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NASA NTRS1983

Special cases of friction and applications

Two techniques for reducing friction forces are presented. The techniques are applied to the generalized problem of reducing the friction between kinematic pairs which connect a moveable link to a frame. The basic principles are: (1) Let the moveable link be supported by two bearings where the relative velocities of the link with respect to each bearing are of opposite directions. Thus the resultant force (torque) of friction acting on the link due to the bearings is approximately zero. Then, additional perturbation of motion parallel to the main motion of the moveable link will require only a very small force; (2) Let the perturbation in motion be perpendicular to the main motion. Equations are developed which explain these two methods. The results are discussed in relation to friction in geared couplings, gyroscope gimbal bearings and a rotary conveyor system. Design examples are presented.

Litvin, F. L.↗

NASA NTRS1983

Space Station Control Requirements and Flywheel System Weights for Combined Momentum and Energy Storage

The specifications of the flywheel system for momentum storage and vehicle torquing are somewhat dependent upon the attitude control requirements of the space station in orbit. As a ground rule, the flywheel system will be sized large enough to provide all attitude maneuvers, if practical, to avoid or minimize turning on the reaction control system (RCS). The RCS, whenever used, expels expensive mass and tends to contaminate optical surfaces of the vehicle. The vehicle rate and acceleration specifications of 0.10 deg/sec and 0.01 deg/square sec are tentative, and may be reduced if lesser values are more practical for flywheel design. For local vertical attitude hold, the average attitude error should be zero, and not the classical 1 degree, since control moment gyro (CMG) gimbal angles provide an exact reference feedback for gravity gradient momentum. Docking presents a problem for docking transients and attitude alignment which will require use of the RCS.

Elam, F. M.↗

NASA NTRS1983

Dynamic certification of a thrust-measuring system for large solid rocket motors

The J-4 Rocket Test Cell and its Thrust Measuring System (TMS) at Arnold Engineering Development Center were modified to provide multicomponent force measurement of large solid rocket motors having nozzle gimbaling capability. To verify the structural integrity of a combined TMS and motor system, a large finite element model of the TMS and motor was developed using the NASTRAN computer program. Due to the importance of obtaining accurate estimates for the dynamic force levels, it was necessary to certify that the model adequately simulated the physical system. This was accomplished by performing a modal analysis test on the TMS and motor combination. The objectives were to discuss the physical characteristics of the TMS and motor that influence the NASTRAN model; to compare the frequency response characteristics computed using the NASTRAN model to those obtained from the modal analysis test; to discuss the experiences gained in modal analysis testing; and to demonstrate how state-of-the-art experimental and analytical methods are used in the design of ground test facilities.

Lemaster, R. A.↗

NASA NTRS1981

Pinhole/coronograph pointing control system integration and noise reduction analysis

The Pinhole Occulter Facility (P/OF) is a Space Shuttle based experiment for the production of solar coronographics and hard X-ray images. The system is basically pinhole camera utilizing a deployable 50-m flexible boom for separating the pinholes and coronograph shields from the recording devices located in the Shuttle bay. At the distal end of the boom from the Shuttle is a 25 kg mask containing pinholes and coronograph shields. At the proximal end the detectors are located and mounted, along with the deployable boom, to the ASPS gimbal pointing system (AGS). The mask must be pointed at the Sun with a high degree of pointing stability and accuracy to align the axes of the detectors with the pinholes and shields. Failure to do so will result in a blurring of the images on the detectors and a loss of resolution. Being a Shuttle based experiment, the system will be subjected to the disturbances of the Shuttle. The worst of these is thruster firing for orbit correction; the Shuttle uses a bang-bang thruster control system to maintain orbit to within preset limits. Other disturbances include man motion, motion induced by other systems, and gravity gradient torques.

Greene, M.↗

NASA NTRS1983

An engineering evaluation of the Space Shuttle OMS engine after 5 orbital flights

Design features, performances on the first five flights, and condition of the Shuttle OMS engines are summarized. The engines were designed to provide a vacuum-fed 6000 lb of thrust and a 310 sec specific impulse, fueled by a combination of N2O4 and monomethylhydrazine (MMH) at a mixture ratio of 1.65. The design lifetime is 1000 starts and 15 hr of cumulative firing duration. The engine assembly is throat gimballed and features yaw actuators. No degradation of the hot components was observed during the first five flights, and the injector pattern maintained a uniform, enduring level of performance. An increase in the take-off loads have led to enhancing the wall thickness in the nozzle in affected areas. The engine is concluded to be performing to design specifications and is considered an operational system.

David, D.↗

NASA NTRS1984

Quaternions for Galileo scan platform control

The application of quaternions for the articulation control of the Galileo scan platform is presented in this paper. The purpose of selecting quaternions is to minimize onboard computation time and program size. Attention has been focused on performing inertial pointing while the spacecraft is in a dual spin configuration. Target quaternion and relative target quaternion are introduced and used to specify the target position of the scan platform for point-to-point absolute slews and mosaic relative slews, respectively. The pointing error of the platform is represented by an error quaternion which is converted into gimbal angular errors defining the attitude change. For path control, a moving target quaternion is generated; the corresponding tracking error quaternion and the related spacecraft motion compensation capability are also addressed. A sample slew case is used to demonstrate the implementation of these concepts.

Breckenridge, W. G.↗

NASA NTRS1984

Orientation and shape-control of an orbiting flexible beam under the influence of solar radiation pressure

In this paper, the uncontrolled and controlled dynamics of a thin flexible beam in orbit and in the presence of solar radiation disturbance are analyzed. A beam nominally oriented along (i) the local horizontal and carrying a gimballed rigid dumbbell for gravity stabilization, and (ii) a beam nominally oriented along the local vertical are considered. The uncontrolled dynamics of the beam in the presence of the solar radiation pressure disturbance shows the excitation of the rigid pitch mode. The control laws previously designed for the case where the environmental effects were neglected, are found to be inadequate to control the shape and orientation of very flexible beams that are exposed to solar radiation disturbances. The control laws and the gain parameters are reevaluated for both cases of nominal beam orientations; this results, in general, in increased robustness of the closed-loop system. Methods of obtaining a robust control system in the presence of environmental perturbations are discussed.

Krishna, R.↗

NASA NTRS1984

High accuracy pointing for earth observation experiments

An evaluation of mission requirements for postulated earth observation orbital payload experiments has indicated that high accuracy pointing and stabilization must be provided for adequate performance. A computer simulation has been conducted to determine the capabilities of an auxiliary pointing system which employs a combination of conventional gimbals and magnetic bearing actuators. This Annular Suspension and Pointing System (ASPS) is found to be a viable means of providing the high slew rates associated with landmark tracking from low orbit, while simultaneously achieving the high degree pointing and stabilization dictated by science payload requirements.

Keckler, C. R.↗

NASA NTRS1984

An on-orbit experiment for dynamics and control of large structures

Attention is given to the definition of the on-orbit dynamic testing that is currently being planned for the flight of a large solar array test article, the Solar Array Flight Experiment (SAFE 1), which consists of a coilable longeron mast that deploys a large solar array blanket. Also discussed is the design of an additional experiment employing this structure in conjunction with a two- or three-axis gimbal system, in order to demonstrate control techniques applicable to such large structures. SAFE 1 experiment objectives, hardware, software, and the experimental operations foreseen are discussed.

Buchanan, H. J.↗

NASA NTRS1985

Pointable Auger

Machine drills, crushes, and feeds coal - and seeks out extra-hard inclusions. Auger mounted on gimbal, located at its center of gravity for ease of maneuvering. Opposing hydraulic cylinders cooperate to point auger under control of microprocessor. Its diamond teeth break up coal seam, it crushes coal fed to it by mining machine jaws, and its screw action pushes crushed coal into slurry-forming chamber.

Lewis, E. V.↗

NASA NTRS1984

The design, fabrication and delivery of a spacelab neutral buoyancy Instrument Pointing System (IPS) mockup

Underwater simulations of EVA contingency operations such as manual jettison, payload disconnect, and payload clamp actuation were used to define crew aid needs and mockup pecularities and characteristics to verify the validity of simulation using the trainer. A set of mockup instrument pointing system tests was conducted and minor modifications and refinements were made. Flight configuration struts were tested and verified to be operable by the flight crew. Tasks involved in developing the following end items are described: IPS gimbal system, payload, and payload clamp assembly; the igloos (volumetric); spacelab pallets, experiments, and hardware; experiment, and hardware; experiment 7; and EVA hand tools, support hardware (handrails and foot restraints). The test plan preparation and test support are also covered.

Vanvalkenburgh, C. N.↗

NASA NTRS1984

Level of effort

The generation of a planar model of the ground test experiment structure is examined. This was done by adapting an in-house modal analysis code (Gimbalflex) to allow placement of sensors and actuators at certain locations on the structure. The next step in the development of this model was to adapt if for use with the control pole placement algorithm. The uncontrollable rigid body mode was removed from the model. This uncontrollable mode was due to the pointing of the gimbal. Control system design for the planar model was also initiated. A digital controller was planned utilizing the Control Pole Placement technique. The existence of rate of state feedback was assumed. Once this controller and other control algorithms were developed, it became necessary to conduct speed tests. A study was then made of additional hardware/software necessary to meet the speed requirement.

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NASA NTRS1984

Spacecraft system study: A study to define the impact of laser communication systems on their host spacecraft

The mutual influence of a laser communication system and its host spacecraft and the degree to which the mutual influence limited acquisition, tracking and pointing processes were investigated. A laser klink between a low earth orbiting (LEO) satellite and a geosynchronous earth orbiting (GEO) satellite was used as a baseline. The laser link between satellites was a generic channel transferring 500 Mbps data from the LEO to GEO using the GaAlAs laser as the laser light source. Major aspects of pointing and tracking with a satelliteborne optical system were evaluated including: (1) orbital aspects such as spacecraft relative motions, point ahead, and Sun snd Moon optical noise; (2) burst errors introduced by the electronic and optical noise levels; (3) servo system design and configurations, and the noise sources such as, sensor noise, base motion disturbances, gimbal friction torque noise; (4) an evaluation of the tracking and beacon link and the type of sensors used; (5) the function of the acquisition procedure and an evaluation of the sensors employed; and (6) an estimate of the size, weight and power needed for the satellite system.

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NASA NTRS1985

The Solid Rocket Booster Auxiliary Power Unit: Meeting the Challenge

The thrust vector control systems of the solid rocket boosters are turbine-powered, electrically controlled hydraulic systems which function through hydraulic actuators to gimbal the nozzles of the solid rocket boosters and provide vehicle steering for the Space Shuttle. Turbine power for the thrust vector control systems is provided through hydrazine fueled auxiliary power units which drive the hydraulic pumps. The solid rocket booster auxiliary power unit resulted from trade studies which indicated significant advantages would result if an existing engine could be found to meet the program goal of 20 missions reusability and adapted to meet the seawater environments associated with ocean landings. During its maturation, the auxiliary power unit underwent many design iterations and provided its flight worthiness through full qualification programs both as a component and as part of the thrust vector control system. More significant, the auxiliary power unit has successfully completed six Shuttle missions.

Hughes, R. W.↗

NASA NTRS1983

Integrated technology rotor/flight research rotor concept definition study

As part of the Integrated Technology Rotor/Flight Research Rotor (ITR/FRR) Program a number of advanced rotor system designs were conceived and investigated. From these, several were chosen that best meet the started ITR goals with emphasis on stability, reduced weight and hub drag, simplicity, low head moment stiffness, and adequate strength and fatigue life. It was concluded that obtaining low hub moment stiffness was difficult when only the blade flexibility of bearingless rotor blades is considered, unacceptably low fatigue life being the primary problem. Achieving a moderate hub moment stiffness somewhat higher than state of the art articulated rotors in production today is possible within the fatigue life constraint. Alternatively, low stiffness is possible when additional rotor elements, besides the blades themselves, provide part of the rotor flexibility. Two primary designs evolved as best meeting the general ITR requirements that presently exist. An I shaped flexbeam with an external torque tube can satisfy the general goals but would have either higher stiffness or reduced fatigue life. The elastic gimbal rotor can achieve a better combination of low stiffness and high fatigue life but would be a somewhat heavier design and possibly exhibit a higher risk of aeromechanical instability.

Carlson, R. G.↗

NASA NTRS1985

Design study of an integrated aerobraking orbital transfer vehicle

An aerobraking orbital transfer vehicle (AOTV) concept, which has an aerobrake structure that is integrated with the propulsion stage, is discussed. The concept vehicle is to be assembled in space and is space-based. The advantages of aeroassist over an all propulsive vehicle are discussed and it is shown that the vehicle considered is very competitive with inflatable and deployable concepts from mass and performance aspects. The aerobrake geometry is an ellipsoidally blunted, raked-off, elliptical wide-angle cone with a toroidal skirt. Propellant tanks, engines, and subsystems are integrated into a closed, isogrid aerobrake structure which provides rigidity. The vehicle has two side-firing, gimbaled RL-10 type engines and carries 38,000 kg of useable propellant. The trajectory during aerobraking is determined from an adaptive guidance logic, and the heating is determined from engineering correlations as well as 3-D Navier-Stokes solutions. The AOTV is capable of placing 13,500 kg payload into geosynchronous Earth orbit (GEO) or carrying a LEO-GEO-LEO round-trip payload of 7100 kg. A two-stage version considered for lunar missions results in a lunar surface delivery capability of 18,000 kg or a round-trip capability of 6800 kg with 3860 kg delivery-only capability.

Scott, C. D.↗

NASA NTRS1985

Shuttle-attached Antenna Flight Experiment Definition Study (FEDS)

The control algorithms, techniques, and hardware which would be required to support whether flight experiments of large space structures control are assessed for a 55-meter diameter wrap-rib reflector with a three degree-of-freedom gimbal. Strowman requirements were established for geometry, mass property, and elastic mode identification as well as for control and slewing. A five-body simulation of the Shuttle and test article was built with the ALLFLEX computer program. A maximum likelihood estimator, the flight experiment timeline, and the LSS control development test plan are discussed.

Hannan, G. J.↗

NASA NTRS1985

Definition of ground test for verification of large space structure control

Directions regarding the analytical models were received. A counter balance arm with weights was added at the top of the ASTROMAST to offset the arm with the gimbals. In addition to this model, three more models were requested from MSFC: structure as in the revised model with the addition of lumped masses at bays 46 and 91 of the ASTROMAST; cantilevered cruciform structure with lumped masses at bays 46 and 91, and an all up cruciform structure with lumped masses at bays 46 and 91. Figures for each model and their corresponding natural frequencies and general mode shapes associated with these frequencies are included. The drawbar in use in the cruciform models must be incorporated into the antenna and ASTROMAST models. The total tensile load carrying capability of the ASTROMAST is approximately 840 pounds.

Seltzer, S. M.↗