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Automatic balancing system for frictionlessly supported, attitude control test platforms about axes commonly orthogonal to gravity vector
A 5 cm structurally integrated ion thruster has been developed for attitude control and stationkeeping of synchronous satellites. With 2-D vectorable grids, thrust is 0.56 mlb at a beam voltage of 1200 V, total mass efficiency is 64%, and electrical efficiency is 46.8%. Nonvectoring thrust of 0.41 is demonstrated at very low specific impulse with dielectric coated grids. Structural integrity is demonstrated with dielectric coated grids for shock (30 G), sinusoidal (9 G), and random (19 G squared/Hz) accelerations. System envelope is 31.6 cm long by 14 cm flange B.C. with a mass of 8.5 kg including 6.2 Kg mercury propellant.
This report covers the design and development of the laboratory model, and is essentially a compilation of reports covering the system and its various parts. To enhance completeness, the final report of Phase 1 covering circuit development of the controller is also included. A controller was developed for a brushless, direct-drive, single axis solar array reorientation system for earth-pointed, passively-stabilized spacecraft. A control systems was designed and breadboard circuits were built and tested for performance. The controller is designed to take over automatic control of the array on command after the spacecraft is stabilized in orbit. The controller will orient the solar array to the sun vector and automatically track to maintain proper orientation. So long as the orbit is circular, orientation toward the sun is maintained even though the spacecraft goes into the shadow of the earth. Particular attention was given in the design to limit reaction between the array and the spacecraft.
The feasibility of a vector magnetometer system was investigated by developing a technique to determine attitude given magnetic field components. Sample calculations are then made using the earth's magnetic field data acquired during actual flight conditions. Results of these calculations are compared graphically with measured attitude data acquired simultaneously with the magnetic data. The role and possible implementation of various reference angles are discussed along with other pertinent considerations. Finally, it is concluded that the earth's magnetic field as measured by modern vector magnetometers can play a significant role in attitude control systems.
Complicated three-dimensional viscous transonic flows about bodies at high angles of attack are solved on the Illiac IV computer. It is shown that certain approximate forms of the compressible Reynolds-averaged Navier-Stokes equations can be computed about realistic three-dimensional geometries with relative ease on the Illiac IV. The ease and efficiency with which this can be done depend on the approximations made in the basic equations, the choice of the numerical algorithm used for the solution, and the data-base system that controls the data management and identifies and manipulates the vectors. A pencil data-base system is found to be particularly suitable for the approximations and numerical method chosen to produce the results presented. In addition, some comparisons are made of computer predictions with experimental results for various lows about hemisphere-cylinders in both subsonic and supersonic free streams. The same viscous model and numerical model are used, showing good qualitative agreement in the location of separation lines and pressure distributions.
Based on partial differential equations of motion the closed form solution for the optimal estimation of a spatially continuous state vector is derived, using a continuously distributed sensor. Local control is shown to be the feedback that minimizes a quadratic performance index of sensor and process disturbances. A detailed example of the control of a string in tension is presented.
An algorithm for introducing a systematic rotational disturbance into an optimal (i.e., single axis) rotational trajectory is described. This disturbance introduces a motion vector orthogonal to the quaternion-defined optimal rotation axis. By altering the magnitude of this vector, the degree of non-optimality can be controlled. The metric properties of the distortion parameter are described, with analogies to two-dimensional translational motion. This algorithm was implemented in a motion-control program on a three-dimensional graphic workstation. It supports a series of human performance studies on the detectability of rotational trajectory optimality by naive observers.
The F-18 High Alpha Research Vehicle has proven to be a useful research tool with many unique capabilities. Many of these capabilities are to assist in characterizing flight at high angles of attack, while some provide significant research in their own right. Of these, the thrust vectoring system, the unique ability to rapidly reprogram flight controls, the reprogrammable mission computer, and a reprogrammable onboard excitation system have allowed an increased utility and versatility of the research being conducted. Because of this multifaceted approach to research in the high angle of attack regime, the capabilities of the F-18 High Alpha Research Vehicle were designed to cover as many high alpha technology bases as the program would allow. These areas include aerodynamics, controls, handling qualities, and propulsion.
In this paper we introduced and developed the theory of Modified Interior Distance Functions (MIDF's). The MIDF is a Classical Lagrangian (CL) for a constrained optimization problem which is equivalent to the initial one and can be obtained from the latter by monotone transformation both the objective function and constraints. In contrast to the Interior Distance Functions (IDF's), which played a fundamental role in Interior Point Methods (IPM's), the MIDF's are defined on an extended feasible set and along with center, have two extra tools, which control the computational process: the barrier parameter and the vector of Lagrange multipliers. The extra tools allow to attach to the MEDF's very important properties of Augmented Lagrangeans. One can consider the MIDFs as Interior Augmented Lagrangeans. It makes MIDF's similar in spirit to Modified Barrier Functions (MBF's), although there is a fundamental difference between them both in theory and methods. Based on MIDF's theory, Modified Center Methods (MCM's) have been developed and analyzed. The MCM's find an unconstrained minimizer in primal space and update the Lagrange multipliers, while both the center and the barrier parameter can be fixed or updated at each step. The MCM's convergence was investigated, and their rate of convergence was estimated. The extension of the feasible set and the special role of the Lagrange multipliers allow to develop MCM's, which produce, in case of nondegenerate constrained optimization, a primal and dual sequences that converge to the primal-dual solutions with linear rate, even when both the center and the barrier parameter are fixed. Moreover, every Lagrange multipliers update shrinks the distance to the primal dual solution by a factor 0 less than gamma less than 1 which can be made as small as one wants by choosing a fixed interior point as a 'center' and a fixed but large enough barrier parameter. The numericai realization of MCM leads to the Newton MCM (NMCM). The approximation for the primal minimizer one finds by Newton Method followed by the Lagrange multipliers update. Due to the MCM convergence, when both the center and the barrier parameter are fixed, the condition of the MDF Hessism and the neighborhood of the primal ninimizer where Newton method is 'well' defined remains stable. It contributes to both the complexity and the numerical stability of the NMCM.
Many of the traditional experimental advantages of insects recommend their use in studies of gravitational and space biology. The fruit fly, Drosophila melanogaster, is an obvious choice for studies of the developmental significance of gravity vectors because of the unparalleled description of regulatory mechanisms controlling oogenesis and embryogenesis. However, we demonstrate that Drosophila could not survive the conditions mandated for particular flight opportunities on the Space Shuttle. With the exception of Drosophila, the red flour beetle, Tribolium castaneum, is the insect best characterized with respect to molecular embryology and most frequently utilized for past space flights. We show that Tribolium is dramatically more resistant to confinement in small sealed volumes. In preparation for flight experiments we characterize the course and timing of the onset of oogenesis in newly eclosed adult females. Finally, we present results from two shuttle flights which indicate that a number of aspects of the development and function of the female reproductive system are not demonstrably sensitive to microgravity. Available information supports the utility of this insect for future studies of gravitational biology.
The Ares I launch vehicle is an integral part of NASA s Constellation Program, providing a foundation for a new era of space access. The Ares I is designed to lift the Orion Crew Module and will enable humans to return to the Moon as well as explore Mars.1 The Ares I is comprised of two inline stages: a Space Shuttle-derived five-segment Solid Rocket Booster (SRB) First Stage (FS) and an Upper Stage (US) powered by a Saturn V-derived J-2X engine. A dedicated Roll Control System (RoCS) located on the connecting interstage provides roll control prior to FS separation. Induced yaw and pitch moments are handled by the SRB nozzle vectoring. The FS SRB operates for approximately two minutes after which the US separates from the vehicle and the US Reaction Control System (ReCS) continues to provide reaction control for the remainder of the mission. A representation of the Ares I launch vehicle in the stacked configuration and including the Orion Crew Exploration Vehicle (CEV) is shown in Figure 1. Each Reaction Control System (RCS) design incorporates a Gaseous Helium (GHe) pressurization system combined with a monopropellant Hydrazine (N2H4) propulsion system. Both systems have two diametrically opposed thruster modules. This architecture provides one failure tolerance for function and prevention of catastrophic hazards such as inadvertent thruster firing, bulk propellant leakage, and over-pressurization. The pressurization system on the RoCS includes two ambient pressure-referenced regulators on parallel strings in order to attain the required system level single Fault Tolerant (FT) design for function while the ReCS utilizes a blow-down approach. A single burst disk and relief valve assembly is also included on the RoCS to ensure single failure tolerance for must-not-occur catastrophic hazards. The Reaction Control Systems are designed to support simultaneously firing multiple thrusters as required
This thesis describes the design and functionality of a Distributed Petri Net Controller (DPNC). The controller runs under X Windows to provide a graphical interface. The DPNC allows users to distribute a Petri Net across several host computers linked together via a TCP/IP interface. A sub-net executes on each host, interacting with the other sub-nets by passing a token vector from host to host. One host has a command window which monitors and controls the distributed controller. The input to the DPNC is a net definition file generated by Great SPN. Thus, a net may be designed, analyzed and verified using this package before implementation. The net is distributed to the hosts by tagging transitions that are host-critical with the appropriate host number. The controller will then distribute the remaining places and transitions to the hosts by generating the local nets, the local marking vectors and the global marking vector. Each transition can have one or more preconditions which must be fulfilled before the transition can fire, as well as one or more post-processes to be executed after the transition fires. These implement the actual input/output to the environment (machines, signals, etc.). The DPNC may also be used to simulate a Great SPN net since stochastic and deterministic firing rates are implemented in the controller for timed transitions.
The size of the basins of attraction around fixed points in recurrent neural nets (NNs) can be modified by a training process. Controlling these attractive regions by presenting training data with various amount of noise added to the prototype signal vectors is discussed. Application of this technique to signal processing results in a classification system whose sensitivity can be controlled. This new technique is applied to the classification of temporal sequences in telemetry data.
A method was developed for measuring the atmospheric density of Titan, the largest moon of Saturn, to create an accurate density profile as a function of altitude. This will allow mission planners to select safe flyby altitudes, and for navigation engineers to accurately predict the delta-v associated with those flybys. The spacecraft angular rate vector profile as a function of time is collected via telemetry from the onboard attitude estimator once every 2 seconds. The telemetry for thruster times, as a function of time, for eight Reaction Control System (RCS) thrusters is gathered, once a second, from the Propulsion Manager algorithm of the Cassini onboard attitude-control flight software. Using these data, the ground software computes the angular momentum vector profile and the per-axis external torque as a function of time imparted from the spacecraft only due to the atmospheric drag. The software can then determine the Titan atmospheric density profile as a function of time and altitude with the known values of spacecraft center of mass, the Titan-relative range and velocity data, the projected area, and the aerocenter, along with the estimated drag coefficient in a free molecular flow field.
The maximum principle is applied to minimum-time optimal-control problems, and an optimization algorithm is presented which can be implemented on a hybrid computer. The state and adjoint equations are set up on ASTRAC 2, a high-speed analog computer capable of 1000 differential equation solutions per second. The optimization algorithm is implemented on a PDP-9, an 18-bit, digital computer. The optimization scheme has global and local search phases and uses a vector optimization criterion. Second and third-order bang-bang control systems are studied as examples.
The impact of satellite-derived atmospheric motion vectors (AMVs) on numerical weather forecasts is examined using the GEOS-5 global atmospheric data assimilation system. Cycling data assimilation experiments, including twice-daily 5-day forecasts, are conducted for two 6-week periods during the 2010 Atlantic hurricane season and 2010-2011Northern Hemisphere winter season. Results from a control experiment that includes all AMVs and other data types assimilated operationally in GEOS-5 are compared with those from an experiment in which the GEOS-5 AMVs (only) are replaced by ones produced by the U. S. Navy?s NAVDAS-AR atmospheric data assimilation system. The Navy AMVs are assimilated in their entirety as well as in various subset combinations. The primary objective of these experiments is to determine whether aspects of the NAVDAS-AR data selection and quality control procedure, especially the use of carefully averaged ("super-ob?) wind vectors and large volume of AMVs, explain the typically larger beneficial impact of these data in the Navy system as compared with most other forecast systems. Adjoint-based observation impact calculations are assessed and compared with traditional metrics such as forecast geopotential height anomaly correlations and observation-minus-forecast departures. Results so far indicate that that the greater number of NRL AMVs is primarily responsible for their larger impact, although superobing also appears to be beneficial. Map views show that the impact obtained from assimilation of the NRL AMVs is more uniformly beneficial, perhaps due to the averaging of individual observations in creating the super-obs. While the NRL AMVs have a much larger impact in GEOS-5 than do the control AMVs, their impact is still smaller than in the Navy forecast system, suggesting that the mix of observations may play an important role in modulating the impact of any one data type. At the same time, reducing the number of satellite radiances assimilated in GEOS-5 does not significantly alter the impact of the AMVs
This report contains a description of a lateral-directional control law designed for the NASA High-Alpha Research Vehicle (HARV). The HARV is a F/A-18 aircraft modified to include a research flight computer, spin chute, and thrust-vectoring in the pitch and yaw axes. Two separate design tools, CRAFT and Pseudo Controls, were integrated to synthesize the lateral-directional control law. This report contains a description of the lateral-directional control law, analyses, and nonlinear simulation (batch and piloted) results. Linear analysis results include closed-loop eigenvalues, stability margins, robustness to changes in various plant parameters, and servo-elastic frequency responses. Step time responses from nonlinear batch simulation are presented and compared to design guidelines. Piloted simulation task scenarios, task guidelines, and pilot subjective ratings for the various maneuvers are discussed. Linear analysis shows that the control law meets the stability margin guidelines and is robust to stability and control parameter changes. Nonlinear batch simulation analysis shows the control law exhibits good performance and meets most of the design guidelines over the entire range of angle-of-attack. This control law (designated NASA-1A) was flight tested during the Summer of 1994 at NASA Dryden Flight Research Center.
The effects of alternative traffic management possibilities on task performance and pilot controller verbal workloads were studied. Two new rule structures - sequencing and advisory - in addition to vectoring were studied in conjunction with CRT pilot displays incorporating traffic situation displays with and without aircraft flight path predictors. The sequencing and advisory systems gave increasing control responsibility to the pilots. It was concluded that distributed management systems could in practice significantly reduce controller verbal workload without reducing system performance. Implications of this conclusion suggest that distributed management would allow controllers to handle a larger volume of traffic safely either as a normal operating procedure or as a failure mode alternative in a highly automated ground centered system.