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Fast, accurate technique for simulating the Saturn Flight Control System was devised. The technique is simple to implement and can be readily substituted for slower or less accurate techniques. This technique can be applied to a large class of problems that require a rapid accurate calculation of the response of linear differential equations to a continuous input.
This paper addresses some modeling and control issues for a mixing chamber used in rocket engine testing at NASA Stennis Space Center. The mixer must combine high pressure liquid hydrogen (LH2) and gaseous hydrogen (GH2) to produce and output flow that meets certain thermodynamic properties before it is fed into a test article. More precisely, this paper considers that the quantities to be tracked and/or regulated are mixer internal pressure, exit mass flow, and exit temperature. The available control inputs are given by three value positions, namely those of the GH2, LH2 and exit valves. The mixer is modelled by a system of two nonlinear ordinary differential equations having density and internal energy as states. The model must be simple enough to lend itself to subsequent feedback controller design, yet its accuracy must be tested against real data. For this reason, the model includes function calls to thermodynamic property data. Some structural properties of the resulting model that pertain to controller design, such as controllability and uniqueness of the equilibrium point are shown to hold. Validation of the model against real data is also provided. As a first control approach, a small-signal (linear) model is developed based on the nonlinear model and simulated as well. Pulse disturbances are introduced to the valve positions and the quality of the linear model is ascertained by comparing its behavior against the nonlinear model simulations. Valve control strategies that simulate an operator-in-the-loop scenario are then explored demonstrating the need for automatic feedback control. Classical optimal single-output and multi-output Proportional/Integral controllers are designed based on the linear model and applied to the nonlinear model with excellent results to track simultaneous, constant setpoint changes in desired exit flow, exit temperature, and mixer pressure, as well as to reject unmeasurable but bounded additive step perturbations in the valve positions. A feedback linearization controller is designed and used to achieve tracking and regulation of the outputs over an extended range of the variables of interest.
The problem of mixing aircraft equipped with time-controlled guidance systems and unequipped aircraft in the terminal area has been investigated via a real-time air traffic control simulation. These four-dimensional (4D) guidance systems can predict and control the touchdown time of an aircraft to an accuracy of a few seconds throughout the descent. The objectives of this investigation were to (1) develop scheduling algorithms and operational procedures for various traffic mixes that ranged from 25% to 75% 4D-equipped aircraft; (2) examine the effect of time errors at 120 n. mi. from touchdown on touchdown time scheduling of the various mix conditions; and (3) develop efficient algorithms and procedures to null the initial time errors prior to reaching the final control sector, 30 n. mi. from touchdown. Results indicate substantial reduction in controller workload and an increase in orderliness when more than 25% of the aircraft are equipped with 4D guidance systems; initial random errors of up to + or - 2 min can be handled via a single speed advisory issued in the arrival control sector, thus avoiding disruption of the time schedule.
A rocket test stand and associated subsystems are complex devices whose operation requires that certain preparatory calculations be carried out before a test. In addition, real-time control calculations must be performed during the test, and further calculations are carried out after a test is completed. The latter may be required in order to evaluate if a particular test conformed to specifications. These calculations are used to set valve positions, pressure setpoints, control gains and other operating parameters so that a desired system behavior is obtained and the test can be successfully carried out. Currently, calculations are made in an ad-hoc fashion and involve trial-and-error procedures that may involve activating the system with the sole purpose of finding the correct parameter settings. The goals of this project are to develop mathematical models, control methodologies and associated simulation environments to provide a systematic and comprehensive prediction and real-time control capability. The models and controller designs are expected to be useful in two respects: 1) As a design tool, a model is the only way to determine the effects of design choices without building a prototype, which is, in the context of rocket test stands, impracticable; 2) As a prediction and tuning tool, a good model allows to set system parameters off-line, so that the expected system response conforms to specifications. This includes the setting of physical parameters, such as valve positions, and the configuration and tuning of any feedback controllers in the loop.
The design, implementation, and verification of the flight control software used in the F-8 DFBW program are discussed. Since the DFBW utilizes an Apollo computer and hardware, the procedures, controls, and basic management techniques employed are based on those developed for the Apollo software system. Program Assembly Control, simulator configuration control, erasable-memory load generation, change procedures and anomaly reporting are discussed. The primary verification tools--the all-digital simulator, the hybrid simulator, and the Iron Bird simulator--are described, as well as the program test plans and their implementation on the various simulators. Failure-effects analysis and the creation of special failure-generating software for testing purposes are described. The quality of the end product is evidenced by the F-8 DFBW flight test program in which 42 flights, totaling 58 hours of flight time, were successfully made without any DFCS inflight software, or hardware, failures.
The design, implementation, and verification of the flight control software used in the F-8 DFBW program are discussed. Since the DFBW utilizes an Apollo computer and hardware, the procedures, controls, and basic management techniques employed are based on those developed for the Apollo software system. Program assembly control, simulator configuration control, erasable-memory load generation, change procedures and anomaly reporting are discussed. The primary verification tools are described, as well as the program test plans and their implementation on the various simulators. Failure effects analysis and the creation of special failure generating software for testing purposes are described.
We have shown using ESA's Biopan facility flown in Earth orbit that when exposed to the space environment for 2 weeks the survival rate of Synechococcus (Nageli), a halophilic cyanobacterium isolated from the evaporitic gypsum-halite crusts that form along the marine intertidal, and Halorubrum chaoviator a member of the Halobacteriaceae isolated from an evaporitic NaCl crystal obtained from a salt evaporation pond, were higher than all other test organisms except Bacillus spores. These results led to the EXPOSE-R mission to extend and refine these experiments as part of the experimental package for the external platform space exposure facility on the ISS. The experiment was flown in February 2009 and the organisms were exposed to low-Earth orbit for nearly 2 years. Samples were either exposed to solar ultraviolet (UV)-radiation (lambda is greater than 110 nm or lambda is greater than 200 nm, cosmic radiation (dosage range 225-320 mGy), or kept in darkness shielded from solar UV-radiation. Half of each of the UV-radiation exposed samples and dark samples were exposed to space vacuum and half kept at 105 pascals in argon. Duplicate samples were kept in the laboratory to serve as unexposed controls. Ground simulation control experiments were also performed. After retrieval, organism viability was tested using Molecular Probes Live-Dead Bac-Lite stain and by their reproduction capability. Samples kept in the dark, but exposed to space vacuum had a 90 +/- 5% survival rate compared to the ground controls. Samples exposed to full UV-radiation for over a year were bleached and although results from Molecular Probes Live-Dead stain suggested approximately 10% survival, the data indicate that no survival was detected using cell growth and division using the most probable number method. Those samples exposed to attenuated UV-radiation exhibited limited survival. Results from of this study are relevant to understanding adaptation and evolution of life, the future of life beyond earth, the potential for interplanetary transfer of viable microbes via meteorites and dust particles as well as spacecraft, and the physiology of halophiles.
Simulation of structural response of multi-flexible-body systems by linearized flexible motion combined with nonlinear rigid motion is discussed. Advantages and applicability of such an approach for accurate simulation with greatly reduced computational costs and turnaround times are described, restricting attention to the control design environment. Requirements for updating the linearized flexibility model to track large angular motions are discussed. Validation of such an approach by comparison with other existing codes is included. Application to a flexible robot manipulator system is described.
Adaptive control system reduces effects of model uncertainties. Report outlines method for finite-element dynamic analysis of space station. Purpose is to determine periods and modes of oscillation of structure and to analyze effect of proposed adaptive control system to damp out unwanted vibrations. With simplifications proposed, finite-element simulations performed during dynamic event, like docking of Space Shuttle, and used to control vibration-damping actuators.
A real-time Sensor Failure Simulator (SFS) was designed and assembled for the Advanced Detection, Isolation, and Accommodation (ADIA) program. Various designs were considered. The design chosen features an IBM-PC/XT. The PC is used to drive analog circuitry for simulating sensor failures in real-time. A user defined scenario describes the failure simulation for each of the five incoming sensor signals. Capabilities exist for editing, saving, and retrieving the failure scenarios. The SFS has been tested closed-loop with the Controls Interface and Monitoring (CIM) unit, the ADIA control, and a real-time F100 hybrid simulation. From a productivity viewpoint, the menu driven user interface has proven to be efficient and easy to use. From a real-time viewpoint, the software controlling the simulation loop executes at greater than 100 cycles/sec.
Analog-to-digital and digital-to-analog converters for digital control system simulation
Data assimilation is an increasingly popular technique in Mars atmospheric science, but its effect on the mean states of the underlying atmosphere models has not been thoroughly examined. The robustness of results to the choice of model and assimilation algorithm also warrants further study. We investigate these issues using two Mars general circulation models (MGCMs), with particular emphasis on zonal wind and temperature fields. When temperature retrievals from the Mars Global Surveyor Thermal Emission Spectrometer (TES) are assimilated into the U.K.-Laboratoire de M ́et ́eorologie Dynamique (UK-LMD) MGCM to create the Mars Analysis Correction Data Assimilation (MACDA) reanalysis, low-level zonal jets in the winter northern hemisphere shift equatorward and weaken relative to a free-running control simulation from the same MGCM. The Ensemble Mars Atmosphere Reanalysis System (EMARS) reanalysis, which is also based on TES temperature retrievals, also shows jet weakening (but less if any shifting) relative to a control simulation performed with the underlying Geophysical Fluid Dynamics Laboratory (GFDL) MGCM. Examining higher levels of the atmosphere, monthly mean three-dimensional temperature and zonal wind fields are in generally better agreement between the two reanalyses than between the two control simulations. In conjunction with information about the MGCMs’ physical parametrizations, intercomparisons between the various reanalyses and control simulations suggest that overall the EMARS control run is plausibly less biased (relative to the true state of the Martian atmosphere) than the MACDA control run. Implications for future observational studies are discussed. Plain Language Summary An increasingly popular way to study Martian weather and climate is to combine atmospheric temperature observations with a computer model (specifically, a global climate model). The process of combining model and observations is called “data assimilation”, and the resulting merged data set is called a “reanalysis”. One advantage of reanalyses is that they include variables (such as wind) that are not directly observed. For scientific and practical applications we want these variables to be reasonably accurate— however, it is not clear how well data assimilation algorithms compute them. Our study investigates this issue using two Mars reanalyses and two model simulations that do not assimilate temperature data. We focus on slowly-varying atmospheric phenomena (timescales from 10 Mars days to a season). Assimilating temperature data into two different global climate models changes the strength and/or spatial pattern of east-west winds at low altitudes. Furthermore, monthly mean three-dimensional temperature and east-west wind fields agree better between reanalyses than between non-assimilating model simulations. This suggests that the data assimilation process is basically successful. One non-assimilating model simulation has less realistic representations of atmospheric physical processes than the other—we argue that this plausibly gives it larger biases relative to the true state of the atmosphere.
Results are reported from a study designed to compare acceleration control with pulse control in simulated spacecraft docking maneuvers. Nine commercial airline pilots served as test subjects and the simulated remote dockings of an orbital maneuvering vehicle (OMV) to a space station were initiated from 50, 100, and 150 meters along the station's minus velocity vector. The trials were grouped into blocks of 18 consisting of six repetitions of the three ranges. It was found that mission duration was lower with pulse mode, while fuel consumption was lower with acceleration mode. It is suggested that this result is most likely specific to the thruster values that are being used.
Advanced nuclear reactors are crucial to the future of energy both in the United States and around the globe. In contrast to the current operating fleet, they are characterized as being deployable in remote locations and able to operate in semi-autonomous or autonomous fashion. This leap forward necessitates a new reactor control paradigm. Because advanced nuclear reactors are still under development in the United States, the creation of new control methods to achieve autonomous operations has been based on systems modeling and simulation. However, an important factor in successfully deploying these new control methods is the ability to seamlessly transition from simulation environments to real-world settings. Control methods tested in both simulation and experimental settings need to be investigated in the context of advanced reactor applications. This work developed a series of simple controllers for Idaho National Laboratory (INL)’s Microreactor Applications Research Validation and Evaluation (MARVEL) microreactor operating in load-following scenarios. These controllers were tested in both simulation and experimental settings, and a comparative performance analysis was performed. The simulation tests leveraged the Control and Optimization Modular Modeling Application for Nuclear Deployment (COMMAND) software developed in a previous stage of the current effort, along with the MARVEL Reactor Excursion and Leak Analysis Program (RELAP5-3D) and Monte Carlo N-Particle (MCNP) models. The experimental tests leveraged the COMMAND software, MARVEL models, and the U.S. Department of Energy Microreactor Program’s Microreactor Automated Control System (MACS). MACS was developed to serve as a control method testbed. It was customized to mirror the MARVEL microreactor, and COMMAND enabled MACS to emulate the physics of MARVEL. The load-following controller was developed using the simulation platform, with efforts to emulate real systems by introducing actuator saturation and noise. These factors were incrementally accounted for in the controller design. After finalizing the controller design, it was implemented with the experimental setup. The experimental conditions tested included an initial test under conditions similar to the final simulation test, and two additional scenarios. The first scenario introduced additional actuator saturation to account for equipment aging over time, which was unknown to the controller. The second scenario introduced sensor delay, a phenomenon anticipated with the use of remote operations or wireless communication in advanced reactors. These tests revealed several notable differences. While the controller performed well in simulation, it exhibited several limitations when transitioning to hardware. The main challenges involved maintaining the steady-state target power, as evidenced by larger error values between the true reactor power and setpoint power, as well as persistent oscillations in controlled reactor power. These issues could lead to unacceptable transient conditions in real reactor testing. Introducing actuator aging and stochastic delays in the experimental setup significantly impacted controller performance, resulting in increased overshoot and undershoot, and exacerbated error and oscillations previously mentioned. These findings underscore the importance of experimental testbeds for testing and validating control methods, as controllers developed using only theory and/or simulation may perform unexpectedly when applied to actual hardware. This research emphasizes the need for an experimental testbed for achieving such validation.
Simulation of pursuit-evasion differential game using variational method, comparing performance of human pilot to optimal pursuer
Full-size pilot-controlled docking simulation of Apollo command and service module with lunar module using only visual information
The method of flight-testing the Intelligent Flight Control System (IFCS) Second Generation (Gen-2) project on the NASA NF-15B is herein described. The Gen-2 project objective includes flight-testing a dynamic inversion controller augmented by a direct adaptive neural network to demonstrate performance improvements in the presence of simulated failure/damage. The Gen-2 objectives as implemented on the NASA NF-15B created challenges for software design, structural loading limitations, and flight test operations. Simulated failure/damage is introduced by modifying control surface commands, therefore requiring structural loads measurements. Flight-testing began with the validation of a structural loads model. Flight-testing of the Gen-2 controller continued, using test maneuvers designed in a sequenced approach. Success would clear the new controller with respect to dynamic response, simulated failure/damage, and with adaptation on and off. A handling qualities evaluation was conducted on the capability of the Gen-2 controller to restore aircraft response in the presence of a simulated failure/damage. Control room monitoring of loads sensors, flight dynamics, and controller adaptation, in addition to postflight data comparison to the simulation, ensured a safe methodology of buildup testing. Flight-testing continued without major incident to accomplish the project objectives, successfully uncovering strengths and weaknesses of the Gen-2 control approach in flight.
A study of estimated full-scale noise levels based on measured levels from the Advanced Ducted Propeller (ADP) sub-scale model is presented. Testing of this model was performed in the NASA Lewis Low Speed Anechoic Wind Tunnel at a simulated takeoff condition of Mach 0.2. Effective Perceived Noise Level (EPNL) estimates for the baseline configuration are documented, and also used as the control case in a study of the potential benefits of two categories of noise control. The effect of active noise control is evaluated by artificially removing various rotor-stator interaction tones. Passive noise control is simulated by applying a notch filter to the wind tunnel data. Cases with both techniques are included to evaluate hybrid active-passive noise control. The results for EPNL values are approximate because the original source data was limited in bandwidth and in sideline angular coverage. The main emphasis is on comparisons between the baseline and configurations with simulated noise control measures.