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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1980

Triple-axis common-pivot arm wrist device for manipulative applications

A concept in manipulator development to overcome the 'weak wrist syndrome', a triple-axis common-pivot arm wrist (TACPAW), is presented. It contains torque motors for actuation, tachometers for measuring rate, and resolvers for position measurements. Furthermore, it provides three degrees of freedom, i.e., pitch, yaw, and roll, in a single manipulator joint. The advantages of this development are increased strength, compactness, and simplification of controls. Designed to be compatible with the protoflight manipulator arm, the joints of TACPAW are back-driveable with + or - 45 deg rotation in pitch, + or - 45 deg in yaw and continuous roll in either direction while delivering 20.5 N-m (15 ft-lb) torque in each of the three movements.

Kersten, L.↗
NASA NTRS1991

A universal computer control system for motors

A control system for a multi-motor system such as a space telerobot, having a remote computational node and a local computational node interconnected with one another by a high speed data link is described. A Universal Computer Control System (UCCS) for the telerobot is located at each node. Each node is provided with a multibus computer system which is characterized by a plurality of processors with all processors being connected to a common bus, and including at least one command processor. The command processor communicates over the bus with a plurality of joint controller cards. A plurality of direct current torque motors, of the type used in telerobot joints and telerobot hand-held controllers, are connected to the controller cards and responds to digital control signals from the command processor. Essential motor operating parameters are sensed by analog sensing circuits and the sensed analog signals are converted to digital signals for storage at the controller cards where such signals can be read during an address read/write cycle of the command processing processor.

Szakaly, Zoltan F.↗
DOE OSTI2022

Robust constrained tension control for high-precision roll-to-roll processes

Tension control is critical for maintaining good product quality in most roll-to-roll (R2R) production systems. Previous work has primarily focused on improving the disturbance rejection performance of tension controllers. Here, a robust linear parameter-varying model predictive control (LPV-MPC) scheme is designed to enhance the tension tracking performance of a pilot R2R system for deposition of materials used in flexible thin film applications. The performance of a tension controller may degrade due to disturbances associated with model uncertainties and the slowly-changing dynamics in R2R systems. We introduce a method that separately treats these two sources of disturbance. The controller utilizes an incremental model to eliminate the errors caused by the mismatch between the nominal model and the actual system. A tube-based MPC formulation combined with scheduled parameters adequately updates models and corrects for the time-varying dynamics. Constraints on the rated motor torque are incorporated in the MPC to maintain the controller reliability and avoid machine failures. We illustrate the operation of our control algorithm through simulation of an actual R2R system. The controller outperforms the benchmarks in terms of fast transient response and offset-free tension tracking. Furthermore, it also demonstrates immunity from variations due to parametric uncertainties.

42 ENGINEERING↗
DOE OSTI2020

Toroidal Field Reversing Switch

A motor-driven, high-current switch is being designed by Stäubli Electrical Connectors in collaboration with Princeton Plasma Physics Laboratory to reverse the DIII-D Toroidal field coil current. The existing field reversing procedure requires approximately 4 h of labor performed between run days to reconfigure the bus work, thus requiring a separate run day to complete experimental scans with both field directions. This typically results in different wall conditions which complicate the results or make them invalid. The proposed switch will complete the reversal process in approximately 4-5 min, between shots, so that wall conditions are not a factor, and easily fits within the 10-12 min DIII-D shot cycle. The switch is a compact design fitting into a 157.5 × 41 cm envelope. The switch uses two copper pins that slide between Stäubli MULTILAM contacts. The switch is rated for total current of 180-kA dc for 10 s with a 12-min repetition rate; the maximum operating coil current is 124-kA dc. The switch diagnostics include: voltage drop, current monitor, thermal monitors, position sensors, and motor torque. Here, the switch is rated for 300 cycles per year, and 3000 cycles overall before contact replacement, with contact inspection yearly. The design details and operation of the switch are covered in this article.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1967

Gimbaled-mirror scanning system capable of spiral pattern

Gimbaled-mirror infrared radiation scanner, with a lightweight torque motor direct coupled to each axis, is capable of scanning in a highly efficient spiral pattern. The scanner is lightweight and can be remotely positioned in previously inaccessible areas because the radiometer head and the gimbaled-mirror scanner can be separated.

Haertsch, O. C.↗
NASA NTRS1970

Flexible pivot mount eliminates friction and hysteresis

Flexible steel pivot mount, suspended by flat vertical beryllium copper springs, is capable of rotation, free of hysteresis and starting friction. Mount requires no lubrication, is made in varying sizes, and is driven with either dc torque motor or mechanical linkage.

Highman, C. O.↗
NASA NTRS1972

Two-stage coaxial gas compressor

Compressor raises pressure of gases from low ambient supply during space experiments by a system of low weight, size, and power input. Dc rotary-torque motor and ball-screw drive shaft activate first and second stage of compressor, utilizing inertia forces to operate check valves.

Wang, W. S.↗
NASA NTRS1972

A solid state film transport

A solid state film transport utilizing piezoelectric motion was evaluated and found to have potential in film positioning applications. The concept is particularly useful in flight equipment where torque motors and conventional transport mechanisms are difficult to apply. A demonstration model utilizing 5-inch film was designed, tested, and evaluated. Three basic operating modes were investigated. Design goals for step size were achieved under controlled conditions. The continuous mode test results were marred by an inability to transfer efficiently the piezoceramic motion to the film itself. The design, test results, and problem areas are described.

Davis, C. M.↗
NASA NTRS1973

An electric motor with magnetic bearings: A concept

Because same magnetic flux is used to control rotor as to drive it, size, weight, and power required are minimized. Constant total current keeps motor torque invarient, and absence of mechanical bearings eliminates wear and reduces frictional power loss.

Studer, P. A.↗
NASA NTRS1973

Master/slave manipulator system

System capabilities are equivalent to mobility, dexterity, and strength of human arm. Arrangement of torque motor, harmonic drive, and potentiometer combination allows all power and control leads to pass through center of slave with position-transducer arrangement of master, and "stovepipe joint" is incorporated for manipulator applications.

Vykukal, H. C.↗
NASA NTRS1973

Active-standby servovalue/actuator development

A redundant, fail/operate fail/fixed servoactuator was constructed and tested along with electronic models of a servovalve. It was found that a torque motor switch is satisfactory for the space shuttle main engine hydraulic actuation system, and that this system provides an effective failure monitoring technique.

Masm, R. K.↗
NASA NTRS1972

Space Shuttle bipropellant RCS engine.

The requirements of the Space Shuttle bipropellant reaction control system engine technology contract and the scheduled contract effort are presented herein. The requirements included an engine concept scalable from 400 to 1100 lbf, with a 100 mission life employing N2O4/MMH propellants. Emphasis is placed on reusability and minimum post-flight servicing. The engine components are reviewed and their selection is supported by tradeoff analyses, thrust chamber firing test data, materials test data, and metallurgical evaluations. The materials test data indicate that the proposed silicide coated columbium chamber and uncoated columbium injector have the potential of meeting the mission life requirements. The engine valve trade studies resulted in the selection of a torque motor operated bipropellant valve configuration. Fuel vortex film cooling of the insulated chamber is described together with the fuel vortex film cooling scaling parameter and its verification by test data to a thrust level of 5500 lbf.

Sanscrainte, W.↗
NASA NTRS1973

Mass property control of a synchronous meteorological satellite scanning experiment.

A scanning mirror assembly which is part of a Synchronous Orbit Meteorological Satellite is an example where mission objectives required measurement and control of weight, mass center, principal moments of inertia, and products of inertia. The scanning mirror oscillates within the spin stabilized spacecraft, and both the scanning motor torque and perturbation of spacecraft attitude and spin rate have to be reduced to low levels. A theoretically ideal solution would be to make the mirror inertia constant about all axes in a plane perpendicular to the oscillation axis. A practically attainable compromise is to locate principal axes preferentially and make the difference between two of them acceptably small. Methods for making the necessary mass property measurements and deriving and applying minimum weight ballast correction to achieve the necessary mass distribution are discussed. It is noted that mass property control operations are typically subject to practical constraints such as geometry and functional operation of the system and capability of available measurement facilities and fixtures.

Lang, W. E.↗
NASA NTRS1973

Fluidic emergency roll control system

A fluidic emergency roll control system for aircraft stabilization in the event of primary flight control failure was evaluated. The fluidic roll control units were designed to provide roll torque proportional to an electrical command as operated by two diametrically opposed thrust nozzles located in the wing tips. The control package consists of a solid propellant gas generator, two diametrically opposed vortex valve modulated thrust nozzles, and an electromagnetic torque motor. The procedures for the design, development, and performance testing of the system are described.

Haefner, K. B.↗
NASA NTRS1974

LST secondary mirror articulation mechanism

The analysis, design, manufacture, test, and delivery of one secondary mirror articulation mechanism for the large space telescope (LST) are reported. The mechanism provides angular freedom about two axes that are perpendicular to the optical axis of the secondary mirror. Motion in each axis is controlled from two sources; one source provides alignment, the other source provides stabilization. Two articulation mechanism configurations were evaluated. In one configuration the stabilization system was assembled with piezoelectric actuators. In the second configuration the stabilization system utilized flexure torque motor actuators. The alignment system was the same for both configurations. System testing confirmed performance that met or exceeded all operational requirements. The two types of stabilization actuators had different performance characteristics. Both types demonstrated position resolution and frequency response better than specified limits.

Source record↗