Results for “angle control” — Page 31

NASA NTRS1991

Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

Williams, Robert L., II↗

NASA NTRS1960

Subsonic Flight Tests of a 1/7-Scale Radio-Controlled Model of the North American X-15 Airplane with Particular Reference to High Angel-of-Attack Conditions

An investigation of the subsonic stability and control characteristics of an unpowered 1/7-scale model based on the North American X-15 airplane was conducted by using a radio-controlled model launched from a helicopter and flown in free-gliding flight. At angles of attack below about 20 deg. where the model motions represent those of the X-15 airplane, the model was found to be both longitudinally and laterally stable, and the all-movable tail surfaces were found to be very effective. The model could also be flown at much higher angles of attack where the model motions did not necessarily represent those of the airplane because of slight geometrical differences and Reynolds number effects, but these test results are useful in evaluating the effectiveness at these angles of the type of lateral control system used in the X-15 airplane. In some cases, the model was flown to angles of attack as high as 60 or 70 deg. without encountering divergent or uncontrollable conditions. For some flights in which the model was subjected to rapid maneuvers, spinning motions were generated by application of corrective controls to oppose the direction of rotation. Rapid recoveries from this type of motion were achieved by applying roll control in the direction of rotation.

Hewes, Donald E.↗

NASA NTRSDate not supplied

Structural Dynamics Observations in Space Launch System Green Run Hot Fire Testing

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. Two actuators are used to move each engine in two planes perpendicular to one another (i.e., pitch and yaw). The TVC system design leverages hardware from the Space Shuttle program as well as new hardware designed specifically for the Core Stage. The Green Run Hot Fire (GRHF) of the SLS Core Stage provided a flight-like ground test environment for verification of integrated vehicle TVC performance. A TVC model coupled to a vehicle structural dynamic model has been developed previously and incrementally validated in subsystem tests and simulations. Still, some aspects of TVC performance in GRHF were not anticipated. The ensuing investigation demonstrated the need for well-instrumented test environments, various levels of modeling fidelity, test-representative structural models, and caution in reuse of legacy components. This paper is the sixth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. It introduces the salient structural dynamic phenomena uncovered in ambient and hot fire testing. During the Green Run test campaign, a comparison of ambient and hot fire step responses showed a significant change in apparent damping due to the presence of friction, challenging long standing assumptions that friction could be neglected. Additionally, the characteristic response of the engine and thrust structure during GRHF proved to be more complex than anticipated, as evidenced by the available actuator, thrust structure, and engine measurements. While the string-potentiometer based test instrumentation was intended to allow for reconstruction of the engine angles along the two control axes, the geometric placement, location uncertainty, and responses in overlapping frequency spectra revealed additional phenomena requiring further analysis and post-processing. The observations from both modal and frequency response testing during the Green Run ambient and hot fire configurations led to Engine and Core Stage FEM (finite element model) updates. When evidence of unexpected engine motion was found in engine section accelerometer data, the authors pursued additional structural analysis leading to FEM updates associated with the TVC gimbal and thrust structure. Through collaboration between structures, TVC, and flight control disciplines, the test-informed models and root-cause analysis led to confident flight rationale for the first flight of the SLS launch vehicle.

Richard K. Moore↗

NASA NTRSDate not supplied

Structural Dynamics Observations in Space Launch System Green Run Hot Fire Testing

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. Two actuators are used to move each engine in two planes perpendicular to one another (i.e., pitch and yaw). The TVC system design leverages hardware from the Space Shuttle program as well as new hardware designed specifically for the Core Stage. The Green Run Hot Fire (GRHF) of the SLS Core Stage provided a flight-like ground test environment for verification of integrated vehicle TVC performance. A TVC model coupled to a vehicle structural dynamic model has been developed previously and incrementally validated in subsystem tests and simulations. Still, some aspects of TVC performance in GRHF were not anticipated. The ensuing investigation demonstrated the need for well-instrumented test environments, various levels of modeling fidelity, test-representative structural models, and caution in reuse of legacy components. This paper is the sixth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. It introduces the salient structural dynamic phenomena uncovered in ambient and hot fire testing. During the Green Run test campaign, a comparison of ambient and hot fire step responses showed a significant change in apparent damping due to the presence of friction, challenging long standing assumptions that friction could be neglected. Additionally, the characteristic response of the engine and thrust structure during GRHF proved to be more complex than anticipated, as evidenced by the available actuator, thrust structure, and engine measurements. While the string-potentiometer based test instrumentation was intended to allow for reconstruction of the engine angles along the two control axes, the geometric placement, location uncertainty, and responses in overlapping frequency spectra revealed additional phenomena requiring further analysis and post-processing. The observations from both modal and frequency response testing during the Green Run ambient and hot fire configurations led to Engine and Core Stage FEM (finite element model) updates. When evidence of unexpected engine motion was found in engine section accelerometer data, the authors pursued additional structural analysis leading to FEM updates associated with the TVC gimbal and thrust structure. Through collaboration between structures, TVC, and flight control disciplines, the test-informed models and root-cause analysis led to confident flight rationale for the first flight of the SLS launch vehicle.

Richard Moore↗

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 NTRS1994

Numerical simulation of the flow about the F-18 HARV at high angle of attack

As part of NASA's High Alpha Technology Program, research has been aimed at developing and extending numerical methods to accurately predict the high Reynolds number flow about the NASA F-18 High Alpha Research Vehicle (HARV) at large angles of attack. The HARV aircraft is equipped with a bidirectional thrust vectoring unit which enables stable, controlled flight through 70 deg angle of attack. Currently, high-fidelity numerical solutions for the flow about the HARV have been obtained at alpha = 30 deg, and validated against flight-test data. It is planned to simulate the flow about the HARV through alpha = 60 deg, and obtain solutions of the same quality as those at the lower angles of attack. This report presents the status of work aimed at extending the HARV computations to the extreme angle of attack range.

Murman, Scott M.↗

NASA NTRS2001

Wind Tunnel Tests Conducted to Develop an Icing Flight Simulator

As part of NASA's Aviation Safety Program goals to reduce aviation accidents due to icing, NASA Glenn Research Center is leading a flight simulator development activity to improve pilot training for the adverse flying characteristics due to icing. Developing flight simulators that incorporate the aerodynamic effects of icing will provide a critical element in pilot training programs by giving pilots a pre-exposure of icing-related hazards, such as ice-contaminated roll upset or tailplane stall. Integrating these effects into training flight simulators will provide an accurate representation of scenarios to develop pilot skills in unusual attitudes and loss-of-control events that may result from airframe icing. In order to achieve a high level of fidelity in the flight simulation, a series of wind tunnel tests have been conducted on a 6.5-percent-scale Twin Otter aircraft model. These wind tunnel tests were conducted at the Wichita State University 7- by 10-ft wind tunnel and Bihrle Applied Research's Large Amplitude Multiple Purpose Facility in Neuburg, Germany. The Twin Otter model was tested without ice (baseline), and with two ice configurations: 1) Ice on the horizontal tail only; 2) Ice on the wing, horizontal tail, and vertical tail. These wind tunnel tests resulted in data bases of aerodynamic forces and moments as functions of angle of attack; sideslip; control surface deflections; forced oscillations in the pitch, roll, and yaw axes; and various rotational speeds. A limited amount of wing and tail surface pressure data were also measured for comparison with data taken at Wichita State and with flight data. The data bases from these tests will be the foundation for a PC-based Icing Flight Simulator to be delivered to Glenn in fiscal year 2001.

Ratvasky, Thomas P.↗

NASA NTRS1988

The poststall nonlinear dynamics and control of an F-18: A preliminary investigation

The successful high angle of attack (HAOA) operation of fighter aircraft will necessarily require the introduction of a new onboard control methodology that address the nonlinearity of the system when flown at the stall/poststall limits of the craft's flight envelope. As a precursor to this task, a researcher endeavored to familarize himself with the dynamics of one specific aircraft, the F-18, when it is flown at HAOA. This was accomplished by conducting a number of real time flight sorties using the NASA-Langley Research Center's F-18 simulator, which was operated with a pilot in the loop. In addition to developing a first hand familarity with the aircraft's dynamic characteristic at HAOA, work was also performed to identify the input/output operational footprint of the F-18's control surfaces. This investigator proposes to employ the nonlinear models of the plant identified this summer in a subsequent research effort that will make it possible to fly the F-18 effectively at poststall angles of attack. The controller design used there will rely on a new technique proposed by this investigator that provides for the automatic generation of online optimal control solutions for nonlinear dynamic systems.

Patten, William N.↗

NASA NTRS1979

Aircraft control by propeller cyclic blades

A theory is developed for aircraft control obtained from the propeller forces and moments generated by blade angle variation during a blade revolution. The propeller blade is pitched harmonically one cycle per propeller revolution which results in vehicle control forces and moments, termed cyclic-control. Using a power series respresentation of an arbitrary function of cyclic-blade angle, cyclic-control theory is developed which leads to exact solutions in terms of derivatives of steady-state thrust and power with respect to blade angle. An alternative solution, when the cyclic-blade angle function is limited to a sinusoidal cycle, is in terms of Bessel functions. An estimate of non-steady azimuth angle change or lag is presented. Cyclic-control analysis applied to the counter-rotating propeller shows that control forces or moments can be uniquely isolated from each other. Thus the dual rotor, in hovering mode, has propulsion without rotor tilt or moments, or, when in propeller mode at the tail of an air ship or submarine, vehicle control with no vehicle movement. Control isolation is also attainable from three or more propellers in-line.

Deyoung, J.↗

NASA NTRS1989

Thrust vectoring effect on time-optimal 90 degrees angle of attack pitch up maneuvers of a high alpha fighter aircraft

Using thrust vectoring, the problem of pitching up a high alpha fighter aircraft to 90 degrees angle of attack in minimum time is considered. Pontryagin's maximum principle is used together with a two-point boundary value numerical algorithm to derive open-loop controls for various parameterized limits on thrust vectoring angles. Without thrust vectoring, a high alpha fighter with initial conditions 0.6 Mach number and 15,000 feet requires 7.0 seconds to pitch-up to 90 degrees. However, with 20-degree angle thrust vectoring, the pitch-up takes only 1.5 seconds with a final Mach number of 0.47. Also, the gain in altitude is less than 100 feet. More important, additional thrust vectoring yields litle benefit beyond the 20-degree angles. This paper describes control solutions in detail for thrust vectoring angles between 0 and 90 degrees.

Stalford, Harold↗

NASA NTRS1969

Analysis of a multiplicative feed system for monopulse tracking applications.

Multiplicative feed system for monopulse angle tracking antennas, discussing influence of sidelobe and backlobe responses on control function slope determining antenna bearing angle

Brown, W. E.↗

NASA NTRS1982

Techniques for enhancing durability and equivalence ratio control in a rich-lean, three-stage ground power gas turbine combustor

Rig tests of a can-type combustor were performed to demonstrate two advanced ground power engine combustor concepts: steam cooled rich-burn combustor primary zones for enhanced durability; and variable combustor geometry for three stage combustion equivalence ratio control. Both concepts proved to be highly successful in achieving their desired objectives. The steam cooling reduced peak liner temperatures to less than 800 K. This offers the potential of both long life and reduced use of strategic materials for liner fabrication. Three degrees of variable geometry were successfully implemented to control airflow distribution within the combustor. One was a variable blade angle axial flow air swirler to control primary airflow while the other two consisted of rotating bands to control secondary and tertiary or dilution air flow.

Schultz, D. F.↗

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 NTRS1995

Controlling Mirror Tilt With A Bimorph Actuator

Proposed mirror-tilting actuator based on bimorph cells. Includes microprocessor determining desired direction, speed, and maximum tilt angle and converts data to control signals. Multiplexer applies control signals to circuits that apply actuation voltages to individual bimorphs. Advantages include light weight, small size, and low power. Provides controllable tilt of mirror in copy machine or optical scanner, for example.

Bar-Cohen, Yoseph↗

NASA NTRS1953

Influence of End Plates on Lift and Flow Field of a Canard-type Control Surface at a Mach Number of 2.00

The influence of triangular-shaped end plates on the lift and the flow field of a canard-type control surface mounted on a symmetrical fuselage was investigated in the Lewis 8- by 6-foot supersonic wind tunnel at a Mach number of 2.00, body angle of attack of 2 degrees, and control-surface deflection angles of 3 degrees, 6 degrees, 8 degrees, and 10 degrees. The investigation demonstrated that the addition of end plates to a canard-type control surface increased its lift and rearranged the single vortex into a two-vortex system. Perforating the end plates reduced these effects and resulted in a decrease in lift and a change in the flow-field characteristics.

DIHEDRAL - COMPLETE WINGS↗

NASA NTRS1993

Design of a flight control system for a highly maneuverable aircraft using mu synthesis

This paper presents a methodology for the design of longitudinal controllers for high performance aircraft operating over large ranges of angle of attack. The technique used for controller design is structured singular value or mu synthesis. The controller is designed to minimize the weighted H-infinity norm of the error between the aircraft response and the desired handling quality specifications without saturating the control actuators. The mu synthesis procedure ensures that the stability and performance of the aircraft is robust to parameter variations and modeling uncertainties included in the design model. Nonlinear simulations demonstrate that the controller satisfies handling quality requirements and provides excellent tracking of pilot inputs over a wide range of transient angles of attack and Mach number.

Reiner, Jacob↗

NASA NTRS1988

Nearly-grazing optimal trajectories for noncoplanar, aeroassisted orbital transfer

This paper discusses aeroassisted orbital transfer maneuvers under the assumption that the terminal orbital inclinations are different. Both GEO-to-LEO and LEO-to-LEO transfers are considered in connection with a spacecraft which is controlled during the atmospheric pass via the angle of attack and the angle of bank. Within the framework of classical optimal control, the following problems are studied: the minimization of the total characteristic velocity (P1); the minimization of the time integral of the square of the path inclination (P5); and the minimization of the peak heating rate (Q1). Numerical solutions are obtained by means of the sequential gradient-restoration logarithm for optimal control problems under the conditions that, for the problem (P1), the plane change components are optimized, while for the problems (P5) and (Q1), the plane change components are kept at the levels determined for problem (P1). The engineering implications of the solutions are discussed, in order to determine the most useful solutions in the light of energy requirements and heat transfer requirements.

Miele, A.↗

NASA NTRS1994

Design and evaluation of a Stochastic Optimal Feed-forward and Feedback Technology (SOFFT) flight control architecture

This paper describes the design and evaluation of a stochastic optimal feed-forward and feedback technology (SOFFT) control architecture with emphasis on the feed-forward controller design. The SOFFT approach allows the designer to independently design the feed-forward and feedback controllers to meet separate objectives and then integrate the two controllers. The feed-forward controller has been integrated with an existing high-angle-of-attack (high-alpha) feedback controller. The feed-forward controller includes a variable command model with parameters selected to satisfy level 1 flying qualities with a high-alpha adjustment to achieve desired agility guidelines, a nonlinear interpolation approach that scales entire matrices for approximation of the plant model, and equations for calculating feed-forward gains developed for perfect plant-model tracking. The SOFFT design was applied to a nonlinear batch simulation model of an F/A-18 aircraft modified for thrust vectoring. Simulation results show that agility guidelines are met and that the SOFFT controller filters undesired pilot-induced frequencies more effectively during a tracking task than a flight controller that has the same feedback control law but does not have the SOFFT feed-forward control.

Ostroff, Aaron J.↗