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NASA NTRS2014

Stability Assessment and Tuning of an Adaptively Augmented Classical Controller for Launch Vehicle Flight Control

Recently, a robust and practical adaptive control scheme for launch vehicles [ [1] has been introduced. It augments a classical controller with a real-time loop-gain adaptation, and it is therefore called Adaptive Augmentation Control (AAC). The loop-gain will be increased from the nominal design when the tracking error between the (filtered) output and the (filtered) command trajectory is large; whereas it will be decreased when excitation of flex or sloshing modes are detected. There is a need to determine the range and rate of the loop-gain adaptation in order to retain (exponential) stability, which is critical in vehicle operation, and to develop some theoretically based heuristic tuning methods for the adaptive law gain parameters. The classical launch vehicle flight controller design technics are based on gain-scheduling, whereby the launch vehicle dynamics model is linearized at selected operating points along the nominal tracking command trajectory, and Linear Time-Invariant (LTI) controller design techniques are employed to ensure asymptotic stability of the tracking error dynamics, typically by meeting some prescribed Gain Margin (GM) and Phase Margin (PM) specifications. The controller gains at the design points are then scheduled, tuned and sometimes interpolated to achieve good performance and stability robustness under external disturbances (e.g. winds) and structural perturbations (e.g. vehicle modeling errors). While the GM does give a bound for loop-gain variation without losing stability, it is for constant dispersions of the loop-gain because the GM is based on frequency-domain analysis, which is applicable only for LTI systems. The real-time adaptive loop-gain variation of the AAC effectively renders the closed-loop system a time-varying system, for which it is well-known that the LTI system stability criterion is neither necessary nor sufficient when applying to a Linear Time-Varying (LTV) system in a frozen-time fashion. Therefore, a generalized stability metric for time-varying loop=gain perturbations is needed for the AAC.

VanZwieten, Tannen↗

NASA NTRS1994

Hypersonic vehicle model and control law development using H(infinity) and micron synthesis

The control system design for a Single Stage To Orbit (SSTO) air breathing vehicle will be central to a successful mission because a precise ascent trajectory will preserve narrow payload margins. The air breathing propulsion system requires the vehicle to fly roughly halfway around the Earth through atmospheric turbulence. The turbulence, the high sensitivity of the propulsion system to inlet flow conditions, the relatively large uncertainty of the parameters characterizing the vehicle, and continuous acceleration make the problem especially challenging. Adequate stability margins must be provided without sacrificing payload mass since payload margins are critical. Therefore, a multivariable control theory capable of explicitly including both uncertainty and performance is needed. The H(infinity) controller in general provides good robustness but can result in conservative solutions for practical problems involving structured uncertainty. Structured singular value mu framework for analysis and synthesis is potentially much less conservative and hence more appropriate for problems with tight margins. An SSTO control system requires: highly accurate tracking of velocity and altitude commands while limiting angle-of-attack oscillations, minimized control power usage, and a stabilized vehicle when atmospheric turbulence and system uncertainty are present. The controller designs using H(infinity) and mu-synthesis procedures were compared. An integrated flight/propulsion dynamic mathematical model of a conical accelerator vehicle was linearized as the vehicle accelerated through Mach 8. Vehicle acceleration through the selected flight condition gives rise to parametric variation that was modeled as a structured uncertainty. The mu-analysis approach was used in the frequency domain to conduct controller analysis and was confirmed by time history plots. Results demonstrate the inherent advantages of the mu framework for this class of problems.

Gregory, Irene M.↗

NASA NTRS1973

Thermomechanical behavior of a polynorbornadiene

A high-temperature linear amorphous hydrocarbon polymer synthesized cationically from 2,5-norbornadiene was studied thermomechanically with respect to physical transitions and stability in nitrogen. The glass transition temperature was determined to be 320 C (at less than 1 cps), which is probably the highest known for a linear hydrocarbon addition polymer. The thermomechanical technique of torsional braid analysis, together with thermogravimetric analysis, differential thermal analysis, infrared analysis, and solubility studies, was used to investigate the sequential events of the glass transition and degradation. The polymer is of particular interest since it is a high-temperature plastic which in the bulk form would probably need to be processed at high speeds in the vicinity of the glass transition temperature in an inert atmosphere. The presence of tertiary hydrogen atoms should render it amenable to degradation by the earth's environment.

Roller, M. B.↗

NASA NTRS1989

On the role of ozone in the stability of Rossby normal modes

The role of ozone in the linear stability of Rossby normal modes is examined in a continuously stratified, extratropical baroclinic atmosphere. The flow is described by coupled equations for the quasi-geostraphic potential vorticity and ozone volume mixing ratio. A perturbation analysis is carried out under the assumption of weak diabatic heating, which is generated by Newtonian cooling and dynamics-ozone interaction. An expression for the propagation and growth characteristics is obtained analytically in terms of the vertically averaged wave activity, which depends explicitly on the wave spatial structure, photochemistry, and basic state distributions of wind, temperature, and ozone mixing ratio. Calculations show that stationary internal modes, whose amplitudes are largest in the stratosphre, are destabilized by dynamics-ozone interaction and Newtonian cooling, with e-folding times on the order of 20-40 days.

Nathan, Terrence R.↗

NASA NTRS1997

Protein Crystal Movements and Fluid Flows During Microgravity Growth

The growth of protein crystals suitable for X-ray crystal structure analysis is an important topic. The methods of protein crystal growth are under increasing study whereby different methods are being compared via diagnostic monitoring including Charge Coupled Device (CCD) video and interferometry. The quality (perfection) of protein crystals is now being evaluated by mosaicity analysis (rocking curves) and X-ray topographic images as well as the diffraction resolution limit and overall data quality. Choice of a liquid-liquid linear crystal growth geometry and microgravity can yield a spatial stability of growing crystals and fluid, as seen in protein crystallization experiments on the unmanned platform EURICA. A review is given here of existing results and experience over several microgravity missions. The results include CCD video as well as interferometry during the mission, followed, on return to earth, by rocking curve experiments and full X-ray data collection on LMS and earth control lysozyme crystals. Diffraction data recorded from LMS and ground control apocrustacyanin C(sub 1) crystals are also described.

Boggon, Titus J.↗

NASA NTRS1983

Improvement of mixed time implicit-explicit algorithms for thermal analysis of structures

Computer implementation aspects and numerical evaluation of the recently introduced mixed time implicit-explicit algorithms in thermal analysis of structures are presented. A computationally useful method of estimating the critical time step for a linear quadrilateral element is given herein for the methods introduced by Liu and co-workers. Numerical tests confirm the stability criterion and accuracy characteristics of the methods. The superiority of these mixed time methods to the fully implicit method or the fully explicit method is also demonstrated.

Liu, W. K.↗

NASA NTRS1987

A numerical study of transition control by periodic suction-blowing

The applicability of active control of transition by periodic suction-blowing is investigated via direct numerical simulations of the Navier-Stokes equations. The time-evolution of finite-amplitude disturbances in plane channel flow is compared in detail with and without control. The analysis indicates that, for relatively small three dimensional amplitudes, a two dimensional control effectively reduces disturbance growth rates even for linearly unstable Reynolds numbers. After the flow goes through secondary instability, three dimensional control seems necessary to stabilize the flow. An investigation of the temperature field suggests that passive temperature contamination is operative to reflect the flow dynamics during transition.

Biringen, Sedat↗

NASA NTRS1989

A review of some problems in global-local stress analysis

The various types of local-global finite-element problems point out the need to develop a new generation of software. First, this new software needs to have a complete analysis capability, encompassing linear and nonlinear analysis of 1-, 2-, and 3-dimensional finite-element models, as well as mixed dimensional models. The software must be capable of treating static and dynamic (vibration and transient response) problems, including the stability effects of initial stress, and the software should be able to treat both elastic and elasto-plastic materials. The software should carry a set of optional diagnostics to assist the program user during model generation in order to help avoid obvious structural modeling errors. In addition, the program software should be well documented so the user has a complete technical reference for each type of element contained in the program library, including information on such topics as the type of numerical integration, use of underintegration, and inclusion of incompatible modes, etc. Some packaged information should also be available to assist the user in building mixed-dimensional models. An important advancement in finite-element software should be in the development of program modularity, so that the user can select from a menu various basic operations in matrix structural analysis.

Nelson, Richard B.↗

NASA NTRS1992

ROM/RMF control of the flexible, articulated-truss space crane

The large size and extreme flexibility of an articulated space crane entail great difficulties in precision positioning. Control strategies for the flexible multibody system are here developed using a Timoshenko-beam finite-element model (FEM) which captures the system's low frequency characteristics. From the FEM, a reduced-order model (ROM) controller is designed which rotates the fixed shape crane about the base alpha joint to actuate positioning control. Eigenvalue analysis of the closed-loop system shows the destabilizing effect of controller-structure interaction (CSI). Making use of a parallel bank of residual mode filters (RMFs) compensated for CSI, restoring system stability and performance. The linear control law is simulated in closed-loop with the beam model. The ROM-based control law with RMF compensation is an effective, low-order controller.

Reisenauer, Brian T.↗

NASA NTRS1986

Stability of semidiscrete approximations for hyperbolic initial-boundary-value problems: An eigenvalue analysis

A hyperbolic initial-boundary-value problem can be approximated by a system of ordinary differential equations (ODEs) by replacing the spatial derivatives by finite-difference approximations. The resulting system of ODEs is called a semidiscrete approximation. A complication is the fact that more boundary conditions are required for the spatially discrete approximation than are specified for the partial differential equation. Consequently, additional numerical boundary conditions are required and improper treatment of these additional conditions can lead to instability. For a linear initial-boundary-value problem (IBVP) with homogeneous analytical boundary conditions, the semidiscrete approximation results in a system of ODEs of the form du/dt = Au whose solution can be written as u(t) = exp(At)u(O). Lax-Richtmyer stability requires that the matrix norm of exp(At) be uniformly bounded for O less than or = t less than or = T independent of the spatial mesh size. Although the classical Lax-Richtmyer stability definition involves a conventional vector norm, there is no known algebraic test for the uniform boundedness of the matrix norm of exp(At) for hyperbolic IBVPs. An alternative but more complicated stability definition is used in the theory developed by Gustafsson, Kreiss, and Sundstrom (GKS). The two methods are compared.

Warming, Robert F.↗

NASA NTRS1973

Nonlinear transient analysis of multi-mass flexible rotors - theory and applications

The equations of motion necessary to compute the transient response of multi-mass flexible rotors are formulated to include unbalance, rotor acceleration, and flexible damped nonlinear bearing stations. A method of calculating the unbalance response of flexible rotors from a modified Myklestad-Prohl technique is discussed in connection with the method of solution for the transient response. Several special cases of simplified rotor-bearing systems are presented and analyzed for steady-state response, stability, and transient behavior. These simplified rotor models produce extensive design information necessary to insure stable performance to elastic mounted rotor-bearing systems under varying levels and forms of excitation. The nonlinear journal bearing force expressions derived from the short bearing approximation are utilized in the study of the stability and transient response of the floating bush squeeze damper support system. Both rigid and flexible rotor models are studied, and results indicate that the stability of flexible rotors supported by journal bearings can be greatly improved by the use of squeeze damper supports. Results from linearized stability studies of flexible rotors indicate that a tuned support system can greatly improve the performance of the units from the standpoint of unbalanced response and impact loading. Extensive stability and design charts may be readily produced for given rotor specifications by the computer codes presented in this analysis.

Kirk, R. G.↗

NASA NTRS1993

A mesoscale gravity-wave event observed during CCOPE. IV - Stability analysis and Doppler-derived wave vertical structure

A summary of the results of a detailed study of the vertical structure of mesoscale gravity waves conducted during the Cooperative Convective Precipitation Experiment (CCOPE) is presented. Pressure perturbation fields derived from the Doppler wind fields are compared with the vertical structure of eigenfunctions resulting from a solution to the Taylor-Goldstein linear wave equation for an atmosphere whose mean state is described by vertical profiles obtained from a representative CCOPE sounding. An analysis of the potential for shear instability is also performed on all of the soundings taken on this day to assess the representativeness of the one chosen for the linear theoretical analysis.

Koch, Steven E.↗

NASA NTRS1991

Multivariable control of the Space Shuttle Remote Manipulator System

Linear controllers are designed to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in position hold mode. Design techniques used include H2 and H-infinity optimization. The nonlinear SRMS is linearized by modeling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability using both the small gain theorem with an H-infinity norm and the less conservative mu-analysis test. Regulator designs offer significant improvement over the current system for the nominal plant. Unfortunately, the SRMS model suffers from lightly damped poles with real parametric uncertainty. Under such conditions, the mu-analysis test, which allows for complex perturbations, cannot guarantee robust stability.

Adams, Neil J.↗

NASA NTRS1950

The longitudinal stability of elastic swept wings at supersonic speed

The longitudinal stability characteristics of elastic swept wings of high aspect ratio experiencing bending and torsional deformations are calculated for supersonic speed by the application of linearized lifting-surface theory. A parabolic wing deflection curve is assumed and the analysis is simplified by a number of structural approximations. The method is thereby limited in application to wings of high aspect ratio for which the root effects are small. Expressions for the lift, pitching-moment, and span load distribution characteristics are derived in terms of the elastic properties of the wing; namely, the design stress, the modulus of elasticity, the shearing modulus, and the maximum design load factor. The analysis applies to wings with leading edges swept behind the Mach lines. In all cases, however, the trailing edge is sonic or supersonic. Application of the method of analysis to wings with leading edges swept ahead of the Mach lines is discussed.

Frick, C W↗

NASA NTRS2005

Non-Intrusive Techniques of Inspections During the Pre-Launch Phase of Space Vehicle

This paper addresses a method of non-intrusive local inspection of surface and sub-surface conditions, interfaces, laminations and seals in both space vehicle and ground operations with an integrated suite of imaging sensors during pre-launch operations. It employs an advanced Raman spectrophotometer with additional spectrophotometers and lidar mounted on a flying robot to constantly monitor the space hardware as well as inner surface of the vehicle and ground operations hardware. This paper addresses a team of micro flying robots with necessary sensors and photometers to monitor the entire space vehicle internally and externally. The micro flying robots can reach altitude with least amount of energy, where astronauts have difficulty in reaching and monitoring the materials and subsurface faults. The micro flying robot has an embedded fault detection system which acts as an advisory system and in many cases micro flying robots act as a Supervisor to fix the problems. As missions expand to a sustainable presence in the Moon, and extend for durations longer than one year in lunar outpost, the effectiveness of the instrumentation and hardware has to be revolutionized if NASA is to meet high levels of mission safety, reliability, and overall success. The micro flying robot uses contra-rotating propellers powered by an ultra-thin, ultrasonic motor with currently the world's highest power weight ratio, and is balanced in mid-air by means of the world's first stabilizing mechanism using a linear actuator. The essence of micromechatronics has been brought together in high-density mounting technology to minimize the size and weight. The robot can take suitable payloads of photometers, embedded chips for image analysis and micro pumps for sealing cracks or fixing other material problems. This paper also highlights advantages that this type of non-intrusive techniques offer over costly and monolithic traditional techniques.

Thirumalainambi, Rejkumar↗

NASA NTRS2005

USE OF THE SDO POINTING CONTROLLERS FOR INSTRUMENT CALIBRATION MANEUVERS

During the science phase of the Solar Dynamics Observatory mission, the three science instruments require periodic instrument calibration maneuvers with a frequency of up to once per month. The command sequences for these maneuvers vary in length from a handful of steps to over 200 steps, and individual steps vary in size from 5 arcsec per step to 22.5 degrees per step. Early in the calibration maneuver development, it was determined that the original attitude sensor complement could not meet the knowledge requirements for the instrument calibration maneuvers in the event of a sensor failure. Because the mission must be single fault tolerant, an attitude determination trade study was undertaken to determine the impact of adding an additional attitude sensor versus developing alternative, potentially complex, methods of performing the maneuvers in the event of a sensor failure. To limit the impact to the science data capture budget, these instrument calibration maneuvers must be performed as quickly as possible while maintaining the tight pointing and knowledge required to obtain valid data during the calibration. To this end, the decision was made to adapt a linear pointing controller by adjusting gains and adding an attitude limiter so that it would be able to slew quickly and still achieve steady pointing once on target. During the analysis of this controller, questions arose about the stability of the controller during slewing maneuvers due to the combination of the integral gain, attitude limit, and actuator saturation. Analysis was performed and a method for disabling the integral action while slewing was incorporated to ensure stability. A high fidelity simulation is used to simulate the various instrument calibration maneuvers.

Vess, Melissa F.↗

NASA NTRS2013

Analysis of a Hybrid Wing Body Center Section Test Article

The hybrid wing body center section test article is an all-composite structure made of crown, floor, keel, bulkhead, and rib panels utilizing the Pultruded Rod Stitched Efficient Unitized Structure (PRSEUS) design concept. The primary goal of this test article is to prove that PRSEUS components are capable of carrying combined loads that are representative of a hybrid wing body pressure cabin design regime. This paper summarizes the analytical approach, analysis results, and failure predictions of the test article. A global finite element model of composite panels, metallic fittings, mechanical fasteners, and the Combined Loads Test System (COLTS) test fixture was used to conduct linear structural strength and stability analyses to validate the specimen under the most critical combination of bending and pressure loading conditions found in the hybrid wing body pressure cabin. Local detail analyses were also performed at locations with high stress concentrations, at Tee-cap noodle interfaces with surrounding laminates, and at fastener locations with high bearing/bypass loads. Failure predictions for different composite and metallic failure modes were made, and nonlinear analyses were also performed to study the structural response of the test article under combined bending and pressure loading. This large-scale specimen test will be conducted at the COLTS facility at the NASA Langley Research Center.

Wu, Hsi-Yung T.↗

NASA NTRS2022

Re-Evaluation of Low Cloud Amount Relationships With Lower-Tropospheric Stability and Estimated Inversion Strength

Lower-tropospheric stability (LTS) and estimated inversion strength (EIS) have a widely accepted relationship with low cloud amount and are key observational foundations for understanding and modeling low-level stratiform clouds. Using the updated surface-based and satellite cloud data, we find that low cloud amount is not as strongly correlated with LTS, and not as sensitive to LTS, as established in the past. EIS does not provide a stronger correlation with low cloud amount than LTS over all eight regions (including the midlatitudes). Further analyzing the relationships between LTS and EIS with different types of low clouds, we find that there is a strong correlation of LTS and EIS with stratocumulus only. This explains the weaker correlation of low cloud fraction (including cumulus, stratocumulus, and stratus) to both LTS and EIS. These results also suggest the need to re-evaluate these relationships in Earth system models. Plain Language Summary: Low-level clouds play an important role in the global radiation budget. Low cloud amount has two established linear relationships with lower-tropospheric stability (LTS) and estimated inversion strength (ETS). These two relationships are re-evaluated here using three separate observational cloud and two reanalysis datasets for three distinct but overlapping time periods. The analysis shows that the strength of the LTS and ETS relationships with low cloud amount varies, depending on the cloud data used. They have a strong relationship with stratocumulus cloud amount only.

Lauren Cutler↗