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An explicit expression for the reachable set is obtained for a class of nonlinear systems. This class is described by a chain condition on the Lie algebra of vector fields associated with each nonlinear system. These ideas are used to obtain a generalization of a controllability result for linear systems in the case where multiplicative controls are present.
The design goals for the X-31 flight control system were: (1) level 1 handling qualities during post-stall maneuvering (30 to 70 degrees angle-of-attack); (2) thrust vectoring to enhance performance across the flight envelope; and (3) adequate pitch-down authority at high angle-of-attack. Additional performance goals are discussed. A description of the flight control system is presented, highlighting flight control system features in the pitch and roll axes and X-31 thrust vectoring characteristics. The high angle-of-attack envelope clearance approach will be described, including a brief explanation of analysis techniques and tools. Also, problems encountered during envelope expansion will be discussed. This presentation emphasizes control system solutions to problems encountered in envelope expansion. An essentially 'care free' envelope was cleared for the close-in-combat demonstrator phase. High angle-of-attack flying qualities maneuvers are currently being flown and evaluated. These results are compared with pilot opinions expressed during the close-in-combat program and with results obtained from the F-18 HARV for identical maneuvers. The status and preliminary results of these tests are discussed.
The basic concepts and terminology of modern global differential geometry are discussed as an introduction to the Lie theory of differential equations and to the role of Grassmannians in control systems analysis. To reach these topics, the fundamental notions of manifolds, tangent spaces, vector fields, and Lie algebras are discussed and exemplified. An appendix reviews such concepts needed for vector calculus as open and closed sets, compactness, continuity, and derivative. Although the content is mathematical, this is not a mathematical treatise but rather a text for engineers to understand geometric and nonlinear control.
From the first airplanes steered by handles, wheels, and pedals to today's advanced aircraft, there has been a century of revolutionary inventions, all of them contributing to flight quality. The stability and controllability of aircraft as they appear to a pilot are called flying or handling qualities. Many years after the first airplanes flew, flying qualities were identified and ranked from desirable to unsatisfactory. Later on engineers developed design methods to satisfy these practical criteria. CONDUIT, which stands for Control Designer's Unified Interface, is a modern software package that provides a methodology for optimization of flight control systems in order to improve the flying qualities. CONDUIT is dependent on an the optimization engine called CONSOL-OPTCAD (C-O). C-O performs multicriterion parametric optimization. C-O was successfully tested on a variety of control problems. The optimization-based computational system, C-O, requires a particular control system description as a MATLAB file and possesses the ability to modify the vector of design parameters in an attempt to satisfy performance objectives and constraints specified by the designer, in a C-type file. After the first optimization attempts on the UH-60A control system, an early interface system, named GIFCORCODE (Graphical Interface for CONSOL-OPTCAD for Rotorcraft Controller Design) was created.
The authors describe the Ada language software developed to perform the electrical power system monitoring functions for the NASA Lewis Research Center's Power Management and Distribution (PMAD) DC testbed. The results of the effort to implement this monitor are presented. The PMAD DC testbed is a reduced-scale prototype of the electric power system to be used in Space Station Freedom. The power is controlled by smart switches known as power control components (or switchgear). The power control components are currently coordinated by five Compaq 386/20e computers connected through an 802.4 local area network. The power system monitor algorithm comprises several functions, including periodic data acquisition, data smoothing, system performance analysis, and status reporting. Data are collected from the switchgear sensors every 100 ms, then passed through a 2-Hz digital filter. System performance analysis includes power interruption and overcurrent detection. The system monitor required a hardware timer interrupt to activate the data acquisition function. The execution time of the code was optimized by using an assembly language routine. The routine allows direct vectoring of the processor to Ada language procedures that perform periodic control activities.
Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles
A new covariance analysis method is presented that is suitable for the evaluation of multiple impulsive controllers acting on some stochastic process x. The method accommodates batch and sequential estimators with equal ease and accounts for time-delay effects in a natural manner. The formalism is developed in terms of a generalized state vector that is formed from the system state vector x, augmented by various fixed epoch estimates, and a data vector formed from discrete time observations of the system. Recursions are developed for time transition, measurement incorporation, and impulsive control updating of the generalized covariance matrix. Means of limiting the dimensional growth of the generalized state vector via the processes of estimator epoch adjustment and measurement vector deflation are described and the application of numerically stable matrix factorization methods to the generalized covariance recursions is outlined. The method is applied to the Magellan spacecraft to demonstrate the capability of ground-based optimal estimation and control of gyro/star scanner misalignment.
The module for automatic dock and detumble (MADD) is an automated device for bringing a passive, tumbling space base under control in an orbital rescue situation. The conceptual design of such a device resulted from a consideration of tumbling motion analyses and mission constraints. Specific topics of investigation include orbit and attitude dynamics and detumble profiles. Position and attitude control systems for the various phases of operation were developed. Dynamic motion of a passive vehicle with MADD attached is considered as an example application and to determine control requirements. Since time is a critical factor in rescue operations, it is essential to execute the detumbling maneuver in a minimum of time. Optimization of the MADD thrusting sequence has also been investigated. Results indicate the control torque must be directed opposite to the angular momentum vector for the assumption used here.
The Aerocrane, a hybrid aircraft, combines rotor lift with buoyant lift to offer VTOL load capability greatly in excess of helicopter technology while eliminating the airship problem of ballast transfer. In addition, the Aerocrane concept sharply reduces the mooring problem of airships and provides 360 deg vectorable thrust to supply a relatively large force component for control of gust loads. Designed for use in short range, ultra heavy lift missions, the Aerocrane operates in a performance envelope unsuitable for either helicopters or airships. Basic design considerations and potential problem areas of the concept are addressed.
The stability, control, and handling qualities of an augmented jet flap STOL airplane are presented. The airplane is an extensively modified de Havilland Buffalo military transport. The modified airplane has two fan-jet engines which provide vectorable thrust and compressed air for the augmentor jet flap and Boundary-Layer Control (BLC). The augmentor and BLC air is cross ducted to minimize asymmetric moments produced when one engine is inoperative. The modifications incorporated in the airplane include a Stability Augmentation System (SAS), a powered elevator, and a powered lateral control system. The test gross weight of the airplane was between 165,000 and 209,000 N (37,000 and 47,000 lb). Stability, control, and handling qualities are presented for the airspeed range of 40 to 180 knots. The lateral-directional handling qualities are considered satisfactory for the normal operating range of 65 to 160 knots airspeed when the SAS is functioning. With the SAS inoperative, poor turn coordination and spiral instability are primary deficiencies contributing to marginal handling qualities in the landing approach. The powered elevator control system enhanced the controllability in pitch, particularly in the landing flare and stall recovery.
A full-scale model of a supersonic STOVL single engine flighter aircraft employing an ejector to augment lift in hover and in low-speed flight was tested in the 40- by 80-ft and 80- by 120-ft test sections of the National Full-Scale Aerodynamics Complex located at the NASA Ames Research Center. The measured ejector augmentation ratio in hover met the design requirement of 1.6 and continued to provide the lift necessary in forward flight for good transition qualities. The up-and-away aerodynamics (ejector system stowed) were found to be conventional for this class of vehicle. The pitch control provided by the full-span blown flaps is sufficient to control the large pitching moments generated by ventral exhaust nozzle vectoring and propulsion induced aerodynamic effects such as the turning of the flow entrained into the ejectors.
An investigation was conducted in the model preparation area of the Langley 16-Foot Transonic Tunnel to determine the internal performance of a fixed-shroud nonaxisymmetric nozzle equipped with an aft-hood exhaust deflector. Model geometric parameters investigated included nozzle power setting, aft-hood deflector angle, throat area control with the aft-hood deflector deployed, and yaw vector angle. Results indicate that cruise configurations produced peak performance in the range consistent with previous investigations of nonaxisymmetric convergent-divergent nozzles. The aft-hood deflector produced resultant pitch vector angles that were always less than the geometric aft-hood deflector angle when the nozzle throat was positioned upstream of the deflector exit. Significant losses in resultant thrust ratio occurred when the aft-hood deflector was deployed with an upstream throat location. At each aft-hood deflector angle, repositioning the throat to the deflector exit improved pitch vectoring performance and, in some cases, substantially improved resultant thrust ratio performance. Transferring the throat to the deflector exit allowed the flow to be turned upstream of the throat at subsonic Mach numbers, thereby eliminating losses associated with turning supersonic flow. Internal throat panel deflections were largely unsuccessful in generating yaw vectoring.
The Guidance Navigation and Control (GN&C) system for the International Space Station is initially implemented by the Functional Cargo Block (FGB) which was built by the Khrunichev Space Center under direct contract to Boeing. This element (Stage 1A/R) was launched on 20 November 1998 and is currently operating on-orbit. The components and capabilities of the FGB Motion Control System (MCS) are described. The next ISS element, which has GN&C functionality will be the Service Module (SM) built by Rocket Space Corporation-Energia. This module is scheduled for launch (Stage 1R) in early 2000. Following activation of the SM GN&C system, the FGB MCS is deactivated and no longer used. The components and capabilities of the SM GN&C system are described. When a Progress vehicle is attached to the ISS it can be used for reboost operations, based on commands provided by the Mission Control Center-Moscow. When a data connection is implemented between the SM and the Progress, the SM can command the Progress thrusters for attitude control and reboosts. On Stage 5A, the U.S. GN&C system will become activated when the U.S. Laboratory is de loyed and installed (launch schedule is currently TBD). The U.S. GN&C system provides non-propulsive control capabilities to support micro-gravity operations and minimize the use of propellant for attitude control, and an independent capability for determining the ISS state vector, attitude, attitude rate. and time.. The components and capabilities of the U.S. GN&C system are described and the interactions between the U.S. and Russian Segment GN&C systems are also described.
As a result of the FAA Modernization and Reform Act of 2012, Unmanned Aerial Systems (UAS) are expected to be integrated into the National Airspace System (NAS) by 2015. Several human factors challenges need to be addressed before UAS can safely and routinely fly in the NAS with manned aircraft. Perhaps the most significant challenge is for the UAS to be non-disruptive to the air traffic management system. Another human factors challenge is how to provide UAS pilots with intuitive traffic information in order to support situation awareness (SA) of their airspace environment as well as a see-and-avoid capability comparable to manned aircraft so that a UAS pilot could safely maneuver the aircraft to maintain separation and collision avoidance if necessary. A simulation experiment was conducted to examine baseline compliance of UAS operations in the current airspace system. Researchers also examined the effects of introducing a Cockpit Situation Display (CSD) into a UAS Ground Control Station (GCS) on UAS pilot performance, workload and situation awareness while flying in a positively controlled sector. Pilots were tasked with conducting a highway patrol police mission with a Medium Altitude Long Endurance (MALE) UAS in L.A. Center airspace with two mission objectives: 1) to reroute the UAS when issued new instructions from their commander, and 2) to communicate with Air Traffic Control (ATC) to negotiate flight plan changes and respond to vectoring and altitude change instructions. Objective aircraft separation data, workload ratings, SA data, and subjective ratings regarding UAS operations in the NAS were collected. Results indicate that UAS pilots were able to comply appropriately with ATC instructions. In addition, the introduction of the CSD improved pilot SA and reduced workload associated with UAS and ATC interactions.
The imaging of faint exoplanets near bright stars requires the development of very high contrast detection techniques, including both precise wavefront control and deep starlight rejection. A system-level proof-of-principle experiment carried out at at the Palomar Observatory has recently demonstrated that exoplanets can be detected very near stars even with a fairly small (1.5 m diameter) telescope aperture, such as someday might be used by a first space-based exoplanet imaging mission. Using fine-scale wavefront correction across this small aperture, together with fine pointing and focus control, pre- and post-detection speckle reduction, and a vector vortex coronagraph, it has been possible to achieve extremely good starlight rejection within a small number of diffractions beams of the stellar position. This performance has recently allowed the imaging of the three HR8799 planets and the HD32297 disk, thus providing a first system-level validation of the steps needed to achieve high-contrast observations at very small angles. These results thus serve to highlight the potential of small space telescopes aiming at high-contrast exoplanet observations. Specifically, a small-angle coronagraph enables the use of smaller telescopes, thus potentially reducing mission cost significantly.
Integrations trends in aircraft are discussed with an eye to manifestations in future aircraft designs through interdisciplinary technology integration. Current practices use software changes or small hardware fixes to solve problems late in the design process, e.g., low static stability to upgrade fuel efficiency. A total energy control system has been devised to integrate autopilot and autothrottle functions, thereby eliminating hardware, reducing the software, pilot workload, and cost, and improving flight efficiency and performance. Integrated active controls offer reduced weight and larger payloads for transport aircraft. The introduction of vectored thrust may eliminate horizontal and vertical stabilizers, and location of the thrust at the vehicle center of gravity can provide vertical takeoff and landing capabilities. It is suggested that further efforts will open a new discipline, aeroservoelasticity, and tests will become multidisciplinary, involving controls, aerodynamics, propulsion and structures.
It is stated that the aerodynamic forces on the vehicle being aerocaptured are controlled by "altering the angle of attack" and thereby controlling the lift coefficient. Furthermore, the resulting variation of drag coefficient with angle of attack was ignored. The purpose of this Comment is to point out that an aerodynamic control method that is much more effective than the pitch modulation has been studied and utilized during entries for many years. During aerocapture, it is desirable to have a large range of lift coefficients available, while keeping the vehicle's ballistic coefficients constant. This is accomplished by modulating the vehicle's bank angle, i.e., by rolling the vehicle about its velocity vector. By this method, the angle of attack can be held constant (at the trim angle, if desired), and the C(sub D) and the ballistic coefficient remain constant. Furthermore, the vertical component of the normal force vector (essentially the lift) can be varied over its entire range, from maximum positive to maximum negative values. Reaction controls, rather than aerodynamic ones, are usually utilized to change the bank angle of the vehicle, thus requiring the use of fuel. However, the fuel expenditure that is required to change the bank angle is far less than the amount that would have to be used to continuously hold the vehicle at pitch angles that differ significantly from its trim angle of attack. Also, it has been shown that bank angle modulation to vary the lift can enlarge the entry corridor by increasing the entry angle for the undershoot boundary, where both the heating rate and deceleration reach a maximum. Finally, the crew's deceleration tolerance can be increased somewhat when the bank angle is varied, as opposed to the pitch angle. For bank modulation, the deceleration force vector can be kept at a constant angle with respect to the occupants whose tolerance to g loads is highest when the force is applied in a direction normal to the upper torso. The advantages of bank angle variation to modulate the lift vector were recognized long ago, and this method of control was used successfully on the Apollo command module during lunar return' and, more recently, for the Space Shuttle Orbiter.
The Onboard Navigation rendezvous expert system is designed to aid the ground flight controller in monitoring the shuttle onboard navigation system. The system is designed to keep track of the navigation sensors and relative state vectors. In addition, the system also keeps an event log and fills out forms usually handled by the flight controller. This expert system is one of the few rendezvous specific systems being developed for the Mission Control Center. The expert system has been in development for six years. Through these years the system has seen hardware, software, and personnel changes. Initial development was done by the Information Systems Directorate (ISD) and Mission Operations Directorate (MOD) at Johnson Space Center. As of October 1, 1991 the system has been turned over to MOD. The system is completely developed except for some minor adjustments to the user interface. The rule base is in the verification stage with total certification of the system due to be completed by May 1992. Test cases for verification are obtained by saving data used for flight controller integrated simulations. The actual data comes from both the shuttle mission simulator and the Mission Control Center Computer. So far no actual flight data has been available. This paper covers all aspects of the system from the development history to the current hardware, software, and use of the system.