Survey of experiments and experimental facilities for control of flexible structures
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Sparks, Dean W., Jr.↗
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Robust eigensystem assignment for state estimators using second-order models
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Juang, Jer-Nan↗
Robust controller designs for second-order dynamic systems - A virtual passive approach
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Juang, Jer-Nan↗
Active vibration absorber for the CSI evolutionary model - Design and experimental results
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Bruner, Anne M.↗
Examining several Southern Ocean data sets
Several datasets regarding the ocean in the Southern Hemisphere are combined into a coregistered format to analyze the use of the data in multidisciplinary research. The datasets are described detailing bathymetric climatological data on surface pigment concentration, eddy-kinetic-energy measurements, surface wind-stress magnitudes, sea-surface temperatures, surface densities, and nitrate concentrations. The data are combined in a common projection which facilitates the comparison of the fields, and the combined data yield insights regarding such phenomena as bottom topography, surface heat and moisture fluxes, and divergences in flow. The number of available datasets is shown to be good, and the data can be used to develop working hypotheses on the relationships between physical and biogeochemical processes.
Mcclain, Charles R.↗
Design of virtual passive controllers for flexible space structures
The properties of virtual passive controllers, i.e., active vibration absorbers, and of the closed-loop systems achievable by means of such compensation are analyzed. It is shown that these controllers introduce additional transmission zeros into the closed-loop system. Therefore, they provide an extra degree of design freedom over that provided by state feedback, which cannot alter the zeros in any way.
Williams, Trevor↗
Calculations of surface radiation in arid regions - A case study
The surface and satellite data measured during the preliminary field experiment for the Land-Atmosphere Interactions Experiment conducted at the Heihe River basin in western China are used to investigate the difficulties encountered in the derivation of the surface radiation budget in arid regions. The surface radiation is derived by coupling theoretical radiative transfer calculations with satellite cloud retrievals. For cloud-free cases, the modeled downward solar fluxes are systematically larger than the measured fluxes. It is found that the error can be reduced and that good agreement between the computed and measured surface solar fluxes can be obtained by using an aerosol single-scattering albedo of 0.5 and an optical thickness of about 0.2 in the afternoon hours. For all the cases studied when both surface and satellite data are available, the mean errors are 4.3 and -4.7 W/sq m for the net downward surface solar flux and the downward surface IR flux, respectively. The rms errors are 17.4 and 22.1 W/sq m for the respective surface fluxes. The importance of aerosols in surface radiation calculations is underscored.
Chou, Ming-Dah↗
Improvement of observer/Kalman filter identification (OKID) by residual whitening
This paper presents a time-domain method to identify a state space model of a linear system and its corresponding observer/Kalman filter from a given set of general input-output data. The identified filter has the properties that its residual is minimized in the least squares sense, orthogonal to the time-shifted versions of itself, and to the given input-output data sequence. The connection between the state space model and a particular auto-regressive moving average description of a linear system is made in terms of the Kalman filter and a deadbeat gain matrix. The procedure first identifies the Markov parameters of an observer system, from which a state space model of the system and the filter gain are computed. The developed procedure is shown to improve results obtained by an existing observer/Kalman filter identification method, which is based on an auto-regressive model without the moving average terms. Numerical and experimental results are presented to illustrate the proposed method.
Phan, Minh↗
Several recursive techniques for observer/Kalman filter system identification from data
This paper derives algorithms for identifying autoregressive models, with external input, of multi-input multi-output systems from data using a fast transversal filter or a least-squares lattice filter. The autoregressive models including external inputs are used to identify state-space models and the corresponding observer/Kalman filter gains of the system. The derivation is an extension of scalar autoregressive model approaches, modified to cope with multivariables, external inputs and an extra direct-influence term. Comparisons between the fast transversal filter, the least-squares lattice filter and the classical least-squares method are made in terms of complexity, computational cost and practical applications issues. A numerical example is included to illustrate the approach.
Chen, Chung-Wen↗
Determination of robust stability margin for second-order systems
Robust stabilization of uncertain systems has been extensively investigated and the stability test for the whole set of uncertain parameters has been reduced to a finite number of test points, four points for the characteristic polynomial with independent coefficients. As a result the robust stability margin can be determined using a reasonable amount of computation. It is impossible to apply the results of the test to a practical system as the coefficients of the characteristic polynomial for a physical system are usually functions of uncertain parameters. However, many physical systems may be represented by a second-order mass-spring-damper system with a special multilinear form in its characteristic polynomial. This paper investigates second-order mass-spring-damper systems and the reduction of the number of test points. It is shown that such a system with arbritrary compensators always has a multilinear characteristic polynomial. It is also shown that a line in the two-dimensional parameter space forms the boundary after the mapping of a multilinear characteristic polynomial and this interior extreme line forms a conic curve in the complex plane. The boundary of uncertain domain for a multilinear polynomial with two uncertainty parameters can be determined analytically using this curve, and the four sides image of a square of the uncertain parameter. Therefore, the stability margin may be determined by checking the intersections of the boundary with the zero point. A similar procedure can be used for second-order systems with more than two uncertainty parameters when parameter optimization is used in determining the boundary.
Chuang, C.-H.↗
Identification of system, observer, and controller from closed-loop experimental data
This paper considers the identification problem of a system operating in closed-loop with an existing feedback controller. The closed-loop system is excited by a known excitation signal, and the resulting time histories of the closed-loop system response and the feedback signal are measured. From the time history data, the algorithm computes the Markov parameters of a closed-loop observer, from which the Markov parameters of the individual open-loop plant, observer, and controller are recovered. A state space model of the open-loop plant and the gain matrices for the controller and the observer are then realized. The results of the paper are demonstrated by an example using actual aircraft flutter test data.
Juang, Jer-Nan↗
Decentralized control of large flexible structures by joint decoupling
A decentralized control design method is presented for large complex flexible structures by using the idea of joint decoupling. The derivation is based on a coupled substructure state-space model, which is obtained from enforcing conditions of interface compatibility and equilibrium to the substructure state-space models. It is shown that by restricting the control law to be localized state feedback and by setting the joint actuator input commands to decouple joint 'degrees of freedom' (dof) from interior dof, the global structure control design problem can be decomposed into several substructure control design problems. The substructure control gains and substructure observers are designed based on modified substructure state-space models. The controllers produced by the proposed method can operate successfully at the individual substructure level as well as at the global structure level. Therefore, not only control design but also control implementation is decentralized. Stability and performance requirement of the closed-loop system can be achieved by using any existing state feedback control design method. A two-component mass-spring damper system and a three-truss structure are used as examples to demonstrate the proposed method.
Su, Tzu-Jeng↗
Identifiability of linear systems in physical coordinates
Identifiability of linear, time-invariant systems in physical coordinates is discussed. It is shown that identification of the system matrix in physical coordinates can be accomplished by determining a transformation matrix that relates the physical locations of actuators and sensors to the test-data-derived input and output matrices. For systems with symmetric matrices, the solution of a constrained optimization problem is used to characterize all the possible solutions of the transformation matrix. Conditions for the existence of a unique transformation matrix are established easily from the explicit form of the solutions. For systems with limited inputs and outputs, the question about which part of the system can be uniquely identified is also answered. A simple mass-spring system is used to verify the conclusions of this study.
Su, Tzu-Jeng↗
SeaWiFS technical report series. Volume 4: An analysis of GAC sampling algorithms. A case study
The Sea-viewing Wide Field-of-view Sensor (SeaWiFS) instrument will sample at approximately a 1 km resolution at nadir which will be broadcast for reception by realtime ground stations. However, the global data set will be comprised of coarser four kilometer data which will be recorded and broadcast to the SeaWiFS Project for processing. Several algorithms for degrading the one kilometer data to four kilometer data are examined using imagery from the Coastal Zone Color Scanner (CZCS) in an effort to determine which algorithm would best preserve the statistical characteristics of the derived products generated from the one kilometer data. Of the algorithms tested, subsampling based on a fixed pixel within a 4 x 4 pixel array is judged to yield the most consistent results when compared to the one kilometer data products.
Yeh, Eueng-Nan↗
Space robotics: Recent accomplishments and opportunities for future research
The Langley Guidance, Navigation, and Control Technical Committee (GNCTC) was one of six technical committees created in 1991 by the Chief Scientist, Dr. Michael F. Card. During the kickoff meeting Dr. Card charged the chairmen to: (1) establish a cross-Center committee; (2) support at least one workshop in a selected discipline; and (3) prepare a technical paper on recent accomplishments in the discipline and on opportunities for future research. The Guidance, Navigation, and Control Committee was formed and selected for focus on the discipline of Space robotics. This report is a summary of the committee's assessment of recent accomplishments and opportunities for future research. The report is organized as follows. First is an overview of the data sources used by the committee. Next is a description of technical needs identified by the committee followed by recent accomplishments. Opportunities for future research ends the main body of the report. It includes the primary recommendation of the committee that NASA establish a national space facility for the development of space automation and robotics, one element of which is a telerobotic research platform in space. References 1 and 2 are the proceedings of two workshops sponsored by the committee during its June 1991, through May 1992 term. The focus of the committee for the June 1992 - May 1993 term will be to further define to the recommended platform in space and to add an additional discipline which includes aircraft related GN&C issues. To the latter end members performing aircraft related research will be added to the committee. (A preliminary assessment of future opportunities in aircraft-related GN&C research has been included as appendix A.)
Montgomery, Raymond C.↗
Optimal active vibration absorber: Design and experimental results
An optimal active vibration absorber can provide guaranteed closed-loop stability and control for large flexible space structures with collocated sensors/actuators. The active vibration absorber is a second-order dynamic system which is designed to suppress any unwanted structural vibration. This can be designed with minimum knowledge of the controlled system. Two methods for optimizing the active vibration absorber parameters are illustrated: minimum resonant amplitude and frequency matched active controllers. The Controls-Structures Interaction Phase-1 Evolutionary Model at NASA LaRC is used to demonstrate the effectiveness of the active vibration absorber for vibration suppression. Performance is compared numerically and experimentally using acceleration feedback.
Lee-Glauser, Gina↗
Modeling and measurement of a micro-optic beam deflector
The use is studied of a unity-magnification micro-optic beam deflector. The defelector consists of two arrays of positively powered lenslets. The lenslets on each array are arranged in a square grid. Design criteria are based on usefulness in optical data storage devices. The deflector is designed to operate over a + or - 1.6 range of deflection angles. Modeling results are compared with interferometric analysis of the wavefront from a single lenslet pair. The results indicate that the device is nearly diffraction limited, but there are substantial wavefront errors at the edges and corners of the lenslets.
Milster, Tom D.↗
An application of the Observer/Kalman Filter Identification (OKID) technique to Hubble flight data
The objective of the current research is to identify vibration parameters, including frequencies, damping ratio and uncertainty characteristics, of the Hubble Space Telescope from flight data using an advanced system identification technique. The Observer/Kalman Filter Identification (OKID) technique is used to identify the vibration parameters. The OKID was recently developed by the researchers in the Spacecraft Dynamics Branch at NASA Langley Research Center.
Juang, Jer-Nan↗