Modern digital control for a small iterative analog computer - The APE II digital module
Digital computer module for control of iterative analog computer system
Conant, B. K.↗
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Results for “analog control”
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Three degree-of-freedom force feedback control for robotic mating of umbilical lines
The use of robotic manipulators for the mating and demating of umbilical fuel lines to the Space Shuttle Vehicle prior to launch is investigated. Force feedback control is necessary to minimize the contact forces which develop during mating. The objective is to develop and demonstrate a working robotic force control system. Initial experimental force control tests with an ASEA IRB-90 industrial robot using the system's Adaptive Control capabilities indicated that control stability would by a primary problem. An investigation of the ASEA system showed a 0.280 second software delay between force input commands and the output of command voltages to the servo system. This computational delay was identified as the primary cause of the instability. Tests on a second path into the ASEA's control computer using the MicroVax II supervisory computer show that time delay would be comparable, offering no stability improvement. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servosystem directly, allowing the robot to use force feedback control while in rigid contact with a moving three-degree-of-freedom target. An alternative approach was developed where the digital control system of the robot was disconnected and an analog electronic force controller was used to control the robot's servo system directly. This method allowed the robot to use force feedback control while in rigid contact with moving three degree-of-freedom target. Tests on this approach indicated adequate force feedback control even under worst case conditions. A strategy to digitally-controlled vision system was developed. This requires switching between the digital controller when using vision control and the analog controller when using force control, depending on whether or not the mating plates are in contact.
Fullmer, R. Rees↗
Analytical and experimental performance of optimal controller designs for a supersonic inlet
The techniques of modern optimal control theory were applied to the design of a control system for a supersonic inlet. The inlet control problem was approached as a linear stochastic optimal control problem using as the performance index the expected frequency of unstarts. The details of the formulation of the stochastic inlet control problem are presented. The computational procedures required to obtain optimal controller designs are discussed, and the analytically predicted performance of controllers designed for several different inlet conditions is tabulated. The experimental implementation of the optimal control laws is described, and the experimental results obtained in a supersonic wind tunnel are presented. The control laws were implemented with analog and digital computers. Comparisons are made between the experimental and analytically predicted performance results. Comparisons are also made between the results obtained with continuous analog computer controllers and discrete digital computer versions.
Zeller, J. R.↗
Digital multiplexing of analog data in a microprocessor controlled data acquisition system
The purpose of the paper is to explore the ramifications of doing the multiplexing function in the digital domain and of using the microprocessor to replace the hardwired control logic which resides in the typical analog to digital converter. Two types of conversion (one working in parallel inputs, and one in sequential order) strategies are discussed where the microprocessor is in full control of the conversion. One advantage of using a digital multiplexor is that, contrary to an analog multiplexor, it does not degrade the fidelity of the conversion process.
Cliff, R. A.↗
The development of the DAST I remotely piloted research vehicle for flight testing an active flutter suppression control system
The development of the DAST I (drones for aerodynamic and structural testing) remotely piloted research vehicle is described. The DAST I is a highly modified BQM-34E/F Firebee II Supersonic Aerial Target incorporating a swept supercritical wing designed to flutter within the vehicle's flight envelope. The predicted flutter and rigid body characteristics are presented. A description of the analysis and design of an active flutter suppression control system (FSS) designed to increase the flutter boundary of the DAST wing (ARW-1) by a factor of 20% is given. The design and development of the digital remotely augmented primary flight control system and on-board analog backup control system is presented. An evaluation of the near real-time flight flutter testing methods is made by comparing results of five flutter testing techniques on simulated DAST I flutter data. The development of the DAST ARW-1 state variable model used to generate time histories of simulated accelerometer responses is presented. This model uses control surface commands and a Dryden model gust as inputs. The feasibility of the concept of extracting open loop flutter characteristics from closed loop FSS responses was examined. It was shown that open loop characteristics can be determined very well from closed loop subcritical responses.
Grose, D. L.↗
Correlation of analog solutions with experimental sea-level transient data for controlled turbine-propeller engine, including analog results at altitudes
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Lazar, James↗
Human factors issues and approaches in the spatial layout of a space station control room, including the use of virtual reality as a design analysis tool
Human Factors Engineering support was provided for the 30% design review of the late Space Station Freedom Payload Control Area (PCA). The PCA was to be the payload operations control room, analogous to the Spacelab Payload Operations Control Center (POCC). This effort began with a systematic collection and refinement of the relevant requirements driving the spatial layout of the consoles and PCA. This information was used as input for specialized human factors analytical tools and techniques in the design and design analysis activities. Design concepts and configuration options were developed and reviewed using sketches, 2-D Computer-Aided Design (CAD) drawings, and immersive Virtual Reality (VR) mockups.
Hale, Joseph P., II↗
System for Automated Calibration of Vector Modulators
Vector modulators are used to impose baseband modulation on RF signals, but non-ideal behavior limits the overall performance. The non-ideal behavior of the vector modulator is compensated using data collected with the use of an automated test system driven by a LabVIEW program that systematically applies thousands of control-signal values to the device under test and collects RF measurement data. The technology innovation automates several steps in the process. First, an automated test system, using computer controlled digital-to-analog converters (DACs) and a computer-controlled vector network analyzer (VNA) systematically can apply different I and Q signals (which represent the complex number by which the RF signal is multiplied) to the vector modulator under test (VMUT), while measuring the RF performance specifically, gain and phase. The automated test system uses the LabVIEW software to control the test equipment, collect the data, and write it to a file. The input to the Lab - VIEW program is either user-input for systematic variation, or is provided in a file containing specific test values that should be fed to the VMUT. The output file contains both the control signals and the measured data. The second step is to post-process the file to determine the correction functions as needed. The result of the entire process is a tabular representation, which allows translation of a desired I/Q value to the required analog control signals to produce a particular RF behavior. In some applications, corrected performance is needed only for a limited range. If the vector modulator is being used as a phase shifter, there is only a need to correct I and Q values that represent points on a circle, not the entire plane. This innovation has been used to calibrate 2-GHz MMIC (monolithic microwave integrated circuit) vector modulators in the High EIRP Cluster Array project (EIRP is high effective isotropic radiated power). These calibrations were then used to create correction tables to allow the commanding of the phase shift in each of four channels used as a phased array for beam steering of a Ka-band (32-GHz) signal. The system also was the basis of a breadboard electronic beam steering system. In this breadboard, the goal was not to make systematic measurements of the properties of a vector modulator, but to drive the breadboard with a series of test patterns varying in phase and amplitude. This is essentially the same calibration process, but with the difference that the data collection process is oriented toward collecting breadboard performance, rather than the measurement of output from a network analyzer.
Lux, James↗
An approach to optical structures control
The stabilization of a large, spaceborne Cassegrain telescope is examined. Modal gain factors and known characteristics of disturbances are used to determine which structural model affect line of sight (LOS) the most and are candidates for active control. THe approach is to: (1) actively control and maintain alignment of optical components; (2) place structural control actuators for optimum impact on the selected modes for active vibration control; and (3) feed back the best available estimate of LOS error for direct LOS control. Local analog loops are used for lower bandwidth control and multivariable digital control for lower bandwidth control. The control law is synthesized in the frequency domain using the characteristic gain approach. Robustness is measured by employing conicity, which is an outgrowth of the positivity approach to robust feedback system design. The feasibility of the design approach will be demonstrated by conducting a lab experiment on a structure similar to a scaled version of the telescope.
Iwens, R. P.↗
Digital control algorithms for microgravity isolation systems
New digital control algorithms were developed to achieve the desired acceleration transmissibility function. The attractive electromagnets have been taken as actuators. The relative displacement and the acceleration of the mass were used as feedback signals. Two approaches were developed to find that controller transfer function in Z-domain, which yields the desired transmissibility at each frequency. In the first approach, the controller transfer function is obtained by assuming that the desired transmissibility is known in Z-domain. Since the desired transmissibility H sub d(S) = 1/(tauS+1)(exp 2) is given in S-domain, the first task is to obtain the desired transmissibility in Z-domain. There are three methods to perform this task: bilinear transformation, and backward and forward rectangular rules. The bilinear transformation and backward rectangular rule lead to improper controller transfer functions, which are physically not realizable. The forward rectangular rule does lead to a physically realizable controller. However, this controller is found to be marginally stable because of a pole at Z=1. In order to eliminate this pole, a hybrid control structure is proposed. Here the control input is composed of two parts: analog and digital. The analog input simply represents the velocity (or the integral of acceleration) feedback; and the digital controller which uses only relative displacement signal, is then obtained to achieve the desired closed-loop transfer function. The stability analysis indicates that the controller transfer function is stable for typical values of sampling period. In the second approach, the aforementioned hybrid control structure is again used. First, an analog controller transfer function corresponding to relative displacement feedback is obtained to achieve the transmissibility as 1/(tauS+1)(exp 2). Then the transfer function for the digital control input is obtained by discretizing this analog controller transfer function via bilinear transformation. The stability of the resulting Z-domain closed loop system is analyzed. Also, the frequency response of the Z-domain closed-loop transfer function is determined to evaluate the performance of the control system.
Sinha, Alok↗
Control synthesis for spinning aerospace vehicles.
Linear and nonlinear attitude control law synthesis for spinning aerospace vehicles, including analog simulation for control designs based on frequency symmetry
SATELLITE ATTITUDE CONTROL↗
Adaptive piezoelectric sensoriactuator
An adaptive algorithm implemented in digital or analog form is used in conjunction with a voltage controlled amplifier to compensate for the feedthrough capacitance of piezoelectric sensoriactuator. The mechanical response of the piezoelectric sensoriactuator is resolved from the electrical response by adaptively altering the gain imposed on the electrical circuit used for compensation. For wideband, stochastic input disturbances, the feedthrough capacitance of the sensoriactuator can be identified on-line, providing a means of implementing direct-rate-feedback control in analog hardware. The device is capable of on-line system health monitoring since a quasi-stable dynamic capacitance is indicative of sustained health of the piezoelectric element.
Clark, Jr., Robert L.↗
Small gain robustness issues in the p-integrator repetitive controller
The basic theory of the digital p-integrator controller is utilized to modify the command to a stable analog feedback control system in order to produce zero tracking error of a repetitive command. Mapping of continuous time poles and zeros to the images in the discrete time domain is performed. It is shown that for a pole excess of one, with p odd, the p-integrator learning controller will often produce a stable learning process, even for relatively large sample times. For a pole excess of two, a stable learning process can often be achieved for any p as long as the sample time is kept sufficiently short. Therefore, when the pole excess is zero and one utilizes the proper p-integrator controller with p odd, stable performance is often produced, even for relatively large sample times.
Longman, Richard W.↗
Hybrid state-space self-tuning control using dual-rate sampling
This paper presents a hybrid state-space self-tuning control scheme using dual-rate sampling for suboptimal digital adaptive control of linear time-invariant continuous-time multivariable stochastic systems with unknown parameters. An equivalent fast-rate discrete-time state-space innovation model (with estimated states) of the continuous-time system is constructed by using the estimated system parameters and Kalman gain. To utilize the existing optimal regional-pole assignment method developed in the continuous-time domain, the constructed fast-rate discrete-time model is converted into an equivalent continuous-time model for the development of a state-feedback optimal control law with pole placement in a specific region. The developed analog optimal control law is then converted into an equivalent pseudo-slow-rate digital control law via the proposed digital redesign technique, which can be realized via slow-rate digital electronics. The proposed method enables the development of a digitally implementable advanced control algorithm for digital adaptive control of continuous-time multivariable stochastic systems which may be unstable and/or have nonminimum phase.
Shieh, Leang S.↗
The Nitty Gritty: How We Make Analogs Work
NASA's Human Research Program (HRP) is becoming increasingly reliant on Isolated, Confined and Controlled (ICC) analogs to accomplish many of its research objectives. Compared to other research platforms, ICC analogs present a unique set of operational challenges that must be addressed in order to ensure a high fidelity research environment. In particular, the Human Exploration Research Analog (HERA) habitat, which is classified as an ICC environment, has been developed over the past three years to accommodate the operational needs of research investigations from each of the HRP Elements. During the development period, various types of requirements have contributed to the current operational model, which strives to achieve the highest possible level of mission fidelity with limited resources. This presentation will focus on the operational aspects of the HERA habitat, with emphasis on how we develop the analog research environment to meet researchers' needs. Specific discussion topics include mission scenario development, operational tasks, mission timeline integration, stressor implementation, console support, and improvements based on lessons learned. The information is intended to help investigators better understand the details behind HERA operations and the benefits to their research goals.
Self, A. L.↗
Mode-Switching Algorithms For Antenna Servocontroller
New algorithms proposed to reduce acceleration and velocity perturbations caused by transitions between control modes of servocontrol system. Consists of position-control loop closed around rate (velocity)-control loop. Rate loop analog type-1 controller. Rate command (voltage) from position-loop controller compared to filtered tachometer feedback rate (voltage) to create rate error. Rate loop adjusts actuator-command signal to null rate error, causing antenna to turn at commanded rates.
Nickerson, Jack A.↗
Disturbance rejection in repetitive controllers
The p-integrator is a digital controller that learns from previous experience executing a repetitive command in order to improve its performance in future repetitions. This class of repetitive controller is an analog of the integral controller of classical control theory. This paper addresses several issues related to the performance of the p-integrator. This is followed by a derivation that will demonstrate the repetitive disturbance rejection capabilities of the controller. The effect of the tracking performance in practical implementations with prefiltering and postfiltering devices are studied - using an exact and approximate formulation. Relations showing the actual system response during steady state operation with these filters are derived. The results are then extended to include the tracking error performance of systems subjected to repetitive disturbances. Finally, the system response between sample times is developed.
Solcz, Edward J.↗
The Controlled Ecological Life Support System Antarctic Analog Project: Prototype Crop Production and Water Treatment System Performance
The Controlled Ecological Life Support System (CELSS) Antarctic Analog Project (CAAP), is a joint endeavor between the National Science Foundation, Office of Polar Programs (NSF-OPP) and the NASA. The fundamental objective is to develop, deploy, and operate a testbed of advanced life support technologies at the Amundsen-Scott South Pole Station that enable the objectives of both the NSF and NASA. The functions of food production, water purification, and waste treatment, recycle and reduction provided by CAAP will improve the quality of life for the South Pole inhabitants, reduce logistics dependence, enhance safety and minimize environmental impacts associated with human presence on the polar plateau. Because of the analogous technical, scientific, and mission features with Planetary missions such as a mission to Mars, CAAP provides NASA with a method for validating technologies and overall approaches to supporting humans. Prototype systems for sewage treatment, water recycle and crop production are being evaluated at Ames Research Center. The product water from sewage treatment using a Wiped-Film Rotating Disk is suitable for input to the crop production system. The crop production system has provided an enhanced level of performance compared with projected performance for plant-based life support: an approximate 50% increase in productivity per unit area, more than a 65% decrease in power for plant lighting, and more than a 75% decrease in the total power requirement to produce an equivalent mass of edible biomass.
Bubenheim, David L.↗