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A tube-type shutoff valve is electrically positioned to its open or closed position by a concentric electromagnetic solenoid. The valve is dual latching in that the armature of the solenoid maintains the sliding tube of the valve in an open or closed position by means of permanent magnets which are effective when current is not supplied to the solenoid. The valve may also be actuated manually.
A compilation of basic information on pyrotechnically actuated devices/systems used in NASA aerospace and aeronautic applications was formatted into a catalog. The intent is to provide (1) a quick reference digest of the types of operational pyro mechanisms and (2) a source of contacts for further details. Data on these items was furnished by the NASA Centers that developed and/or utilized such devices to perform specific functions on spacecraft, launch vehicles, aircraft, and ground support equipment. Information entries include an item title, user center name, commercial contractor/vendor, identifying part number(s), a basic figure, briefly described purpose and operation, previous usage, and operational limits/requirements.
The invention controls an under-actuated manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body qualities for each of the joints from the current positions of the links, and finally computing from the articulated body qualities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands to the active joint forces thus computed to the respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link, beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active, or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link in which the active joint force is computed from the residual link force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.
This third semi-annual progress report covers the reporting period from August 16, 1994 through February 15, 1995 on NASA Grant NAG8-240, 'Design and Application of Electromechanical Actuators for Deep Space Missions'. There are two major report sections: Motor Control Status/Electrical Experiment Planning and Experiment Planning and Initial Results. The primary emphasis of our efforts during the reporting period has been final construction and testing of the laboratory facilities. As a result, this report is dedicated to that topic.
Spool-based non-explosive actuator (NEA) devices are used for three important holddown and release functions during the establishment of the ORBCOMM (TM) constellation. Non-explosive separation nuts are used to restrain and release the 26 individual satellites into low earth orbit. Cable release mechanisms based on the same technology are used to release the solar arrays and antenna boom.
The mathematical formulation of orbital spacecraft sloshing dynamics for a partially filled cryogenic superfluid liquid helium II in a dewar container actuated by the gravity gradient acceleration associated with slew motion is studied. The Advanced X-Ray Astrophysics Facility-Spectroscopy (AXAF-S) spacecraft is chosen as a practical example in this study. Explicit mathematical expressions which manage orbital galaxy gradient acceleration with slew motion which is acting on the spacecraft fluid systems are derived. The numerical computation of sloshing dynamics is based on the non-inertia frame spacecraft bound coordinates and the solution of time-dependent, three-dimensional formulations of partial differential equations subject to initial and boundary conditions. This study discloses the capillary effect of sloshing dynamics governed liquid-vapor interface fluctuations, angular momentum and moment fluctuations of fluid system, and also buble mass center fluctuations driven by the gravity gradient acceleration associated with slew motion which affects the stability of the orbital spacecraft fluid system in a microgravity environment.
RUM actuator proposed device mounted on gimbaled, pivoted, or freely floating instrument and used to make instrument oscillate about one or more axes. Includes one or more (typically, two) unbalanced masses (e.g., lump masses on arms) for each axis about which oscillation desired. Unbalanced masses driven to rotate at constant angular velocity to produce oscillating centrifugal forces, which, in turn, exerts cyclic torques that make instrument oscillate about desired axis. Used in both terrestrial and spacecraft applications: for example, to oscillate instruments as diverse as x-ray telescopes, magnetometers, accelerometers, and agricultural spraying nozzles in variety of scan patterns that include linear, circular, and raster. Weights, power demands, and costs reduced.
This technical report discusses the NASA Pyrotechnically Actuated Systems (PAS) Program. It contains the following three sections: program origin, program description, and summary. The first section, program origin, contains an introduction to pyrotechnic systems and devices and discusses some examples. Section two focuses on the PAS program goals, program flow, and PAS programs organization. And section three gives a overall summary of the program.
Force-actuator scheme devised to help correct for decrease, caused by gravitational bending, in gain of 34-m-diameter paraboloidal microwave antenna reflector used for tracking distant spacecraft and observing celestial radio sources. Also applicable to other antennas bending significantly under own weight, with consequent degradation of performance.
Remote sensing from spacecraft requires precise pointing of measurement devices in order to achieve adequate spatial resolution. Unfortunately, various spacecraft disturbances induce vibrational jitter in the remote sensing instruments. The NASA Langley Research Center has performed analysis, simulations, and ground tests to identify the more promising technologies for minimizing spacecraft pointing jitter. These studies have shown that the use of smart materials to reduce spacecraft jitter is an excellent match between a maturing technology and an operational need. This paper describes the use of embedding piezoelectric actuators for vibration control and payload isolation. In addition, recent advances in modeling, simulation, and testing of spacecraft pointing jitter are discussed.
Mathematical approach that involves Hankel singular values leads to method for estimation of optimal placement of relatively few vibration sensors and actuators in multivariable flexible structure. Approach extends and complements previous developments regarding approximate decomposition, to Hankel singular values, of singular values of controllability and observability grammian matrices of multivariable flexible structure. Mathematical constructs also described in "Designing An Approximately Balanced LQG Compensator" (NPO-19000).
The trend toward smaller satellites has challenged component manufacturers to reduce the size, weight, and cost of their products while maintaining high performance. Both a new stepper motor and a new harmonic drive were developed to meet this need. The resulting actuator embodies small angle stepper technology usually reserved for larger units and incorporates an integral approach to harmonic drive design. By product simplifications, costs were significantly reduced over prior designs.
Recent developments on layerwise mechanics for the analysis of composite laminates and structures with piezoelectric actuators and sensors are reviewed. The mechanics implement layerwise representations of displacements and electric potential, and can model both the global and local electromechanical response of smart composite structures. The corresponding finite-element implementations for the static and dynamic analysis of smart piezoelectric composite structures are also summarized. Select application illustrate the accuracy, robustness and capability of the developed mechanics to capture the global and local dynamic response of thin and/or thick laminated piezoelectric plates.
The use of the magnetostrictive material Terfenol-D as a motion source in active vibration control (AVC) systems are being studied. Currently it is of limited use due to the nonlinear nature of the strain versus magnetization curve and the magnetic hysteresis in the Terfenol-D. One manifestation of these nonlinearities is waveform distortion in the output velocity of the transducer. For Terfenol-D to be used in ever greater numbers of AVC systems, these nonlinearities must be addressed. In this study the nonlinearities are treated as disturbances to a linear system. The acceleration output is used in simple analog and digital feedback control schemes to improve linearity of the transducer. In addition, the use of a Terfenol-D actuator in an AVC system is verified. Both analog and digital controllers are implemented and results compared. A cantilever beam system is considered for AVC applications. The second thrust of this presentation is the reduction of harmonic distortions. Two conclusions can be reached from this work. One, the linearization of Terfenol-D transducers is possible with the use of feedback controllers, both digital and analog. Second, Terfenol-D is a viable motion source in active vibration control systems utilizing either analog or digital controllers.
Microgravity experiments will require active vibration isolation in the low to mid frequency range of 0.1 Hz to 10 Hz. Approximately two orders of acceleration reduction (40 dB) will be required. Previous works have reported results for accelerations transmitted through the umbilical. This paper describes experimental and theoretical results for vibration isolation in one dimension (horizontal) where the simulated experiment is connected to the spacecraft by a spring umbilical. The experiment consisted of a spacecraft (shaker), experiment (mass), umbilical, accelerometer, control electronics, and Lorentz actuator. The experiment mass was supported in magnetic bearings to avoid any stiction problems. Acceleration feedback control was employed to obtain the vibration isolation. Three different spring umbilicals were employed. Acceleration reductions on the order of 40 dB were obtained over the frequency range of 0.1 Hz to 10 Hz. Good agreement was obtained between theory and experiment.
Experiments have been conducted in NASA Langley's Acoustics and Dynamics Laboratory to determine the effectiveness of optimized actuator/sensor architectures and controller algorithms for active control of harmonic interior noise. Tests were conducted in a large scale fuselage model - a composite cylinder which simulates a commuter class aircraft fuselage with three sections of trim panel and a floor. Using an optimization technique based on the component transfer functions, combinations of 4 out of 8 piezoceramic actuators and 8 out of 462 microphone locations were evaluated against predicted performance. A combinatorial optimization technique called tabu search was employed to select the optimum transducer arrays. Three test frequencies represent the cases of a strong acoustic and strong structural response, a weak acoustic and strong structural response and a strong acoustic and weak structural response. Noise reduction was obtained using a Time Averaged/Gradient Descent (TAGD) controller. Results indicate that the optimization technique successfully predicted best and worst case performance. An enhancement of the TAGD control algorithm was also evaluated. The principal components of the actuator/sensor transfer functions were used in the PC-TAGD controller. The principal components are shown to be independent of each other while providing control as effective as the standard TAGD.
This paper treats the control problem of shaping the surface deformation of a circular plate using embedded piezo-electric actuator and collocated rate sensors. An explicit Linear Quadratic Gaussian (LQG) optimizer stability augmentation compensator is derived as well as the optimal feed-forward control. Corresponding performance evaluation formulas are also derived.
A model-based Linear Quadratic Regulator (LQR) method for controlling vibrations in cylindrical shells is presented. Surface-mounted piezo-ceramic patches are employed as actuators which leads to unbounded control input operators. Modified Donnell-Mushtari shell equations incorporating strong or Kelvin-Voigt damping are used to model the system. The model is then abstractly formulated in terms of sesquilinear forms. This provides a framework amenable for proving model well-posedness and convergence of LQR gains using analytic semigroup results combined with LQR theory for unbounded input operators. Finally, numerical examples demonstrating the effectiveness of the method are presented.