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The structural dynamics of the solar power satellite were considered. The requirements on the vibration of the microwave antenna and the possibility of thermal induced vibration and severe structural-thermal interactions were considered. The possibility of using an active control system and modern control methods to mitigate structural problems is discussed.
The energy savings and reactive power reduction functions initiated by the power factor controller (PFC) are discussed. A three-phase PFC with soft start is examined analytically and experimentally to determine how well it controls the open loop instability and other possible modes of instability. The detailed mechanism of the open loop instability is determined and shown to impose design constraints on the closed loop system. The design is shown to meet those constraints.
Final user requirements defined for the Voice Switching and Control System (VSCS) to be implemented for ATC functions as part of the Area Control Facility (ACF) concept for the National Airspace System (NAS) are described. The VSCS will be communications equipment at operational stations, supervisory positions, and support systems, the switching system itself, and interfaces between the VSCS and other systems. Supervisory users will include the Area Manager, Traffic Management Coordinator, a Military Operations Specialists, a Weather Coordinator, a NAS manager, Maintenance, and a flight Data Communications Specialist. The VSCS will supply computerized communications capability within and among ATC centers. Details of the efforts used to define the system requirements are recounted, noting the heavy reliance on recommendations from active ATC personnel.
The backup control (BUC) features, the operation of the BUC system, the BUC control logic, and the BUC flight test results are described. The flight test results include: (1) transfers to the BUC at military and maximum power settings; (2) a military power acceleration showing comparisons bvetween flight and simulation for BUC and primary modes; (3) steady-state idle power showing idle compressor speeds at different flight conditions; and (4) idle-to-military power BUC transients showing where cpmpressor stalls occurred for different ramp rates and idle speeds. All the BUC transfers which occur during the DEEC flight program are initiated by the pilot. Automatic transfers to the BUC do not occur.
The air start capability of a backup control (BUC) was tested for a digital electronic engine control (DEEC) equipped F100 engine, which was installed in an F-15 aircraft. Two air start schedules were tested. Using the group 1 start schedule, based on a 40 sec timer, an air speed of 300 knots was required to ensure successful 40 and 25% BUC mode spooldown airstarts. If core rotor speed (N2) was less than 40% a stall would occur when the start bleed closed, 40 sec after initiation of the air start. All jet fuel starter (JFS) assisted air starts were successful with the group 1 start schedule. For the group 2 schedule, the time between pressurization and start bleed closure ranged between 50 sec and 72 sec. Idle rps was lower than the desired 65% for air starts at higher altitudes and lower air speeds.
Time domain stability robustness analysis and design for linear multivariable uncertain systems with bounded uncertainties is the central theme of the research. After reviewing the recently developed upper bounds on the linear elemental (structured), time varying perturbation of an asymptotically stable linear time invariant regulator, it is shown that it is possible to further improve these bounds by employing state transformations. Then introducing a quantitative measure called the stability robustness index, a state feedback conrol design algorithm is presented for a general linear regulator problem and then specialized to the case of modal systems as well as matched systems. The extension of the algorithm to stochastic systems with Kalman filter as the state estimator is presented. Finally an algorithm for robust dynamic compensator design is presented using Parameter Optimization (PO) procedure. Applications in a aircraft control and flexible structure control are presented along with a comparison with other existing methods.
The paper discusses a design for an attitude control system for the Space Station which produces fast response, with minimal overshoot and cross-coupling with the use of Control Moment Gyros (CMG). The rigid body equations of motion are linearized and discretized and a Linear Quadratic Regulator (LQR) design and analysis study is performed. The resulting design is then modified such that integral and differential terms are added to the state equations to enhance response characteristics. Methods for reduction of computation time through channelization are discussed as well as the reduction of initial torque requirements.
A factorization approach is presented for deriving approximations to the optimal feedback gain for the linear regulator-quadratic cost problem associated with time-varying functional differential equations with control delays. The approach is based on a discretization of the state penalty which leads to a simple structure for the feedback control law. General properties of the Volterra factors of Hilbert-Schmidt operators are then used to obtain convergence results for the feedback kernels.
The Spartan attitude control system (ACS) represents an evolutionary development of the previous STRAP-5 ACS through the use of state-of-the-art microprocessors and hardware. Despite a gyro rate signal noise problem that caused the early depletion of argon gas, the Spartan 101 experiment was able to collect several hours of data from two targets. Attention is presently given to the ACS sequencer module, sensor interface box, valve driver box, control electronics software, jam tables, and sequencer programs.
The quick suppression of the structural vibrations excited by bang-bang (BB) type time-optional slew maneuvers via modal-dashpot design of velocity output feedback control was investigated. Simulation studies were conducted, and modal dashpots were designed for the SCOLE flexible body dynamics. A two-stage approach was proposed for rapid slewing and precision pointing/retargeting of large, flexible space systems: (1) slew the whole system like a rigid body in a minimum time under specified limits on the control moments and forces, and (2) damp out the excited structural vibrations afterwards. This approach was found promising. High-power modal/dashpots can suppress very large vibrations, and can add a desirable amount of active damping to modeled modes. Unmodeled modes can also receive some concomitant active damping, as a benefit of spillover. Results also show that not all BB type rapid pointing maneuvers will excite large structural vibrations. When properly selected small forces (e.g., vernier thrusters) are used to complete the specified slew maneuver in the shortest time, even BB-type maneuvers will excite only small vibrations (e.g., 0.3 ft peak deflection for a 130 ft beam).
A relevant facet of the application of Lyapunov gradient-generated robust control to unstable linear autonomous plants is explored. It is demonstrated that if the plant, the output, and the nominal stabilizing control satisfy certain conditions, then the robust component alone stabilizes the nominal plant. An example characterized by two zero eigenvalues and two negative real value poles is presented. These results assure that the robust component will fulfill the role of nominal stabilization successfully so long as the possible magnitude of the robust component can overcome the contribution of the instability to positiveness of the Lyapunov rate.
A joint simulation was carried out using a piloted simulator and an advanced-concept air traffic control simulation to study the acceptability and accuracy of the ground-based four-dimensional descent advisor (DA), an automation aid based on accurate models of aircraft performance and weather conditions. In the piloted simulation, airline crews executed controller-issued descent advisories along standard curved-path arrival routes and were able to achieve an arrival-time precision of plus or minus 20 s at the metering fix. An analysis of errors generated in turns resulted in a further enhancement of the DA algorithm.
Preliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.
Recent advances in the theory and applications of fuzzy-logic controllers (FLCs) are examined in an analytical review. The fundamental principles of fuzzy sets and fuzzy logic are recalled; the basic FLC components (fuzzification and defuzzification interfaces, knowledge base, and decision-making logic) are described; and the advantages of FLCs for incorporating expert knowledge into a control system are indicated. Particular attention is given to fuzzy implication functions, the interpretation of sentence connectives (and, also), compositional operators, and inference mechanisms. Applications discussed include the FLC-guided automobile developed by Sugeno and Nishida (1985), FLC hardware systems, FLCs for subway trains and ship-loading cranes, fuzzy-logic chips, and fuzzy computers.
Space Station Freedom environmental control and life support system testing has been conducted at Marshall Space Flight Center since 1986. The phase 3 simplified integrated test (SIT) conducted from July 30, 1989, through August 11, 1989, tested an integrated air revitalization system. During this test, the trace contaminant control subsystem (TCCS) was directly integrated with the bleed stream from the carbon dioxide reduction subsystem. The TCCS performed as expected with minor anomalies. The test set the basis for further characterizing the TCCS performance as part of advance air revitalization system configurations.
Viewgraphs covering the following topics are given: controlled structures technology at Grumman Corporate Research Center, active and passive control technology, experiment plans, and vacuum chamber test experiment objectives and setup.
The invention disclosed is a digital circuit which emulates a synchro signal in a synchro-resolver follower system for precise control of shaft position and rotation at very low rotational rates. The invention replaces the synchro and drive motor in a synchro-resolver follower system with a digital and analog synchro emulation circuit for generating the resolver control signal. The synchro emulation circuit includes amplitude modulation means to provide relatively high frequency resolver excitation signals for accurate resolver response even with very low shaft rotation rates.
The long term objectives for this research are to use a small robot arm to compliment a large robot arm. Disturbances generated by robot tasks were studied. Available equipment made it convenient to study disturbances generated by an abrasive cut off saw mounted on the tip of a large armed robot, and used to cut through rods and pipes in the range of 0.5 in. to 1.5 in. The abrasive process was modeled as a friction operation. The operation of the cut off saw was performed autonomously and under teleoperated control. The behavior was stable in both cases for a P-D joint control algorithm. It was found that broad band excitation during the cutting operation is capable of exciting arm natural frequencies to above the third natural frequency of the arm. The direction of cut changed the modes excited due to the change in coupling coefficients.