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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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At least 55 records · Page 3

All sources NASA NTRS DOE OSTI

NASA NTRS1981

Controller for computer control of brushless dc motors

A motor speed and torque controller for brushless d.c. motors provides an unusually smooth torque control arrangement. The controller provides a means for controlling a current waveform in each winding of a brushless dc motor by synchronization of an excitation pulse train from a programmable oscillator. Sensing of torque for synchronization is provided by a light beam chopper mounted on the motor rotor shaft. Speed and duty cycle are independently controlled by controlling the frequency and pulse width output of the programmable oscillator. A means is also provided so that current transitions from one motor winding to another is effected without abrupt changes in output torque.

Hieda, L. S.↗

NASA NTRS2005

Analysis of Thrust Vectoring Capabilities for the Jupiter Icy Moons Orbiter

A strategy to mitigate the impact of the trajectory design of the Jupiter Icy Moons Orbiter (JIMO) on the attitude control design is described in this paper. This paper shows how the thrust vectoring control torques, i.e. the torques required to steer the vehicle, depend on various parameters (thrust magnitude, thrust pod articulation angles, and thrust moment arms). Rather than using the entire reaction control system (RCS) system to steer the spacecraft, we investigate the potential utilization of only thrust vectoring of the main ion engines for the required attitude control to follow the representative trajectory. This study has identified some segments of the representative trajectory where the required control torque may exceed the designed ion engine capability, and how the proposed mitigation strategy succeeds in reducing the attitude control torques to within the existing capability.

low thrust↗

NASA NTRS1995

Control system design for the MOD-5A 7.3 mW wind turbine generator

This paper provides descriptions of the requirements analysis, hardware development and software development phases of the Control System design for the MOD-5A 7.3 mW Wind Turbine Generator. The system, designed by General Electric Company, Advanced Energy Programs Department, under contract DEN 3-153 with NASA Lewis Research Center and DOE, provides real time regulation of rotor speed by control of both generator torque and rotor torque. A variable speed generator system is used to provide both airgap torque control and reactive power control. The wind rotor is designed with segmented ailerons which are positioned to control blade torque. The central component of the control system, selected early in the design process, is a programmable controller used for sequencing, alarm monitoring, communication, and real time control. Development of requirements for use of aileron controlled blades and a variable speed generator required an analytical simulation that combined drivetrain, tower and blade elastic modes with wind disturbances and control behavior. An orderly two phase plan was used for controller software development. A microcomputer based turbine simulator was used to facilitate hardware and software integration and test.

Barton, Robert S.↗

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 NTRS1990

Experiments in cooperative-arm object manipulation with a two-armed free-flying robot

Developing computed-torque controllers for complex manipulator systems using current techniques and tools is difficult because they address the issues pertinent to simulation, as opposed to control. A new formulation of computed-torque (CT) control that leads to an automated computer-torque robot controller program is presented. This automated tool is used for simulations and experimental demonstrations of endpoint and object control from a free-flying robot. A new computed-torque formulation states the multibody control problem in an elegant, homogeneous, and practical form. A recursive dynamics algorithm is presented that numerically evaluates kinematics and dynamics terms for multibody systems given a topological description. Manipulators may be free-flying, and may have closed-chain constraints. With the exception of object squeeze-force control, the algorithm does not deal with actuator redundancy. The algorithm is used to implement an automated 2D computed-torque dynamics and control package that allows joint, endpoint, orientation, momentum, and object squeeze-force control. This package obviates the need for hand-derivation of kinematics and dynamics, and is used for both simulation and experimental control. Endpoint control experiments are performed on a laboratory robot that has two arms to manipulate payloads, and uses an air bearing to achieve very-low drag characteristics. Simulations and experimental data for endpoint and object controllers are presented for the experimental robot - a complex dynamic system. There is a certain rather wide set of conditions under which CT endpoint controllers can neglect robot base accelerations (but not motions) and achieve comparable performance including base accelerations in the model. The regime over which this simplification holds is explored by simulation and experiment.

Koningstein, Ross↗

NASA NTRS1987

Controller for a High-Power, Brushless dc Motor

Driving and braking torques controllable. Control circuit operates 7-kW, 45-lb-ft (61-N-m), three-phase, brushless dc motor in both motor and generator modes. In motor modes, energy from power source is pulse-width modulated to motor through modified "H-bridge" circuit, in generator mode, energy from motor is pulse-width modulated into bank of load resistors to provide variable braking torques. Circuit provides high-resolution torque control in both directions over wide range of speeds and torques. Tested successfully at bus voltages up to 200 Vdc and currents up to 45 A.

Fleming, David J.↗

NASA NTRS1992

Spacecraft momentum unloading using controlled magnetic torques

A method for maintaining the attitude of a three-axis controlled satellite by use of magnetic torquers includes using magnetometers for measuring the direction of the ambient geomagnetic field. The direction of the net reaction wheel momentum is also determined. The angle between the direction of the geomagnetic field and the net reaction wheel momentum is determined. The angle is compared with a threshold value. Magnetic torquer power consumption is reduced by operating the magnetic torquers only when the angle exceeds the threshold value.

Linder, David M.↗

NASA NTRS2011

Methodology for Determining Limit Torques for Threaded Fasteners

In aerospace design, where minimizing weight is always a priority, achieving the full capacity from fasteners is essential. To do so, the initial bolt preload must be maximized. The benefits of high preload are well documented and include improved fatigue resistance, a stiffer joint, and resistance to loosening. But many factors like elastic interactions and embedment tend to lower the initial preload placed on the bolt. These factors provide additional motivation to maximize the initial preload. But, to maximize bolt preload, you must determine what torque to apply. Determining this torque is greatly complicated by the large preload scatter generally seen with torque control. This paper presents a detailed methodology for generating limit torques for threaded fasteners. This methodology accounts for the large scatter in preload found with torque control, and therefore, addresses the statistical nature of the problem. It also addresses prevailing torque, a feature common in aerospace fasteners. Although prevailing torque provides a desired locking feature, it can also increase preload scatter. In addition, it can limit the amount of preload that can be generated due to the torsion it creates in the bolt. This paper discusses the complications of prevailing torque and how best to handle it. A wide range of torque-tension bolt testing was conducted in support of this research. The results from this research will benefit the design engineer as well as analyst involved in the design of bolted joints, leading to better, more optimized structural designs.

Hissam, Andy↗

NASA NTRS1971

A description of the thruster attitude control simulation and its application to the HEAO-C study

During the design and evaluation of a reaction control system (RCS), it is desirable to have a digital computer program simulating vehicle dynamics, disturbance torques, control torques, and RCS logic. The thruster attitude control simulation (TACS) is just such a computer program. The TACS is a relatively sophisticated digital computer program that includes all the major parameters involved in the attitude control of a vehicle using an RCS for control. It includes the effects of gravity gradient torques and HEAO-C aerodynamic torques so that realistic runs can be made in the areas of fuel consumption and engine actuation rates. Also, the program is general enough that any engine configuration and logic scheme can be implemented in a reasonable amount of time. The results of the application of the TACS in the HEAO-C study are included.

Brandon, L. B.↗

NASA NTRS1987

Helicopter anti-torque system using fuselage strakes

The improvement of the helicopter torque control system is discussed. At low to medium forward speeds helicopter performance is limited by the effectiveness of the means for counteracting main rotor torque and controlling sideslip airloads. These problems may be overcome by mounting strakes on the aft fuselage section. For single rotor helicopters whose main rotor rotates counter-clockwise as viewed from above, one of the strakes would be mounted in the upper lefthand quadrant and the second in the lower left hand quadrant. The strakes alter the air flow around the fuselage by separating the flow so as to produce lateral airloads on the tail boom which oppose main-rotor torque. The upper strake operates in a right crosswind to oppose main rotor torque, and the lower strake has effect in left crosswinds. The novelty of this invention resides in the simple and economical manner in which the helicopter tail boom may be modified by the addition of strakes in order to increase torque control, and reduce the need for supplemental mechanical means of torque control.

Kelley, Henry L.↗

NASA NTRS1997

Robot Position Sensor Fault Tolerance

Robot systems in critical applications, such as those in space and nuclear environments, must be able to operate during component failure to complete important tasks. One failure mode that has received little attention is the failure of joint position sensors. Current fault tolerant designs require the addition of directly redundant position sensors which can affect joint design. A new method is proposed that utilizes analytical redundancy to allow for continued operation during joint position sensor failure. Joint torque sensors are used with a virtual passive torque controller to make the robot joint stable without position feedback and improve position tracking performance in the presence of unknown link dynamics and end-effector loading. Two Cartesian accelerometer based methods are proposed to determine the position of the joint. The joint specific position determination method utilizes two triaxial accelerometers attached to the link driven by the joint with the failed position sensor. The joint specific method is not computationally complex and the position error is bounded. The system wide position determination method utilizes accelerometers distributed on different robot links and the end-effector to determine the position of sets of multiple joints. The system wide method requires fewer accelerometers than the joint specific method to make all joint position sensors fault tolerant but is more computationally complex and has lower convergence properties. Experiments were conducted on a laboratory manipulator. Both position determination methods were shown to track the actual position satisfactorily. A controller using the position determination methods and the virtual passive torque controller was able to servo the joints to a desired position during position sensor failure.

Aldridge, Hal A.↗

NASA NTRS1975

A flight simulator control system using electric torque motors

Control systems are required in flight simulators to provide representative stick and rudder pedal characteristics. A system has been developed that uses electric dc torque motors instead of the more common hydraulic actuators. The torque motor system overcomes certain disadvantages of hydraulic systems, such as high cost, high power consumption, noise, oil leaks, and safety problems. A description of the torque motor system is presented, including both electrical and mechanical design as well as performance characteristics. The system develops forces sufficiently high for most simulations, and is physically small and light enough to be used in most motion-base cockpits.

Musick, R. O.↗

NASA NTRS2006

Bias Momentum Sizing for Hovering Dual-Spin Platforms

An atmospheric flight vehicle in hover is typically controlled by varying its thrust vector. Achieving both levitation and attitude control with the propulsion system places considerable demands on it for agility and precision, particularly if the vehicle is statically unstable, or nearly so. These demands can be relaxed by introducing an appropriately sized angular momentum bias aligned with the vehicle's yaw axis, thus providing an additional margin of attitude stability about the roll and pitch axes. This paper describes a methodical approach for trading off angular momentum bias level needed with desired levels of vehicle response due to the design disturbance environment given a vehicle's physical parameters. It also describes several simplifications that provide a more physical and intuitive understanding of dual-spin dynamics for hovering atmospheric vehicles. This approach also mitigates the need for control torques and inadvertent actuator saturation difficulties in trying to stabilize a vehicle via control torques produced by unsteady aerodynamics, thrust vectoring, and unsteady throttling. Simulation results, based on a subscale laboratory test flying platform, demonstrate significant improvements in the attitude control robustness of the vehicle with respect to both wind disturbances and off-center of gravity payload changes during flight.

Lim, Kyong B.↗

NASA NTRS1990

Spacecraft mass property identification with torque-generating control

Previous studies indicated that an applied force was necessary to perform in-flight identification of the mass and center of mass of a spacecraft. This paper shows that the mass and center of mass of a rigid spacecraft can be determined using only torque-producing actuators such as control-moment gyros or reaction wheels, and commonly available sensors, e.g., rate gyros and accelerometers. A space-station application is presented.

Bergmann, E.↗

NASA NTRS1975

An optimal control of a flexible spinning satellite

A modification of optimal spinning satellite control theory is proposed, based on introducing an additional vector into the equation for control torque components. This modification essentially means that the amplitudes of the time-dependent satellite perturbation functions can be made small when the amplitudes of the control torque components are allowed to be different. An algorithm for computer simulation of the satellite control theory is provided. A singular perturbation scheme is used which greatly reduces the number of degrees of freedom in the flexible satellite motion equations.

Das, A.↗

NASA NTRSDate not supplied

Sliding Mode Transient Scaling Controller for Gas Turbine Engine Emulation on an Electric Machine

The testing of hybrid-electric aircraft propulsion system components and control strategies has dictated the need for a low-cost gas turbine engine (GTE) emulation testbed. Within that testbed, electric machines (EMs) are used to emulate the dynamics of a GTE. GTE mathematical models are used to provide control torque commands to EMs. Most GTEs operate at much higher power levels than commercially available EMs. Therefore, the transient shaft dynamics of the GTE must be scaled appropriately. The sliding mode controller being presented here aims to deliver a control torque to an electric machine with a fixed inertia that will allow it to mimic the response of a GTE with a different inertia. This solution provides an easily scalable and tunable transient emulation method without having to scale the GTE mathematical model and/or add inertia to the physical EM shaft. This controller has been proven in simulation to produce nearly identical transient rotational speed response to a reference GTE shaft model which has a large difference in rotational inertia compared to the motor. Also, the inherent robustness of the sliding mode control scheme results in negligible changes in performance for large amounts of parameter uncertainty while minimizing high frequency fluctuations in the control signal.

sliding mode↗

DOE OSTI2023

Genetic Algorithm-Based Commutation Angle Control for Torque Ripple Mitigation in Switched Reluctance Motor Drives

This work addresses the application of the Genetic Algorithm (GA) technique to optimize the commutation angles of a 2 kW 8/6 switched reluctance machine (SRM). The primary goal is to reduce the well-known drawback of SRMs: the torque ripple. Firstly, the machine was modeled in Matlab /Simulink ® using lookup tables obtained via finite element method (FEM) simulations. Subsequently, the model was used to perform the GA routine aiming to find the optimal phase commutation angles that minimize the torque ripple factor. Notably, the torque performance of the SRM was significantly affected by the commutation angles during the search for the optimal solution. Afterwards, the GA results for four different operation points were verified experimentally through a developed drive platform with digital signal processor-based (DSP) control and an asymmetric bridge converter. As showed by the experiments, the proposed approach was suitable to reduce the torque ripple by more than 50% for one of the evaluated operating points. Furthermore, it was confirmed that the torque ripple mitigation led to acoustic noise improvement.

42 ENGINEERING↗

DOE OSTI2022

Verification and Validation of Model-Scale Turbine Performance and Control Strategies for the IEA Wind 15 MW Reference Wind Turbine

To enable the fast growth of the floating offshore wind industry, simulation models must be validated with experimental data. Floating wind model-scale experiments in wind–wave facilities have been performed over the last two decades with varying levels of fidelity and limitations. However, the turbine controls in these experiments have considered only limited control strategies and implementations. To allow for control co-design, this research focuses on implementing and experimentally validating more advanced turbine control actions and strategies in a wind–wave basin for a 1:70-scale model of the International Energy Agency’s wind 15 MW reference wind turbine. The control strategies analyzed include torque control, collective pitch control, and transition region control (setpoint smoothing). Our experimental and numerical results include the effects of varying rotor speeds, blade pitches, and wind environments on the turbine thrust and torque. Numerical models from three different software tools are presented and compared to the experimental results. Their ability to effectively represent the aero-dynamic response of the wind turbine to the control actions is successfully validated. Finally, turbine controller tuning parameters based on the derivatives of thrust and torque are derived to allow for improved offshore wind turbine dynamics and to validate the ability of modeling tools to model the dynamics of floating offshore wind turbines with control co-design.

17 WIND ENERGY↗