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This paper is devoted to the design and analysis of a predictor-based model reference adaptive control. Stable adaptive laws are derived using Lyapunov framework. The proposed architecture is compared with the now classical model reference adaptive control. A simulation example is presented in which numerical evidence indicates that the proposed controller yields improved transient characteristics.
Re-planning of LTCS TVAC testing and supporting RTA (Receiver Telescope Assembly) Test Plan and Procedure document preparation. The Laser Thermal Control System (LTCS) is designed to maintain the lasers onboard Advanced Topographic Laser Altimeter System (ATLAS) at their operational temperatures. In order to verify the functionality of the LTCS, a thermal balance test of the thermal hardware was performed. During the first cold start of the LTCS, the Loop Heat Pipe (LHP) was unable to control the laser mass simulators temperature. The control heaters were fully on and the loop temperature remained well below the desired setpoint. Thermal analysis of the loop did not show these results. This unpredicted behavior of the LTCS was brought up to a panel of LHP experts. Based on the testing and a review of all the data, there were multiple diagnostic performed in order to narrow down the cause. The prevailing theory is that gravity is causing oscillating flow within the loop, which artificially increased the control power needs. This resulted in a replan of the LTCS test flow and the addition of a GSE heater to allow vertical operation.
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The ability to advance state of the art automated protections for industrial control systems (ICS) has as a precursor in the ability to understand the tradeoff space. That is, to enable a cyber feedback loop in a control system environment you must first consider both the security mitigation available, the benefits and the impacts to the control system functionality when the mitigation is used. More damaging impacts could be precipitated that the mitigation was intended to rectify. This paper details networked ICS that controls a simulation of the frequency response represented with the swing equation. The microgrid loads and base generation can be balanced through the control of an emulated battery and power inverter. The simulated plant, which is implemented in Raspberry Pi computers, provides an inexpensive platform to realize the physical effects of cyber attacks to show the tradeoffs of available mitigatoins. This network design can include a commercial ICS controller to introduce real world implementation of feedback controls, and provides a scalable, physical effects measurable Microgrid for cyber resilience analysis (SPEMMCRA).
Supersonic transport fixed base simulator to anticipate integration problems with air traffic control systems
A simulation study was undertaken to evaluate flight operations using cockpit display of traffic information (CDTI) in a conventional jet transport aircraft. Eight two-person airline flight crews participated as test subjects flying simulated terminal area approach and departure operations under instrument meteorological conditions (IMC). A fixed-base cockpit simulator configured with a full complement of conventional electromechanical instrumentation to permit full workload operations was utilized. Traffic information was displayed on a color cathode-ray tube (CRT) mounted above the throttle quadrant in the typical weather radar location. A transparent touchpanel overlay was utilized for pilot interface with the display. Air traffic control (ATC) simulation included an experienced controller and full partyline radio environment for evaluation of pilot-controlled self-separation and traffic situation monitoring tasks. Results of the study revealed the CDTI to be well received by the test subjects as a useful system which could be incorporated into an existing jet transport cockpit. Crew coordination and consistent operating procedures were identified as important considerations in operational implementation of traffic displays. Cockpit workload was increased with active CDTI tasks. However, all test subjects rated the increase to be acceptable.
This paper presents Computational Fluid Dynamics (CFD) models for simulating self-pressurization and spray bar cooling processes in a large-scale liquid hydrogen storage tank under normal gravity. The self-pressurization model utilizes the kinetics-based Schrage equation with the Volume-Of-Fluid (VOF) model to account for the evaporative and condensing interfacial mass fluxes. It uses a laminar approach to model natural convection and compares the pressures and temperatures predicted by the CFD model with experimental data from the Multipurpose Hydrogen Test Bed (MHTB) self-pressurization experiment. Additionally, the predicted interfacial mass flux is presented. A CFD model for simulating pressure control using a spray bar is also presented. An Eulerian-Lagrangian approach models the interactions between the discrete droplets and the continuous ullage phase. The spray model is coupled with the VOF model by tracking particles in the ullage, removing particles from the ullage when they reach the interface, and then adding their contributions to the liquid. The T-sat model is used to calculate the droplet-ullage heat and mass transfer. In this model, droplets warm up to the saturation temperature corresponding to the ullage vapor pressure thereafter evaporating while remaining at the saturation temperature. The tank pressure, vapor, and liquid temperature evolutions are validated against data from the MHTB spray bar mixing experiment.
Generating and testing procedures for controlling spacecraft subsystems composed of electro-mechanical and computationally realized elements has become a very difficult task. Before a spacecraft can be flown, mission controllers must envision a great variety of situations the flight crew may encounter during a mission and carefully construct procedures for operating the spacecraft in each possible situation. If, despite extensive pre-compilation of control procedures, an unforeseen situation arises during a mission, the mission controller must generate a new procedure for the flight crew in a limited amount of time. In such situations, the mission controller cannot systematically consider and test alternative procedures against models of the system being controlled, because the available simulator is too large and complex to reconfigure, run, and analyze quickly. A rapidly reconfigurable simulation environment that can execute a control procedure and show its effects on system behavior would greatly facilitate generation and testing of control procedures both before and during a mission. The How Things Work project at Stanford University has developed a system called DME (Device Modeling Environment) for modeling and simulating the behavior of electromechanical devices. DME was designed to facilitate model formulation and behavior simulation of device behavior including both continuous and discrete phenomena. We are currently extending DME for use in testing operator procedures, and we have built a knowledge base for modeling the Reaction Control System (RCS) of the space shuttle as a testbed. We believe that DME can facilitate design of operator procedures by providing mission controllers with a simulation environment that meets all these requirements.
Helicopter IFR routes at hub airports have been investigated in an air-traffic-control system simulation involving a piloted helicopter simulator, computer-generated air traffic, and air traffic controllers. Problems studied included: (1) pilot acceptance of the approach procedure and tracking accuracy; (2) ATC procedures for handling a mix of helicopter and fixed-wing traffic; and (3) utility of the Cockpit Display of Traffic Information (CDTI) for the helicopter. Results indicate that the helicopter routes were pilot acceptable and were noninterfering with fixed-wing traffic. Merging and spacing maneuvers using CDTI were successfully carried out by the pilots, but controllers had some reservations concerning CDTI.
A large-angle, flexible, multi-body, dynamic modelling capability has been developed to help validate numerical simulations of the dynamic motion and control forces which occur during berthing of Space Station Freedom to the Shuttle Orbiter in the early assembly flights. This paper outlines the dynamics and control of the Station, the attached Shuttle Remote Manipulator System, and the Orbiter. The simulation tool developed for the analysis is described and the results of two simulations are presented. The first is a simulated maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the Station reaction control jets. The second simulation is the berthing of the Station to the Orbiter with the Station control moment gyros actively maintaining an estimated torque equilibrium attitude. The influence of the elastic dynamic behavior of the Station and of the Remote Manipulator System on the attitude control of the Station/Orbiter system during each maneuver was investigated. The flexibility of the Station and the arm were found to have only a minor influence on the attitude control of the system during the maneuvers.
Mathematical model and computer program for simulation of Apollo telescope mount pointing control system
Abstract Algal cultivations are strongly influenced by light and dark cycles. In this study, genome-scale metabolic models were applied to optimize nutrient supply during alternating light and dark cycles of Chlorella vulgaris . This approach lowered the glucose requirement by 75% and nitrate requirement by 23%, respectively, while maintaining high final biomass densities that were more than 80% of glucose-fed heterotrophic culture. Furthermore, by strictly controlling glucose feeding during the alternating cycles based on model-input, yields of biomass, lutein, and fatty acids per gram of glucose were more than threefold higher with cycling compared to heterotrophic cultivation. Next, the model was incorporated into open-loop and closed-loop control systems and compared with traditional fed-batch systems. Closed-loop systems which incorporated a feed-optimizing algorithm increased biomass yield on glucose more than twofold compared to standard fed-batch cultures for cycling cultures. Finally, the performance was compared to conventional proportional-integral-derivative (PID) controllers. Both simulation and experimental results exhibited superior performance for genome-scale model process control (GMPC) compared to traditional PID systems, reducing the overall measured value and setpoint error by 80% over 8 h. Overall, this approach provides researchers with the capability to enhance nutrient utilization and productivity of cell factories systematically by combining genome-scale models and controllers into an integrated platform with superior performance to conventional fed-batch and PID methodologies.
The energy-stored quasi-Z-source inverter (ES-qZSI) has attracted much attention for photovoltaic (PV) power generations, due to its capability to stabilize the PV power fluctuations with simple structure and other advantages of Z-source inverter. The improved dual-mode (DM) ES-qZSI is able to support all-weather operation even at night or cloudy days when PV power is extremely low. However, the traditional proportional–integral (PI) based control suffers from complicated controller design and poor dynamic response during mode transition, due to two sets of PI control required for the daytime and night operation modes. In order to overcome that, here in this article, we propose a model predictive control strategy for the DM-ES-qZSI PV power system. The system predictive models in both day and night operating modes are derived. The control strategy is disclosed to ensure high performance of the system, through calling the predictive models and defined cost functions of the two modes within a single control loop. Simulation and experiment are carried out to verify the effectiveness of the proposed control strategy.
We present three conclusions regarding the neural control of saccadic eye movements, resulting from comparisons between recorded movements and computer simulations. The controller signal to the muscles is probably a multipulse-step. This kind of signal drives the fastest model trajectories. Finally, multipulse signals explain differences between model and electrophysiological results.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique is based on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. To generate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available. The positioning accuracy achieved by this technique for a zoomed-in camera setting was about +/-5 mm, well within the allowable +/-12 mm error margin at the insertion of a 45 cm long tool in the servicing task.
A highly effective predictive/preview display technique for telerobotic servicing in space under several seconds communication time delay has been demonstrated on a large laboratory scale in May, 1993, involving the Jet Propulsion Laboratory as the simulated ground control station and, 2500 miles away, the Goddard Space Flight Center as the simulated satellite servicing set-up. The technique isbased on a high-fidelity calibration procedure that enables a high-fidelity overlay of 3-D graphics robot arm and object models over given 2-D TV camera images of robot arm and objects. Togenerate robot arm motions, the operator can confidently interact in real time with the graphics models of the robot arm and objects overlaid on an actual camera view of the remote work site. The technique also enables the operator to generate high-fidelity synthetic TV camera views showing motion events that are hidden in a given TV camera view or for which no TV camera views are available...
A simulation model has been developed for use in piloted evaluations of takeoff, transition, hover, and landing characteristics of an advanced, short takeoff, vertical landing lift fan fighter aircraft. The flight/propulsion control system includes modes for several response types which are coupled to the aircraft's aerodynamic and propulsion system effectors through a control selector tailored to the lift fan propulsion system. Head-up display modes for approach and hover, tailored to their corresponding control modes are provided in the simulation. Propulsion system components modeled include a remote lift and a lift/cruise engine. Their static performance and dynamic response are represented by the model. A separate report describes the subsonic, power-off aerodynamics and jet induced aerodynamics in hover and forward flight, including ground effects.
A three stage process of ground testing of the Space Telescope Pointing Control System is used for verification prior to on-orbit operation. First, development tests are conducted in a laboratory environment using flight/engineering model control sensor and actuators configured with an engineering model of the flight computer and data management system breadboards. These development tests validate the results of computer simulations predicting control system performance. Integration tests bring together flight system elements and software interfaced to a software simulation of vehicle dynamics to confirm closed loop performance. The final ground test phase, flight systems testing, is conducted on the fully assembled Space Telescope, verifies interfaces with the Fine Guidance Sensors and includes a thermal vacuum testing period. During the final test phase, the Point Control System is exercised with the dynamics simulator running in real time.