced-concept CMG is sized for use as a slewing actuator for large space-based payloads. The design features a magnetically suspended composite rotor which contains a persistent-mode superconducting solenoid magnet. The rotor is suspended and gimballed by the interaction of the fields produced by the superconductor and an array of cryoresistive coils. The rotor spins in a liquid helium environment, while the control coils are liquid-hydrogen cooled. This design is capable of meeting the requirements of many high-performance slewing applications (27,000 Nm). The use of the magnetic suspension as rotor bearings, gimbal bearings, and gimbal torquers also substantially reduces the mass of the CMG system.

Downer, James R.↗

NASA NTRS1993

Nutation and precession control of the High Energy Solar Physics (HESP) satellite

The High Energy Solar Physics (HESP) spacecraft is an intermediate class satellite proposed by NASA to study solar high-energy phenomena during the next cycle of high solar activity in the 1998 to 2005 time frame. The HESP spacecraft is a spinning satellite which points to the sun with stringent pointing requirements. The natural dynamics of a spinning satellite includes an undesirable effect: nutation, which is due to the presence of disturbances and offsets of the spin axis from the angular momentum vector. The proposed Attitude Control System (ACS) attenuates nutation with reaction wheels. Precessing the spacecraft to track the sun in the north-south and east-west directions is accomplished with the use of torques from magnetic torquer bars. In this paper, the basic dynamics of a spinning spacecraft are derived, control algorithms to meet HESP science requirements are discussed and simulation results to demonstrate feasibility of the ACS concept are presented.

Jayaraman, C. P.↗