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At least 1,045 records · Page 58
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Active-Controlled Fluid Film Based on Wave-Bearing Technology

It has been known since 1967 that the steady-state and dynamic performance, including the stability of a wave bearing, are highly dependent on the wave amplitude. A wave-bearing profile can be readily obtained by elastically distorting the stationary bearing sleeve surface. The force that distorts the elastic sleeve surface could be an applied force or pressure. The magnitude and response of the distorting force would be defined by the relation between the bearing surface stiffness and the bearing pressure, or load, in a feedback loop controller. Using such devices as piezoelectric or other electromechanical elements, one could step control or fully control the bearing. The selection between these systems depends on the manner in which the distortion forces are applied, the running speed, and the reaction time of the feedback loop. With these techniques, both liquid- (oil-) or gas- (air-) lubricated wave bearings could be controlled. This report gives some examples of the dependency of the bearing's performance on the wave amplitude. The analysis also was proven experimentally.

Dimofte, Florin↗
NASA NTRS1985

Sensitivity of optimized control systems to minor structural modifications

A procedure for checking whether small changes in a structure have the potential for significant enhancements of its optimized vibration control system is described. The first step in the procedure consists of the calculation of the sensitivity of the parameters of the optimized control system to small changes in the structural parameters. Theh second step consists of the optimization of the structural parameters to produce maximal increase in the performance of the control system with minimal change in the structure. The procedure has been demonstrated for a flexible laboratory structure controlled by several rate-feedback colocated force-actuator velocity-sensor pairs. Significant improvements in the performance of the control system were obtained with small structural modifications. Analytical predictions of such effects have also been validated experimentally.

Haftka, R. T.↗
NASA NTRS1986

An empirical study of flight control software reliability

The results of a laboratory experiment in flight control software reliability are reported. The experiment tests a small sample of implementations of a pitch axis control law for a PA28 aircraft with over 14 million pitch commands with varying levels of additive input and feedback noise. The testing which uses the method of n-version programming for error detection surfaced four software faults in one implementation of the control law. The small number of detected faults precluded the conduct of the error burst analyses. The pitch axis problem provides data for use in constructing a model in the prediction of the reliability of software in systems with feedback. The study is undertaken to find means to perform reliability evaluations of flight control software.

Dunham, J. R.↗
NASA NTRS1972

Incomplete state feedback for systems with parameter uncertainty and random disturbances

A unified design philosophy is presented for limited state feedback control problems with parameter uncertainty for both deterministic and stochastic problems. Two approaches are considered: linear compensator for the deterministic problem with parameter uncertainty, and for the single input-single output system with parameter uncertainty, a model on order equal to that of the system less the number of zeroes. The limitations of these approaches are discussed along with suggestions for further research.

Basuthakur, S.↗
NASA NTRS1973

A flight simulator for advanced aircraft - Servo design to realization.

Discussion of computer-aided design results obtained for a moving-base, three-man flight simulator. From a control viewpoint, the structure is discussed in terms of disturbance torques, damping ratios, natural frequencies, load acceleration, and smoothness. The use of inertia to achieve well-behaved structural transfer functions and smooth or high fidelity load accelerations is demonstrated. Transfer functions in the complex frequency domain, as well as time-dependent solutions to the system, are derived. The relative merits of using position and/or velocity as primary feedback, for a limited travel acceleration device, are discussed. Root locus plots, which were utilized in the control-system design, Bode plots, and time-dependent plots are drawn. In addition, the theoretical ratio of velocity to commanded input Bode plot is compared to the experimental results, and the dramatic effect on the load smoothness plot caused by selecting velocity over position as primary feedback is shown.

King, R. F.↗
NASA NTRS2001

Design and Testing of Flight Control Laws on the RASCAL Research Helicopter

Two unique sets of flight control laws were designed, tested and flown on the Army/NASA Rotorcraft Aircrew Systems Concepts Airborne Laboratory (RASCAL) JUH-60A Black Hawk helicopter. The first set of control laws used a simple rate feedback scheme, intended to facilitate the first flight and subsequent flight qualification of the RASCAL research flight control system. The second set of control laws comprised a more sophisticated model-following architecture. Both sets of flight control laws were developed and tested extensively using desktop-to-flight modeling, analysis, and simulation tools. Flight test data matched the model predicted responses well, providing both evidence and confidence that future flight control development for RASCAL will be efficient and accurate.

Frost, Chad R.↗
NASA NTRS1989

Techniques for extreme attitude suspension of a wind tunnel model in a magnetic suspension and balance system

Although small scale magnetic suspension and balance systems (MSBSs) for wind tunnel use have been in existence for many years, they have not found general application in the production testing of flight vehicles. One reason for this is thought to lie in the relatively limited range of attitudes over which a wind tunnel model may be suspended. Modifications to a small MSBS to permit the suspension and control of axisymmetric models over angles of attack from less than zero to over ninety degrees are reported. Previous work has shown that existing arrangement of ten electromagnets was unable to generate one of the force components needed for control at extreme attitudes. Examination of possible solutions resulted in a simple alteration to rectify this deficiency. To generate the feedback signals to control the suspended model, an optical position sensing system using collimated laser beams and photodiode arrays was installed and tested. An analytical basis was developed for distributing the demands for force and moment needed for model stabilization amonge the electromagnets over the full attitude range. This was implemented by an MSBS control program able to continually adjust the distribution for the instantaneous incidence in accordance with prescheduled data. Results presented demonstrate rotations of models from zero to ninety degrees at rates up to ninety degrees per second, with pitching rates rising to several hundred degrees per second in response to step-change demands. A study of a design for a large MSBS suggests that such a system could be given the capability to control a model in six degrees of freedom over an unlimited angle of attack range.

Parker, David Huw↗
NASA NTRS2006

Variable-Tension-Cord Suspension/Vibration-Isolation System

A system for mechanical suspension and vibration isolation of a machine or instrument is based on the use of Kevlar (or equivalent aromatic polyamide) cord held in variable tension between the machine or instrument and a surrounding frame. The basic concept of such a tensioned-cord suspension system (including one in which the cords are made of aromatic polyamide fibers) is not new by itself; what is new here is the additional provision for adjusting the tension during operation to optimize vibration- isolation properties. In the original application for which this system was conceived, the objective is to suspend a reciprocating cryocooler aboard a space shuttle and to prevent both (1) transmission of launch vibrations to the cryocooler and (2) transmission of vibrations from the cryocooler to samples in a chamber cooled by the cryocooler. The basic mechanical principle of this system can also be expected to be applicable to a variety of other systems in which there are requirements for cord suspension and vibration isolation. The reciprocating cryocooler of the original application is a generally axisymmetric object, and the surrounding frame is a generally axisymmetric object with windows (see figure). Two cords are threaded into a spoke-like pattern between attachment rings on the cryocooler, holes in the cage, and cord-tension- adjusting assemblies. Initially, the cord tensions are adjusted to at least the level necessary to suspend the cryocooler against gravitation. Accelerometers for measuring vibrations are mounted (1) on the cold tip of the cryocooler and (2) adjacent to the cage, on a structure that supports the cage. During operation, a technician observes the accelerometer outputs on an oscilloscope while manually adjusting the cord tensions in an effort to minimize the amount of vibration transmitted to and/or from the cryocooler. A contemplated future version of the system would include a microprocessor-based control subsystem that would include cord-tension actuators. This control subsystem would continually adjust the cord tension in response to accelerometer feedback to optimize vibration-isolation properties as required for various operating conditions. The control system could also adjust cord tensions (including setting the two cords to different tensions) to suppress resonances. Other future enhancements could include optimizing the cord material, thickness, and braid; optimizing the spoke patterns; and adding longitudinal cords for applications in which longitudinal stiffness and vibration suppression are required.

Villemarette, Mark L.↗
NASA NTRS1972

Adaptive stochastic control for a class of linear systems.

The problem considered in this paper deals with the control of linear discrete-time stochastic systems with unknown (possibly time-varying and random) gain parameters. The philosophy of control is based on the use of an open-loop feedback optimal (OLFO) control using a quadratic index of performance. It is shown that the OLFO system consists of (1) an identifier that estimates the system state variables and gain parameters and (2) a controller described by an 'adaptive' gain and correction term. Several qualitative properties and asymptotic properties of the OLFO adaptive system are discussed. Simulation results dealing with the control of stable and unstable third-order plants are presented. The key quantitative result is the precise variation of the control system adaptive gains as a function of the future expected uncertainty of the parameters; thus, in this problem the ordinary 'separation theorem' does not hold.

Tse, E.↗
NASA NTRS1974

A general purpose stabilised balloon platform

The development of a three axis stabilized balloon platform capable of being operated in three modes of increasing accuracy is discussed. The system relies on angular motion sensing for primary feedback with linear accelerometers, magnetometers, and a star sensor for positional information. When under primary control the system will acquire and stabilize on any accessible part of the celestial sphere. A video verification system is included to provide pointing confirmation. Under improved accuracy control, the star sensor is used to lock onto a target star.

How, J.↗
NASA NTRS1991

The NASA Lewis integrated propulsion and flight control simulator

A new flight simulation facility was developed at NASA-Lewis. The purpose of this flight simulator is to allow integrated propulsion control and flight control algorithm development and evaluation in real time. As a preliminary check of the simulator facility capabilities and correct integration of its components, the control design and physics models for a short take-off and vertical landing fighter aircraft model were shown, with their associated system integration and architecture, pilot vehicle interfaces, and display symbology. The initial testing and evaluation results show that this fixed based flight simulator can provide real time feedback and display of both airframe and propulsion variables for validation of integrated flight and propulsion control systems. Additionally, through the use of this flight simulator, various control design methodologies and cockpit mechanizations can be tested and evaluated in a real time environment.

Bright, Michelle M.↗
NASA NTRS1999

Electrorheological Fluid Based Force Feedback Device

Parallel to the efforts to develop fully autonomous robots, it is increasingly being realized that there are applications where it is essential to have a fully controlled robot and "feel" its operating conditions, i.e. telepresence. This trend is a result of the increasing efforts to address tasks where humans can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robots can be employed to perform these tasks. Such robots need to be assisted by a human that remotely controls the operation. To address the goal of operating robots as human surrogates, the authors launched a study of mechanisms that provide mechanical feedback. For this purpose, electrorheological fluids (ERF) are being investigated for the potential application as miniature haptic devices. This family of electroactive fluids has the property of changing the viscosity during electrical stimulation. Consequently, ERF can be used to produce force feedback haptic devices for tele-operated control of medical and space robotic systems. Forces applied at the robot end-effector due to a compliant environment are reflected to the user using an ERF device where a change in the system viscosity will occur proportionally to the transmitted force. Analytical model and control algorithms are being developed taking into account the non-linearities of these type of devices. This paper will describe the concept and the developed mechanism of ERF based force feedback. The test process and the physical properties of this device will be described and the results of preliminary tests will be presented.

Pfeiffer, Charles↗
NASA NTRS2012

Quasi 1D Modeling of Mixed Compression Supersonic Inlets

The AeroServoElasticity task under the NASA Supersonics Project is developing dynamic models of the propulsion system and the vehicle in order to conduct research for integrated vehicle dynamic performance. As part of this effort, a nonlinear quasi 1-dimensional model of the 2-dimensional bifurcated mixed compression supersonic inlet is being developed. The model utilizes computational fluid dynamics for both the supersonic and subsonic diffusers. The oblique shocks are modeled utilizing compressible flow equations. This model also implements variable geometry required to control the normal shock position. The model is flexible and can also be utilized to simulate other mixed compression supersonic inlet designs. The model was validated both in time and in the frequency domain against the legacy LArge Perturbation INlet code, which has been previously verified using test data. This legacy code written in FORTRAN is quite extensive and complex in terms of the amount of software and number of subroutines. Further, the legacy code is not suitable for closed loop feedback controls design, and the simulation environment is not amenable to systems integration. Therefore, a solution is to develop an innovative, more simplified, mixed compression inlet model with the same steady state and dynamic performance as the legacy code that also can be used for controls design. The new nonlinear dynamic model is implemented in MATLAB Simulink. This environment allows easier development of linear models for controls design for shock positioning. The new model is also well suited for integration with a propulsion system model to study inlet/propulsion system performance, and integration with an aero-servo-elastic system model to study integrated vehicle ride quality, vehicle stability, and efficiency.

Kopasakis, George↗
NASA NTRS2004

Improved Position Sensor for Feedback Control of Levitation

An improved optoelectronic apparatus has been developed to provide the position feedback needed for controlling the levitation subsystem of a containerless-processing system. As explained, the advantage of this apparatus over prior optoelectronic apparatuses that have served this purpose stems from the use of an incandescent lamp, instead of a laser, to illuminate the levitated object. In containerless processing, a small object to be processed is levitated (e.g., by use of a microwave, low-frequency electromagnetic, electrostatic, or acoustic field) so that it is not in contact with the wall of the processing chamber or with any other solid object during processing. In the case of electrostatic or low-frequency electromagnetic levitation, real-time measurement of the displacement of the levitated object from its nominal levitation position along the vertical axis (and, in some cases, along one or two horizontal axes) is needed for feedback control of the levitating field.

Hyers, Robert↗
NASA NTRS1997

CONDUIT: A New Multidisciplinary Integration Environment for Flight Control Development

A state-of-the-art computational facility for aircraft flight control design, evaluation, and integration called CONDUIT (Control Designer's Unified Interface) has been developed. This paper describes the CONDUIT tool and case study applications to complex rotary- and fixed-wing fly-by-wire flight control problems. Control system analysis and design optimization methods are presented, including definition of design specifications and system models within CONDUIT, and the multi-objective function optimization (CONSOL-OPTCAD) used to tune the selected design parameters. Design examples are based on flight test programs for which extensive data are available for validation. CONDUIT is used to analyze baseline control laws against pertinent military handling qualities and control system specifications. In both case studies, CONDUIT successfully exploits trade-offs between forward loop and feedback dynamics to significantly improve the expected handling, qualities and minimize the required actuator authority. The CONDUIT system provides a new environment for integrated control system analysis and design, and has potential for significantly reducing the time and cost of control system flight test optimization.

Tischler, Mark B.↗
NASA NTRS2017

Switching State-Feedback LPV Control with Uncertain Scheduling Parameters

This paper presents a new method to design Robust Switching State-Feedback Gain-Scheduling (RSSFGS) controllers for Linear Parameter Varying (LPV) systems with uncertain scheduling parameters. The domain of scheduling parameters are divided into several overlapped subregions to undergo hysteresis switching among a family of simultaneously designed LPV controllers over the corresponding subregion with the guaranteed H-infinity performance. The synthesis conditions are given in terms of Parameterized Linear Matrix Inequalities that guarantee both stability and performance at each subregion and associated switching surfaces. The switching stability is ensured by descent parameter-dependent Lyapunov function on switching surfaces. By solving the optimization problem, RSSFGS controller can be obtained for each subregion. A numerical example is given to illustrate the effectiveness of the proposed approach over the non-switching controllers.

Switching LPV control↗
NASA NTRS1971

Equicontrollability and the model following problem

Equicontrollability and its application to the linear time-invariant model-following problem are discussed. The problem is presented in the form of two systems, the plant and the model. The requirement is to find a controller to apply to the plant so that the resultant compensated plant behaves, in an input-output sense, the same as the model. All systems are assumed to be linear and time-invariant. The basic approach is to find suitable equicontrollable realizations of the plant and model and to utilize feedback so as to produce a controller of minimal state dimension. The concept of equicontrollability is a generalization of control canonical (phase variable) form applied to multivariable systems. It allows one to visualize clearly the effects of feedback and to pinpoint the parameters of a multivariable system which are invariant under feedback. The basic contributions are the development of equicontrollable form; solution of the model-following problem in an entirely algorithmic way, suitable for computer programming; and resolution of questions on system decoupling.

Curran, R. T.↗
NASA NTRS1992

Grasp force control in telemanipulation

This paper presents two experiments which focus upon the issue of grasp force control in telemanipulation. The first experiment examines the ability to control and stabilize master-controller grasp force during a 30-s compensatory tracking task under different levels of master controller digit mass, friction, and backlash. The second experiment explores the potential for substituting tactile feedback in lieu of direct force-feedback to gage and control remote grasp force. Results show that subjects were better able to control force when mass and friction levels were increased. Even when perceptual gains between tactile and direct force feedback displays were matched, force reflection produced better grasp control. The lack of backlash effects and improvements in performance with direct force reflection in comparison to tactile feedback are attributable to reflexive short-loop adjustment of grasp tension afforded by the muscle's length-tension control system. The criterion of acceptable operator performance, dependent upon both the quality of the transmission of control commands and feedback, and the response of the remote device, is discussed.

Wiker, Steven F.↗