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At least 577 records · Page 32
All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

Autonomous momentum management for space station

Momentum management for the CDG planar space platform is discussed. It is assumed that the external torques on the space station are gravity gradient and aerodynamic, both have bias and cyclic terms. The integrals of the cyclic torques are the cyclic momenti which will be stored in the momentum storage actuator. Techniques to counteract the bias torques and center the cyclic momentum and gravity gradient desaturation by adjusting vehicle attitude, aerodynamic desaturation using solar panels and radiators and the deployment of flat plates at the end of long booms generating aerodynamic torques are investigated.

Hahn, E.↗
NASA NTRS1984

Autonomous momentum management for space station, exhibit A

The report discusses momentum management for the CDG Planar Space Platform. The external torques on the Space Station are assumed to be gravity gradient and aerodynamic with both having bias and cyclic terms. The integrals of the cyclic torques are the cyclic momenti which will be stored in the momentum storage actuator. Various techniques to counteract the bias torques and center the cyclic momentum were investigated including gravity gradient desaturation by adjusting vehicle attitude, aerodynamic desaturation using solar panels and radiators and the deployment of flat plates at the end of long booms generating aerodynamic torques.

Hahn, E.↗
NASA NTRS1985

Effect of superconducting solenoid model cores on spanwise iron magnet roll control

Compared with conventional ferromagnetic fuselage cores, superconducting solenoid cores appear to offer significant reductions in the projected cost of a large wind tunnel magnetic suspension and balance system. The provision of sufficient magnetic roll torque capability has been a long-standing problem with all magnetic suspension and balance systems; and the spanwise iron magnet scheme appears to be the most powerful system available. This scheme utilizes iron cores which are installed in the wings of the model. It was anticipated that the magnetization of these cores, and hence the roll torque generated, would be affected by the powerful external magnetic field of the superconducting solenoid. A preliminary study has been made of the effect of the superconducting solenoid fuselage model core concept on the spanwise iron magnet roll torque generation schemes. Computed data for one representative configuration indicate that reductions in available roll torque occur over a range of applied magnetic field levels. These results indicate that a 30-percent increase in roll electromagnet capacity over that previously determined will be required for a representative 8-foot wind tunnel magnetic suspension and balance system design.

Britcher, C. P.↗
NASA NTRS1985

Drag-compensated, precision-powered hinge system

The design of a high precision powered hinge is complicated by the unavoidable presence of parasitic drag torque resulting mainly from friction and transfer of power, signals, and fluids across the hinge. Regardless of the type of drive system selected, it is impossible to completely eliminate all parasitic drag. However, the mechanism described here comes very close to providing a drag free system. All sources of parasitic drag torque are collected on a shaft which is powered by an electric motor independent of the main hinge drive. Under control of a sensor, the electric motor applies a compensating torque equal to that of the parasitic drag torque, allowing the main hinge drive to operate in a practically drag free environment with very high positioning precision.

Jacquemin, G. G.↗
NASA NTRS1985

Autonomous momentum management for the CDG planar Space Station

This paper discusses momentum management for the CDG Planar Space Platform. The external torques on the Space Station are assumed to be gravity gradient and aerodynamic with both having bias and cyclic terms. The integrals of the cyclic torques are the cyclic momenti which will be stored in the momentum storage actuator. Various techniques to counteract the bias torques and center the cyclic momentum were investigated including gravity gradient desaturation by adjusting vehicle attitude, aerodynamic desaturation using solar panels and radiators and the deployment of flat plates at the end of long booms generating aerodynamic torques.

Hopkins, M.↗
NASA NTRS1985

True polar wander and plate-driving forces

The nature of net torques applied to the lithosphere by ridge and trench forces as implied by the absence of recent true polar wander is explored. The 'ridge push' and 'trench pull' forces and the potential net torques on the global lithosphere contributed by each of these forces are discussed. It is shown that the relative magnitudes of the net torques contributed by ridge and trench forces are constrained by the absence of true polar wander during the Cenozoic and by the magnitudes of basal shear stresses on the faster moving plates. It is suggested that the lack of recent true polar wander may be due at least in part to the coincidence of a near cancellation of net torques contributed by ridge and trench forces.

Davis, D. M.↗
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 NTRS1986

Satellite attitude motion models for capture and retrieval investigations

The primary purpose of this research is to provide mathematical models which may be used in the investigation of various aspects of the remote capture and retrieval of uncontrolled satellites. Emphasis has been placed on analytical models; however, to verify analytical solutions, numerical integration must be used. Also, for satellites of certain types, numerical integration may be the only practical or perhaps the only possible method of solution. First, to provide a basis for analytical and numerical work, uncontrolled satellites were categorized using criteria based on: (1) orbital motions, (2) external angular momenta, (3) internal angular momenta, (4) physical characteristics, and (5) the stability of their equilibrium states. Several analytical solutions for the attitude motions of satellite models were compiled, checked, corrected in some minor respects and their short-term prediction capabilities were investigated. Single-rigid-body, dual-spin and multi-rotor configurations are treated. To verify the analytical models and to see how the true motion of a satellite which is acted upon by environmental torques differs from its corresponding torque-free motion, a numerical simulation code was developed. This code contains a relatively general satellite model and models for gravity-gradient and aerodynamic torques. The spacecraft physical model for the code and the equations of motion are given. The two environmental torque models are described.

Cochran, John E., Jr.↗
NASA NTRS1987

Space station momentum management

Gravity gradient stabilization is planned for the space station. Torques arise from air-drag since the center of pressure is not the same as the center of mass of the satellite. The magnitude of these torques varies depending upon the orientation of the solar panels. Adjustments are made through the use of CMG's (Control Moment Gyros). In time, if the CMG's saturate, torque must be bled off using thrusters; however, that is undesirable because it expends propellant and contaminates the local environment. The task of the engineer is to design the CMG's to handle the aerodynamic torques and design the configuration of the spacecraft to prevent, if possible, CMG saturation. For this application the long-term atmospheric density trends are of less importance than the rate of change of density within an orbit. In principle, CMG's could be designed for the worst case of maximum solar activity, but the penalty for overdesign is excess mass and cost. In summary, present models are inadequate for this application with the greatest need being a reliable prediction of maximum rates-of-change of density within an orbit.

Buckalew, V.↗
NASA NTRS1989

Starting characteristics of direct current motors powered by solar cells

Direct current motors are used in photovoltaic systems. Important characteristics of electric motors are the starting to rated current and torque ratios. These ratios are dictated by the size of the solar cell array and are different for the various dc motor types. Discussed here is the calculation of the starting to rated current ratio and starting to rated torque ratio of the permanent magnet, and series and shunt excited motors when powered by solar cells for two cases: with and without a maximum-power-point-tracker (MPPT) included in the system. Comparing these two cases, one gets a torque magnification of about 3 for the permanent magnet motor and about 7 for other motor types. The calculation of the torques may assist the PV system designer to determine whether or not to include an MPPT in the system.

Singer, S.↗
NASA NTRS1989

Optimal force distribution for payload positioning using a planar dual-arm robot

This paper presents a parameter optimization technique for deciding the force distribution on a payload being transported along a predetermined trajectory using two planar manipulator arms. The methodology begins by transforming the singular dynamics of two-arm transport to an ordinary set of differential equations and then proceeds to obtain a relation between the torques exerted by each arm. This relation is then used in a quadratic torque cost which is subsequently minimized to yield an optimal torque distribution. Significant savings in energy were found to occur when the arms were allowed to interact by transmission of forces through the payload. Even more significant are the savings found over one-arm transport of payloads where the arm torques are fixed by the prescribed trajectory.

Carignan, C. R.↗
NASA NTRS1990

Low-Thermal-Stress Structural Joints For Dissimilar Materials

Structural joint developed for attachment of hypersonic control surface to aircraft wing structure. Transmits large torque loads from composite control surface and torque tube to wing structure through metallic attachment lug and collar. Torque load transmitted from tube to collar by series of radially oriented cleats. Bearing surfaces of cleats plane passing through center-line of torque tube. Such joints accommodate differential thermal growth between parts of dissimilar materials. Potential for application to high-temperature structural joints associated with hypervelocity vehicles.

Matza, Edward C.↗
NASA NTRS1989

Application of recursive manipulator dynamics to hybrid software/hardware simulation

Computer simulations of robotic mechanisms have traditionally solved the dynamic equations of motion for an N degree of freedom manipulator by formulating an N dimensional matrix equation combining the accelerations and torques (forces) for all joints. The use of an alternative formulation that is strictly recursive is described. The dynamic solution proceeds on a joint by joint basis, so it is possible to perform inverse dynamics at arbitrary joints. The dynamic formulation is generalized with respect to both rotational and translational joints, and it is also directly extendable to branched manipulator chains. A hardware substitution test is described in which a servo drive motor was integrated with a simulated manipulator arm. The form of the dynamic equation permits calculation of acceleration given torque or vice versa. Computing torque as a function of acceleration is required for the hybrid software/hardware simulation test described. For this test, a joint servo motor is controlled in conjunction with the simulation, and the dynamic torque on the servo motor is provided by a load motor on a common driveshaft.

Hill, Christopher J.↗
NASA NTRS1991

Servo Reduces Friction In Flexure Bearing

Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

Clingman, W. Dean↗
NASA NTRS1990

The accuracy of dynamic attitude propagation

Propagating attitude by integrating Euler's equation for rigid body motion has long been suggested for the Earth Radiation Budget Satellite (ERBS) but until now has not been implemented. Because of limited Sun visibility, propagation is necessary for yaw determination. With the deterioration of the gyros, dynamic propagation has become more attractive. Angular rates are derived from integrating Euler's equation with a stepsize of 1 second, using torques computed from telemetered control system data. The environmental torque model was quite basic. It included gravity gradient and unshadowed aerodynamic torques. Knowledge of control torques is critical to the accuracy of dynamic modeling. Due to their coarseness and sparsity, control actuator telemetry were smoothed before integration. The dynamic model was incorporated into existing ERBS attitude determination software. Modeled rates were then used for attitude propagation in the standard ERBS fine-attitude algorithm. In spite of the simplicity of the approach, the dynamically propagated attitude matched the attitude propagated with good gyros well for roll and yaw but diverged up to 3 degrees for pitch because of the very low resolution in pitch momentum wheel telemetry. When control anomalies significantly perturb the nominal attitude, the effect of telemetry granularity is reduced and the dynamically propagated attitudes are accurate on all three axes.

Harvie, E.↗
NASA NTRS1990

Two Axis Pointing System (TAPS) attitude acquisition, determination, and control

The Two Axis Pointing System (TAPS) is a 2 axis gimbal system designed to provide fine pointing of Space Transportation System (STS) borne instruments. It features center-of-mass instrument mounting and will accommodate instruments of up to 1134 kg (2500 pounds) which fit within a 1.0 by 1.0 by 4.2 meter (40 by 40 by 166 inch) envelope. The TAPS system is controlled by a microcomputer based Control Electronics Assembly (CEA), a Power Distribution Unit (PDU), and a Servo Control Unit (SCU). A DRIRU-II inertial reference unit is used to provide incremental angles for attitude propagation. A Ball Brothers STRAP star tracker is used for attitude acquisition and update. The theory of the TAPS attitude determination and error computation for the Broad Band X-ray Telescope (BBXRT) are described. The attitude acquisition is based upon a 2 star geometric solution. The acquisition theory and quaternion algebra are presented. The attitude control combines classical position, integral and derivative (PID) control with techniques to compensate for coulomb friction (bias torque) and the cable harness crossing the gimbals (spring torque). Also presented is a technique for an adaptive bias torque compensation which adjusts to an ever changing frictional torque environment. The control stability margins are detailed, with the predicted pointing performance, based upon simulation studies. The TAPS user interface, which provides high level operations commands to facilitate science observations, is outlined.

Azzolini, John D.↗
NASA NTRS1992

Effect of operating conditions on gearbox noise

Low contact ratio spur gears were tested in the NASA gear noise rig to study the noise radiated from the top of the gearbox. The measured sound power from the gearbox top was obtained from a near field acoustic intensity scan taken at 63 nodes just above the surface. The sound power was measured at a matrix of 45 operating speeds and torque levels. Results are presented in the form of a spectral speed map and as a plot of sound power versus torque (at constant speed) and as sound power versus speed (at constant torque). Because of the presence of vibration modes, operating speed was found to have more impact on noise generation than torque level. A NASA gear dynamics code was used to compute the gear tooth dynamic overload at the same 45 operating conditions used for the experiment. Similar trends were found between the analytical results for dynamic tooth overload and experimental results for sound power. Dynamic analysis may be used to design high quality gears with profile relief optimized for minimum dynamic load and noise.

Oswald, Fred B.↗
NASA NTRS1992

Correlation and prediction of dynamic human isolated joint strength from lean body mass

A relationship between a person's lean body mass and the amount of maximum torque that can be produced with each isolated joint of the upper extremity was investigated. The maximum dynamic isolated joint torque (upper extremity) on 14 subjects was collected using a dynamometer multi-joint testing unit. These data were reduced to a table of coefficients of second degree polynomials, computed using a least squares regression method. All the coefficients were then organized into look-up tables, a compact and convenient storage/retrieval mechanism for the data set. Data from each joint, direction and velocity, were normalized with respect to that joint's average and merged into files (one for each curve for a particular joint). Regression was performed on each one of these files to derive a table of normalized population curve coefficients for each joint axis, direction, and velocity. In addition, a regression table which included all upper extremity joints was built which related average torque to lean body mass for an individual. These two tables are the basis of the regression model which allows the prediction of dynamic isolated joint torques from an individual's lean body mass.

Pandya, Abhilash K.↗