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At least 739 records · Page 41

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NASA NTRSDate not supplied

Optimal Control Allocation for Distributed Electric Propulsion in A Series/Parallel Partial Hybrid Powertrain

The SUbsonic Single Aft eNgine (SUSAN) Electrofan is a NASA concept transport aircraft representative of technology anticipated for a 2040 entry-into-service date. The powertrain consists of a single thrust-producing geared turbofan engine with generators driving a series/parallel partial hybrid power/propulsion system. The architecture includes 16 underwing contrarotating fans, eight on each side. The distributed fans can be used by the flight control system to augment or replace the rudder function. This paper sets up the optimal control problem of setpoint determination for individual wingfans in the distributed propulsion system, accounting for electrical string efficiencies, saturations, and failures. The solution minimizes power consumption while maintaining thrust and torque on the airframe for maneuvering. Additionally, thrust that would have been lost due to temporary fan speed or power saturation is optimally redistributed to maintain overall desired thrust and torque on the aircraft. A simulation of a coordinated turn utilizing the distributed electric propulsion for yaw rate control in a multiple wingfan failure scenario demonstrates the robustness of the powertrain design to failures and helps define its limitations.

Distributed Electric Propulsion↗

NASA NTRSDate not supplied

Optimal Control Allocation for Distributed Electric Propulsion in A Series/Parallel Partial Hybrid Powertrain

Distributed Electric Propulsion↗

NASA NTRS1985

Recent advancements in telepresence technology development

This paper describes recent developments at JPL aimed at enhancing the operator's awareness of the remote task he or she is controlling in space teleoperation. The first development is related to the use of force-reflecting or bilateral manual control in weightless condition. The second development is related to integrated graphics displays of force and torque information originating from a remote robot hand. The third development is related to a distributed computational system in teleoperation organized in two groups: one integrated with a remote robot arm and hand, and another integrated with the control station. This computational system carries out interactive automation functions.

Corker, K.↗

NASA NTRS1977

Magnetic bearing momentum wheels with magnetic gimballing capability for 3-axis active attitude control and energy storage

A 3-axis active attitude control system with only one rotating part was developed using a momentum wheel with magnetic gimballing capability as a torque actuator for all three body axes. A brief description of magnetic bearing technology is given. It is concluded that based on this technology an integrated energy storage/attitude control system with one air of counterrotating rings could reduce the complexity and weight of conventional systems.

Sindlinger, R. S.↗

NASA NTRS1989

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure.

Hill, R. E.↗

NASA NTRS1996

The Role of Musculoskeletal Dynamics and Neuromuscular Control in Stress Development in Bone

The role of forces produced by the musculotendon units in the stress development of the long bones during gait has not been fully analyzed. It is well known that the musculotendons act as actuators producing the joint torques which drive the body. Although the joint torques required to perform certain motor tasks can be recovered through a kinematic analysis, it remains a difficult problem to determine the actual forces produced by each muscle that resulted in these torques. As a consequence, few studies have focused on the role of individual muscles in the development of stress in the bone. This study takes a control theoretic approach to the problem. A seven-link, eight degrees of freedom model of the body is controlled by various muscle groups on each leg to simulate gait. The simulations incorporate Hill-type models of muscles with activation and contraction dynamics controlled through neural inputs. This direct approach allows one to know the exact muscle forces exerted by each musculotendon throughout the gait cycle as well the joint torques and reaction forces at the ankle and knee. Stress and strain computed by finite element analysis on skeletal members will be related to these derived loading conditions. Thus the role of musculoskeletal dynamics and neuromuscular control in the stress development of the tibia during gait can be analyzed.

DeWoody, Yssa↗

NASA NTRS1974

Digital flight control actuation system study

Flight control actuators and feedback sensors suitable for use in a redundant digital flight control system were examined. The most appropriate design approach for an advanced digital flight control actuation system for development and use in a fly-by-wire system was selected. The concept which was selected consisted of a PM torque motor direct drive. The selected system is compatible with concurrent and independent development efforts on the computer system and the control law mechanizations.

Rossing, R.↗

NASA NTRS2022

Actuator and Motor Control End-to-End V&V on the Mars 2020 Rover

The Mars 2020 Perseverance rover is the most advanced robotic exploration system ever sent to another planet. To support the complex scientific and mobility needs of the mission, the rover utilizes 33 actuators, three multi-degree-of-freedom force-torque sensors, fifteen single or dual-speed resolvers, two solenoid valves, and twelve contact switches. The control for these actuators and sensors is achieved by several levels of flight software, coordinated between two computers with varying bandwidth control loops. Furthermore, the actuators and sensors were integrated into multiple larger robotic mechanisms that were delivered by different organizations at various points in the Integration and Test (I&T) timeline. All of this created a very complex Verification and Validation (V&V) scenario involving multiple subsystems and teams, several hardware and software testbeds with varying levels of fidelity, and significant systems engineering to ensure the overall I&T schedule could be maintained while ensuring system hardware safety.This paper details the integrated V&V effort across multiple teams and venues to provide full coverage of all necessary functionality, performance, and fault protection. First, it provides an overview of how the V&V campaign was subdivided among teams and venues and provides descriptions of the various hardware configurations used to support the testing. The Mars 2020 implementation of the plan incorporates many of the lessons learned from Mars Science Laboratory’s test campaign, and these value-added modifications are discussed here. Also included in this section is the system-level environmental testing approach used for mechanisms. Second, the paper describes the phased approach used by the teams to support new hardware and software deliveries to testbed and Systems I&T. In this approach the test campaign was built upon higher-level mechanism needs for performance, functionality, and safety at specific times in the campaign. Finally, the paper discusses lessons learned from the V&V campaign that should be applied to future large-scale motion control testing efforts.

Borne, Davis↗

NASA NTRS1975

Attitude control requirements for an earth-orbital solar electric propulsion stage

Solar Electric Propulsion Stage (SEPS) application in earth orbit requires considerably more maneuvering for thrust vector steering and solar array pointing than planetary missions. Attitude maneuver requirements for geosynchronous and low earth-orbital missions are presented. Situations which result in optimum steering torque requirements exceeding the capability of current SEPS configurations are defined. Sub-optimal steering techniques are defined which reduce the geosynchronous mission torque requirements to acceptable levels with negligible performance penalties. Some low earth-orbital flight regimes with earth shadowing are found to result in much larger torque requirements and impose significant mechanization penalties if serious performance losses are to be avoided. Alternative attitude control mechanization techniques are defined for these cases.

Oglevie, R. E.↗

NASA NTRS1994

The H(sub infinity) optimal controller design and reduction for the inertial hold mode of the attitude control system of the XTE spacecraft

The Inertial Hold Mode (IHM) is one mode of the attitude control system of the X-ray Timing Explorer spacecraft that is disturbed by both parametric uncertainties and external torque disturbance. The IHM model is modified into a typical H-infinity mixed-sensitivity problem through choosing suitable weighting functions W(sub 1)(s) and W(sub 3)(s). The controller is designed by the H-infinity optimization technique with the transformation of shifting the imaginary axis. It can stabilize the plant with uncertainties from the natural frequencies of the flexible body. The gain margin and phase margin of the system are 24.03 db and 55.04 deg, respectively. The step response attenuates to zero within 150 seconds. These show that the controller satisfies the specified requirements. Since the order of the controller appears high, it is reduced to fourth order one. The results show that the stability and the performance of the system with the reduced controller are retained perfectly.

Xu, Zhong Ling↗

NASA NTRS2008

Control System for Bearingless Motor-generator

A control system for an electromagnetic rotary drive for bearingless motor-generators comprises a winding configuration comprising a plurality of individual pole pairs through which phase current flows, each phase current producing both a lateral force and a torque. A motor-generator comprises a stator, a rotor supported for movement relative to the stator, and a control system. The motor-generator comprises a winding configuration supported by the stator. The winding configuration comprises at least three pole pairs through which phase current flows resulting in three three-phase systems. Each phase system has a first rotor reference frame axis current that produces a levitating force with no average torque and a second rotor reference frame axis current that produces torque.

Kascak, Peter E.↗

NASA NTRS2010

Control system for bearingless motor-generator

Kascak, Peter E.↗

NASA NTRS1974

Testing a satellite automatic nutation control system

Testing of a particular nutation control system for the synchronous meteorological satellite (SMS) is described. The test method and principles are applicable to nutation angle control for other satellites with similar requirements. During its ascent to synchronous orbit, a spacecraft like the SMS spins about its minimum-moment-of-inertia axis. An uncontrolled spacecraft in this state is unstable because torques due to fuel motion increase the nutation angle. However, the SMS is equipped with an automatic nutation control (ANC) system which will keep the nutation angle close to zero. Because correct operation of this system is critical to mission success, it was tested on an air-bearing table. The ANC system was mounted on the three-axis air-bearing table which was scaled to the SMS and equipped with appropriate sensors and thrusters. The table was spun up in an altitude chamber and nutation induced so that table motion simulated spacecraft motion. The ANC system was used to reduce the nutation angle. This dynamic test of the ANC system met all its objectives and provided confidence that the ANC system will control the SMS nutation angle.

Hrasiar, J. A.↗

NASA NTRS1977

Displays for supervisory control of manipulators

The problem of displaying information generated by sensors attached to the terminal device of a remotely controlled manipulator is considered. The sensors under consideration are proximity, force-torque, tactile and slip-page sensors. The paper describes and evaluates several examples that have been implemented in the JPL teleoperator project using audio and graphic displays of information generated by four proximity sensors attached to a manipulator end effector. Design schemes are also discussed related to the display of information generated by a six-dimensional force-torque sensor, a multipoint proportional tactile sensor, and a directional slippage sensor. The paper concludes with a discussion of future integrated displays of visual (TV) and handbased sensor information.

Bejczy, A. K.↗

NASA NTRS1984

Real-time hybrid computer simulation of a small turboshaft engine and control system

The development of an analytical model of a small turboshaft engine designed for helicopter propulsion systems is described. The model equations were implemented on a hybrid computer system to provide a real time nonlinear simulation of the engine performance over a wide operating range. The real time hybrid simulation of the engine was used to evaluate a microprocessor based digital control module. This digital control module was developed as part of an advanced rotorcraft control program. After tests with the hybrid engine simulation the digital control module was used to control a real engine in an experimental program. A hybrid simulation of the engine's electrical hydromechanical control system was developed. This allowed to vary the fuel flow and torque load inputs to the hybrid engine simulation for simulating transient operation. A steady-state data and the experimental tests are compared. Analytical model equations, analog computer diagrams, and a digital computer flow chart are included.

Hart, C. E.↗

NASA NTRS2004

Induced Power of the Helicopter Rotor

A simplified rotor model was used to explore fundamental behavior of lifting rotor induced power at moderate and high advance ratios. Several rotor inflow theories, including dynamic inflow theory and prescribed-wake vortex theory, together with idealized notional airfoil stall models were employed. A number of unusual results were encountered at high advance ratios including trim control reversal and multiple trim solutions. Significant increases in rotor induced power (torque) above the ideal minimum were observed for moderately high advance ratio. Very high induced power was observed near and above unity advance ratio. The results were sensitive to the stall characteristics of the airfoil models used. An equivalent wing analysis was developed to determine induced power from Prandtl lifting line theory and help interpret the rotor induced power behavior in terms of the spanwise airload distribution. The equivalent wing approach was successful in capturing the principal variations of induced power for different configurations and operating conditions. The effects blade root cutout were found to have a significant effect on rotor trim and induced power at high advance ratios.

Ormiston, Robert A.↗

NASA NTRS2007

HST Inertia Tensor Optimization for Two-Gyro Science

The power point presentation includes an overview of the Hubble Space Telescope, pointing control hardware peculiarities, the two-gyro science (TGS) control system, TGS modifications to preserved hardware lifetime, chasing-down disturbance torques less than or equal to 0.002 Nm, inertia tensor optimization, and a summary with lessons learned.

Clapp, Brian↗

NASA NTRS2007

Control Code for Bearingless Switched-Reluctance Motor

A computer program has been devised for controlling a machine that is an integral combination of magnetic bearings and a switched-reluctance motor. The motor contains an eight-pole stator and a hybrid rotor, which has both (1) a circular lamination stack for levitation and (2) a six-pole lamination stack for rotation. The program computes drive and levitation currents for the stator windings with real-time feedback control. During normal operation, two of the four pairs of opposing stator poles (each pair at right angles to the other pair) levitate the rotor. The remaining two pairs of stator poles exert torque on the six-pole rotor lamination stack to produce rotation. This version is executable in a control-loop time of 40 s on a Pentium (or equivalent) processor that operates at a clock speed of 400 MHz. The program can be expanded, by addition of logic blocks, to enable control of position along additional axes. The code enables adjustment of operational parameters (e.g., motor speed and stiffness, and damping parameters of magnetic bearings) through computer keyboard key presses.

Morrison, Carlos R.↗