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At least 595 records · Page 33

The B-dot Earth Average Magnetic Field

The average Earth's magnetic field is solved with complex mathematical models based on mean square integral. Depending on the selection of the Earth magnetic model, the average Earth's magnetic field can have different solutions. This paper presents a simple technique that takes advantage of the damping effects of the b-dot controller and is not dependent of the Earth magnetic model; but it is dependent on the magnetic torquers of the satellite which is not taken into consideration in the known mathematical models. Also the solution of this new technique can be implemented so easily that the flight software can be updated during flight, and the control system can have current gains for the magnetic torquers. Finally, this technique is verified and validated using flight data from a satellite that it has been in orbit for three years.

Capo-Lugo, Pedro A.↗

The experimental results of a self tuning adaptive controller using online frequency identification

A fourth-order laboratory dynamic system featuring very low structural damping and a noncolocated actuator-sensor pair has been used to test a novel real-time adaptive controller, implemented in a minicomputer, which consists of a state estimator, a set of state feedback gains, and a frequency-locked loop for real-time parameter identification. The adaptation algorithm employed can correct controller error and stabilize the system for more than 50 percent variation in the plant's natural frequency, compared with a 10 percent stability margin in frequency variation for a fixed gain controller having the same performance as the nominal plant condition. The very rapid convergence achievable by this adaptive system is demonstrated experimentally, and proven with simple, root-locus methods.

Chiang, W.-W.↗

Helicopter trim analysis by shooting and finite element methods with optimally damped Newton iterations

Helicopter trim settings of periodic initial state and control inputs are investigated for convergence of Newton iteration in computing the settings sequentially and in parallel. The trim analysis uses a shooting method and a weak version of two temporal finite element methods with displacement formulation and with mixed formulation of displacements and momenta. These three methods broadly represent two main approaches of trim analysis: adaptation of initial-value and finite element boundary-value codes to periodic boundary conditions, particularly for unstable and marginally stable systems. In each method, both the sequential and in-parallel schemes are used, and the resulting nonlinear algebraic equations are solved by damped Newton iteration with an optimally selected damping parameter. The impact of damped Newton iteration, including earlier-observed divergence problems in trim analysis, is demonstrated by the maximum condition number of the Jacobian matrices of the iterative scheme and by virtual elimination of divergence. The advantages of the in-parallel scheme over the conventional sequential scheme are also demonstrated.

Achar, N. S.↗

A 17 degree of freedom anthropomorphic manipulator

A 17 axis anthropomorphic manipulator, providing coordinated control of two seven degree of freedom arms mounted on a three degree of freedom torso-waist assembly, is presented. This massively redundant telerobot, designated the Robotics Research K/B-2017 Dexterous Manipulator, employs a modular mechanism design with joint-mounted actuators based on brushless motors and harmonic drive gear reducers. Direct joint torque control at the servo level causes these high-output joint drives to behave like direct-drive actuators, facilitating the implementation of an effective impedance control scheme. The redundant, but conservative motion control system models the manipulator as a spring-loaded linkage with viscous damping and rotary inertia at each joint. This approach allows for real time, sensor-driven control of manipulator pose using a hierarchy of competing rules, or objective functions, to avoid unplanned collisions with objects in the workplace, to produce energy-efficient, graceful motion, to increase leverage, to control effective impedance at the tool or to favor overloaded joints.

Vold, Havard I.↗

Paper #50 Preliminary Sizing of Active Magnetic Bearings for sCO2 Waste-Heat Recovery Application

The team of Southwest Research Institute (SwRI) and GE Vernova (GE) is executing a project developing conceptual designs of high-temperature active magnetic bearings (AMBs) for sCO2 machinery applications. The goals of the project are to develop conceptual designs for radial and thrust AMBs capable of operating in sCO2 environments up to 1000°F. A waste-heat recovery (WHR) application with hermetic machinery is used as a reference case to apply AMBs. This application was previously investigated to compare hermetic machinery enabled by process-lubricated bearings and high-speed motors/generators with traditional machinery configurations using oil-lubricated bearings, gearboxes, and grid-frequency electric machines. In this paper, AMBs are sized for the WHR application machinery. Load capacity estimates are made using first-principle-derived formulas that consider operation at elevated temperatures. Estimates of linearized AMB system coefficients are also made to aid future controller development. Rotor models are developed that account for AMB rotor geometry and housing space requirements. Rotordynamics studies are performed to identify reasonable target values for closed-loop AMB stiffness and closed-loop AMB damping. These target values will be used in future control studies.

Lipham, Robert↗

Method of Obtaining High Resolution Intrinsic Wire Boom Damping Parameters for Multi-Body Dynamics Simulations

The goal of NASA's Magnetospheric MultiScale (MMS) mission is to understand magnetic reconnection with sensor measurements from four spinning satellites flown in a tight tetrahedron formation. Four of the six electric field sensors on each satellite are located at the end of 60- meter wire booms to increase measurement sensitivity in the spin plane and to minimize motion coupling from perturbations on the main body. A propulsion burn however, might induce boom oscillations that could impact science measurements if oscillations do not damp to values on the order of 0.1 degree in a timely fashion. Large damping time constants could also adversely affect flight dynamics and attitude control performance. In this paper, we will discuss the implementation of a high resolution method for calculating the boom's intrinsic damping, which was used in multi-body dynamics simulations. In summary, experimental data was obtained with a scaled-down boom, which was suspended as a pendulum in vacuum. Optical techniques were designed to accurately measure the natural decay of angular position and subsequently, data processing algorithms resulted in excellent spatial and temporal resolutions. This method was repeated in a parametric study for various lengths, root tensions and vacuum levels. For all data sets, regression models for damping were applied, including: nonlinear viscous, frequency-independent hysteretic, coulomb and some combination of them. Our data analysis and dynamics models have shown that the intrinsic damping for the baseline boom is insufficient, thereby forcing project management to explore mitigation strategies.

Yew, Alvin G.↗

Measurements in Flight of the Flying Qualities of a Chance Vought F4U-4 Airplane: TED No. NACA 2388

The results of flight tests to determine flying qualities of a Chance Vought F4U-4 airplane are presented and discussed herein. In addition to comprehensive measurements at low altitude (about 8000 ft), tests of limited scope were made at high altitude (about 25,000 ft). The more important characteristics, based on a comparison of the test results and opinions of the pilots with the Navy requirements, can be summarized as follows: 1. The short-period control-free oscillations of the elevator angle and the normal acceleration were satisfactorily damped. 2. The most rearward center-of-gravity locations for satisfactory static longitudinal stability with power on, as determined by the control-force variations, were approximately 30 and 27 percent M.A.C. with flaps and gear up and down, respectively. 3. In maneuvering flight the conditions for which control-force gradients of satisfactory magnitude were obtained were seriously limited by sizable changes in the gradient with center-of-gravity location, airspeed, altitude, acceleration factor, and direction of turn. 4. The elevator and rudder controls were satisfactory for landings and take-offs. 5. The trim tabs were sufficiently effective for all controls. 6. The directional and lateral dynamic stability was positive, but the rudder oscillation did not damp within one cycle. The airplane oscillation damped sufficiently at low altitude but not at high altitude. 7. Both rudder-fixed and rudder-free static directional stability were positive over a sideslip range of +/-15 deg. However, the rudder force tended to reverse at high angles of right sideslip with flaps and gear up, power on, at low speeds. 8. The stick-fixed static lateral stability (dihedral effect) was positive in all conditions, but the stick-free dihedral effect was neutral at low speeds with flap and gear down, power on. 9. The yaw due to abrupt full aileron deflection at low speed was mot excessive, and the rudder control was adequate to hold trim sideslip. 10. In abrupt rudder-fixed aileron rolls in the clean configuration the maximum pb/2V for full aileron deflection at low and normal speeds was only 0.064. 11. The stalling characteristics were considered unsatisfactory in all configurations in both straight and turning flight due to inadequate stall warning. The motions in the stalls were not unduly severe, and recovery could be effected promptly by normal use of the controls.

Liddell, Charles J., Jr.↗

Inter-Area Oscillation Damping with Type-5 Wind Power Plant: Preprint

This paper investigates the potential of using brushless excitation (BLE) for not only riding through the fault but also to damp inter-area power oscillation with the help of a synchronous generator (SG) used in Type 5 Wind Power Plant (WPP). In BLE, an auxiliary synchronous generator (ASG) behaving like an exciter is coupled and driven by the rotor of the main SG. The BLE's field current's ASG is fed by two separate loops of the automatic voltage regulator (AVR) and Power System Stabilizer (PSS). The AVR system implements a control loop to regulate the generator terminal voltage, VT. For the PSS, the kinetic energy of the wind turbine is utilized according to the estimated rotational speed of the synchronous generator shaft of the SG. It mitigates the necessity of any curtailment of active power for damping. The effectiveness of the proposed control scheme is verified with a three-phase short circuit fault in a two-area power system.

brushless↗

Inter-Area Oscillation Damping with Type-5 Wind Power Plant

This paper investigates the potential of using brushless excitation (BLE) for not only riding through the fault but also to damp inter-area power oscillation with the help of a synchronous generator (SG) used in Type 5 Wind Power Plant (WPP). In BLE, an auxiliary synchronous generator (ASG) behaving like an exciter is coupled and driven by the rotor of the main SG. The BLE's field current's ASG is fed by two separate loops of the automatic voltage regulator (AVR) and power system stabilizer (PSS). The AVR system implements a control loop to regulate the generator terminal voltage, VT. For the PSS, the kinetic energy of the wind turbine is utilized according to the estimated rotational speed of the synchronous generator shaft of the SG. It may mitigate the necessity of any curtailment of active power for damping. The effectiveness of the proposed control scheme is verified with a three-phase short circuit fault in a two-area power system.

brushless↗

An Examination of Applying Shunted Piezoelectrics to Reduce Aeroelastic Response

Several analytical and experimental studies clearly demonstrate that piezoelectric materials (piezoelectrics) can be used as actuators to actively control vibratory response, including aeroelastic response. However, two important issues in using piezoelectrics as actuators for active control are: 1) the potentially large amount of power required to operate the actuators, and 2) the complexities involved with active control (added hardware, control law design, and implementation). Active or passive damping augmentation using shunted piezoelectrics may provide a viable alternative. This approach requires only simple electrical circuitry and very little or no electrical power. The current study examines the feasibility of using shunted piezoelectrics to reduce aeroelastic response using a typical-section representation of a wing and piezoelectrics shunted with a parallel resistor and inductor. The aeroelastic analysis shows that shunted piezoelectrics can effectively reduce aeroelastic response below flutter and may provide a simple, low-power method of subcritical aeroelastic control.

McGowan, Anna-Maria Rivas↗

Development of an electrostatic positioner for space material processing

This paper describes an electrostatic positioning instrument which was developed at the Jet Propulsion Laboratory to enable experimenters to conduct containerless material science experiments in space. Samples that are to be studied are electrically charged and controlled by the electrostatic force produced by a set of properly arranged electrodes. Three different types of positioners are described, i.e., the dish type, the ring type, and the tetrahedral type. In all these systems, the positioning and the damping of the sample is accomplished by a feedback control system. The advantage of this electrostatic positioning method, in comparison to the other methods, such as acoustic and electromagnetic, lies in the fact that it can operate in a high vacuum and does not require the material to be electrically conductive as long as the material can carry a certain amount of charge.

Rhim, W. K.↗

Fuel-optimal angular momentum vector control for spinning and dual-spin spacecraft.

The problem of fuel-optimal small-angle reorientation of the spin axis of a spinning or dual-spin spacecraft is examined. The results obtained show significant improvements over previously published optimization studies by virtue of the introduction of two innovations: (1) mass-explusion active control is utilized for angular momentum vector pointing only, with passive damping relied upon for stable vehicles to attenuate vehicle coning about the angular momentum vector, so that the task of the active controller changes from spin axis control to angular momentum vector control, and (2) several options are considered for type, number, and location of attitude control jets. The first of these considerations introduces a target set which is a smooth, two-dimensional linear manifold in the four-dimensional state space, whereas previous studies have adopted the origin as the target set. The second innovation amounts to consideration of a spectrum of control restraint sets.

Larson, V.↗

Mars 2020 Perseverance Entry Controller Design and Flight Reconstruction

On February 18th, 2021, NASA landed Perseverance on the Jezero crater (on Mars). An entry Guidance, Navigation, and Control (GNC) system delivered the vehicle to the desired landing ellipse. The navigation filter propagated position and attitude states initialized from cruise using Inertial Measurement Unit (IMU) measurements. The entry guidance modulated the lift vector through bank commands to reach the parachute deploy conditions. The entry controller commanded the propulsive Reaction Control System (RCS) to track the bank commands while doing rate damping on angle-of-attack and sideslip. This paper describes the design and the as-flown performance of the entry controller.

Way, David W.↗

Active suppression of an 'apparent shock induced instability'

A control law was designed, using constrained optimization techniques, to suppress an apparent shock induced instability of a sweptback, aeroelastic wing with supercritical airfoil sections. The controller design was based on an approximate linear plant representation obtained using forced response data from a previous entry in the Langley Transonic Dynamics tunnel. During a second tunnel entry, it was found that there was not an instability in the uncontrolled case but there was a region of very low damping (high dynamic response) near a Mach number of 0.92. Controller performance was obtained during the test in near real-time and revealed that the controller attenuated the open-loop response and provided a small but significant amount of damping over a Mach number range from M = 0.70 to M = 0.92.

Adams, William M., Jr.↗

Summary of flight tests to determine the spin and controllability characteristics of a remotely piloted, large-scale (3/8) fighter airplane model

An unpowered, large, dynamically scaled airplane model was test flown by remote pilot to investigate the stability and controllability of the configuration at high angles of attack. The configuration proved to be departure/spin resistant; however, spins were obtained by using techniques developed on a flight support simulator. Spin modes at high and medium high angles of attack were identified, and recovery techniques were investigated. A flight support simulation of the airplane model mechanized with low speed wind tunnel data over an angle of attack range of + or - 90 deg. and an angle of sideslip range of + or - 40 deg. provided insight into the effects of altitude, stability, aerodynamic damping, and the operation of the augmented flight control system on spins. Aerodynamic derivatives determined from flight maneuvers were used to correlate model controllability with two proposed departure/spin design criteria.

Holleman, E. C.↗

L1 Adaptive Control Law for Flexible Space Launch Vehicle and Proposed Plan for Flight Test Validation

This paper explores application of the L1 adaptive control architecture to a generic flexible Crew Launch Vehicle (CLV). Adaptive control has the potential to improve performance and enhance safety of space vehicles that often operate in very unforgiving and occasionally highly uncertain environments. NASA s development of the next generation space launch vehicles presents an opportunity for adaptive control to contribute to improved performance of this statically unstable vehicle with low damping and low bending frequency flexible dynamics. In this paper, we consider the L1 adaptive output feedback controller to control the low frequency structural modes and propose steps to validate the adaptive controller performance utilizing one of the experimental test flights for the CLV Ares-I Program.

Kharisov, Evgeny↗

An Attitude Control Design for the Cassini Spacecraft

The Cassini planetary mission to Saturn and Titan requires accurate pointing and complex maneuvers of the spacecraft, which is comprised of a Saturn orbiter and Titan probe. An attitude control design is described to achieve the many capabilities of Cassini including thrust vector control, precision pointing and stability control for remote sciences, tracking of a probe released to the Titan atmosphere, and radar mapping of the Titan surface. Additional constraints for control design have been imposed by a high percentage of liquid propellant (60% at launch) land lowly damped flexible spacecraft appendages. Computer simulation results of attitude determination, pointing and maneuver controls are provided to demonstrate the design capability.

Cassini↗

A simple system for helicopter Individual-Blade-Control and its application to stall flutter suppression

A new, advanced type of active control for helicopters and its application to a system for stall flutter suppression is described. The system, based on previously developed M.I.T. Individual-Blade-Control hardware, employs blade-mounted accelerometers to sense torsional oscillations and feeds back rate information to increase the damping of the first torsion mode. A linear model of the blade and control system dynamics is used to give qualitative and quantitative guidance in the design process as well as to aid in analysis of experimental results. System performance in wind tunnel tests is described, and evidence is given of the system's ability to provide substantial additional damping to stall-induced blade oscillations.

Ham, N. D.↗