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NASA NTRSDate not supplied

Aeroservoelastic Control Law Development for the Integrated Adaptive Wing Technology Maturation Wind-Tunnel Test

The NASA Advanced Air Transport Technology (AATT) Project seeks to “explore and develop technologies and concepts for improved energy efficiency and environmental compatibility for fixed wing subsonic transports” [1]. The IAWTM project is a subproject within AATT and is a joint Boeing/NASA effort to, in part, demonstrate the active control systems necessary to employ high-aspect ratio wings for improved aerodynamic efficiency. The aircraft configuration under study for the IAWTM project is a generic jet transport based on the NASA Common Research Model (CRM) whose wing aspect ratio has been increased to 13.5 (as opposed to nominal CRM aspect ratio of 9) and whose development is given in Ref. [2]. A semi-span model of the high-aspect-ratio CRM with 10 trailing edge control surfaces is currently being fabricated and will be delivered to the NASA Langley Transonic Dynamics Tunnel (TDT). There, several tests will be conducted to demonstrate maneuver load alleviation (MLA), gust load alleviation (GLA), active flutter suppression (AFS), and drag reduction, all at transonic conditions. A layout of the wind tunnel model is shown in Fig. 1. The wind-tunnel model is a spar/pod wing design with a relatively rigid fuselage attached to a mounting structure (seen in Fig. 1), which in turn is attached to a load balance behind the tunnel wall. Shims exist that can be attached to force the load to go through the fuselage rather than through the balance so as not to damage the balance in the event of flutter. The spar/pod design is similar to that used in the Boeing truss-braced wing aeroelastic model tested in the TDT in 2013 [3]. There is a central spar running the span of the wing to which the pods are attached that form the aerodynamic shape of the wing. The pods are constructed of ribs for attachment to the spar and skins to create the outer mold line. There are ten active control surfaces that will be used for the test objectives discussed above. Three of these (two outboard ailerons and one inboard aileron) are high-speed electrohydraulic actuators, and the remaining seven are low-speed mini-plane flaps, which have slower servo motors that will be used primarily for drag and maneuver load reductions. Control laws must be developed for each test (MLA, GLA, AFS, and drag reduction) and must be able to work in tandem when two or more control strategies are being tested simultaneously (e.g., when control laws to mitigate maneuver loads and gust loads operate simultaneously). The development of these control laws requires accurate mathematical representations of the aerodynamics, structural dynamics, and control surface dynamics of the system. Taken together, this mathematical representation—which is often in state-space form— is the ASE model. Three low-order ASE models of differing fidelities were developed for the IAWTM test and will be presented here. The differences in fidelity appeared in the aerodynamic modeling—one model assumed purely linear aerodynamics, while the other two models used different techniques to linearize the aerodynamics about a nonlinear mean. Furthermore, simple observer-based full-state feedback controllers for each test (MLA, GLA, AFS, and drag reduction) were designed from these low-order ASE models and implemented in a higher-order, nonlinear computational ASE simulation to assess the effectiveness of each controller. Observers were designed from each of the three lower-order ASE models, and each (linear) observer was then used as an estimate of the nonlinear dynamics of the system. Using the estimated states and the full-state feedback controller, control surface commands were fed back to the higher-order, nonlinear ASE system. The insight gained during this development will be applied to control law development for the physical IAWTM wind-tunnel test.

Josiah M Waite↗
NASA NTRS1983

Distributed control of large space antennas

A systematic way to choose control design parameters and to evaluate performance for large space antennas is presented. The structural dynamics and control properties for a Hoop and Column Antenna and a Wrap-Rib Antenna are characterized. Some results of the effects of model parameter uncertainties to the stability, surface accuracy, and pointing errors are presented. Critical dynamics and control problems for these antenna configurations are identified and potential solutions are discussed. It was concluded that structural uncertainties and model error can cause serious performance deterioration and can even destabilize the controllers. For the hoop and column antenna, large hoop and long meat and the lack of stiffness between the two substructures result in low structural frequencies. Performance can be improved if this design can be strengthened. The two-site control system is more robust than either single-site control systems for the hoop and column antenna.

Cameron, J. M.↗
NASA NTRS2006

A Structural Characterization of Temporal Dynamic Controllability

An important issue for temporal planners is the ability to handle temporal uncertainty. Recent papers have addressed the question of how to tell whether a temporal network is Dynamically Controllable, i.e., whether the temporal requirements are feasible in the light of uncertain durations of some processes. Previous work has presented an O(N5) algorithm for testing this property. Here, we introduce a new analysis of temporal cycles that leads to an O(N4) algorithm.

Morris, Paul↗
NASA NTRS1988

The dynamics and control of large flexible space structures, part 11

A mathematical model is developed to predict the dynamics of the proposed Spacecraft Control Laboratory Experiment during the stationkeeping phase. The Shuttle and reflector are assumed to be rigid, while the mass connecting the Shuttle to the reflector is assumed to be flexible with elastic deformations small as compared with its length. It is seen that in the presence of gravity-gradient torques, the system assumes a new equilibrium position primarily due to the offset in the mass attachment point to the reflector from the reflector's mass center. Control is assumed to be provided through the Shuttle's three torquers and throught six actuators located by painrs at two points on the mass and at the reflector mass center. Numerical results confirm the robustness of an LQR derived control strategy during stationkeeping with maximum control efforts significantly below saturation levels. The linear regulator theory is also used to derive control laws for the linearized model of the rigidized SCOLE configuration where the mast flexibility is not included. It is seen that this same type of control strategy can be applied for the rapid single axis slewing of the SCOLE through amplitudes as large as 20 degrees. These results provide a definite trade-off between the slightly larger slewing times with the considerable reduction in over-all control effort as compared with the results of the two point boundary value problem application of Pontryagin's Maximum Principle.

Bainum, Peter M.↗
NASA NTRS1984

The dynamics and control of large flexible space structures, part 7

A preliminary Eulerian formulation of the in-plane dynamics of the proposed spacecraft control laboratory experiment configuration is undertaken when the mast is treated as a cantilever type beam and the reflector as a lumped mass at the end of the beam. Frequency and mode shapes are obtained for the open loop model of the beam system and the stability of closed loop control systems is analyzed by both frequency and time domain techniques. Environmental disturbances due to solar radiation pressure are incorporated into models of controlled large flexible orbiting platforms. Thermally induced deformations of simple beam and platform type structures are modelled and expressions developed for the disturbance torques resulting from the interaction of solar radiation pressure. Noise effects in the deterministic model of the hoop/column antenna system are found to cause a degradation in system performance. Appropriate changes in the ratio of plant noise to the measurement noise and/or changes in the control weighting matrix elements can improve transient and steady state performance.

Bainum, P. M.↗
NASA NTRS1983

Technical issues in dynamics and control of large space structures

Examples of large space systems currently being considered by NASA include a large communications antenna system (the Land Mobile Satellite System), a precision antenna system (the Large Deployable Reflector System), and a preliminary concept for NASA's space station. Each system has low natural vibration frequencies, stringent pointing requirements, and, for the antennas, demanding surface accuracy requirements. A review is provided of the progress being made in structural ground tests with respect to surface accuracy, deployment, and erection of large structures. Attention is given to the dynamic loads on large space structures, on-orbit testing, space vibration control devices, and the characteristics of distributed control.

Card, M. F.↗
NASA NTRS1983

The dynamics and control of large flexible space structures

Large, flexible orbiting systems proposed for possible use in communications, electronic orbital based mail systems, and solar energy collection are discussed. The size and low weight to area ratio of such systems indicate that system flexibility is now the main consideration in the dynamics and control problem. For such large, flexible systems, both orientation and surface shape control will often be required. A conceptual development plan of a system software capability for use in analysis of the dynamics and control of large space structures technology (LSST) systems is discussed. This concept can be subdivided into four different stages: (1) system dynamics; (2) structural dynamics; (3) application of control algorithms; and (4) simulation of environmental disturbances. Modeling the system dynamics of such systems in orbit is the most fundamental component. Solar radiation pressure effects and orbital and gravity gradient effects are discussed.

Bainum, P. M.↗
NASA NTRS1983

Structural control research and experiments at NASA/LaRC

Research progress in the area of structural dynamics and control using the flexible beam facility at the NASA Langley Research Center is reviewed. Particular attention is placed on the progress in adaptive control and reliability improvements using advanced control concepts. Both theoretical and experimental results are given to indicate the nature of the work being undertaken. In the adaptive control area, emphasis is placed on parameter and system identification and in comparison of competing on-line algorithms. Also, results are presented for on-line modal control laws that are interfaced to a parameter identification scheme. This provides an on-line distributed adaptive control system. In the reliability area, a design process is outlined that incorporates reliability over the design mission life.

Montgomery, R. C.↗
NASA NTRS1992

Dynamic modeling and control of multibody mechanical systems which are structurally flexible

This paper concerns the dynamic modeling and control of multibody, open-chained, structurally flexible, mechanical systems where the bodies are connected by revolute joints. The equations of motion are formulated based on a matrix form of Lagrange's equations for inertial quasi-coordinates. Each body is treated as a substructure of the system. For the purposes of simulation and control, the equations of motion are separated into two sets of equations using a perturbation approach: one to describe large rigid-body motions of the articulated system and the other to describe small linear motions of the bodies about the large motions. A biologically natural control strategy is used for vibration suppression and tracking the prescribed motion.

Quinn, R. D.↗
NASA NTRS1992

Multidisciplinary optimization of a controlled space structure using 150 design variables

A general optimization-based method for the design of large space platforms through integration of the disciplines of structural dynamics and control is presented. The method uses the global sensitivity equations approach and is especially appropriate for preliminary design problems in which the structural and control analyses are tightly coupled. The method is capable of coordinating general purpose structural analysis, multivariable control, and optimization codes, and thus, can be adapted to a variety of controls-structures integrated design projects. The method is used to minimize the total weight of a space platform while maintaining a specified vibration decay rate after slewing maneuvers.

James, Benjamin B.↗
NASA NTRS1983

Structural control research and experiments at NASA/LaRC

The advances made in the area of structural dynamics and control using the flexible beam facility at the NASA Langley Research Center are surveyed. Spectral attention is given to the progress in adaptive control and reliability improvements using advanced control concepts. Both theoretical and experimental results are given to delineate the nature of the work being undertaken. With regard to adaptive control, emphasis is placed on parameter and system identification and on comparisons between competing on-line algorithms. In addition, results are presented for on-line modal control laws that are interfaced to a parameter identification scheme. This gives an on-line distributed adaptive control system. With regard to reliability, a design process is outlined that incorporates reliability over the design mission life.

Montgomery, R. C.↗
NASA NTRS1993

Control system design for flexible structures using data models

The dynamics and control of flexible aerospace structures exercises many of the engineering disciplines. In recent years there has been considerable research in the developing and tailoring of control system design techniques for these structures. This problem involves designing a control system for a multi-input, multi-output (MIMO) system that satisfies various performance criteria, such as vibration suppression, disturbance and noise rejection, attitude control and slewing control. Considerable progress has been made and demonstrated in control system design techniques for these structures. The key to designing control systems for these structures that meet stringent performance requirements is an accurate model. It has become apparent that theoretically and finite-element generated models do not provide the needed accuracy; almost all successful demonstrations of control system design techniques have involved using test results for fine-tuning a model or for extracting a model using system ID techniques. This paper describes past and ongoing efforts at Ohio University and NASA MSFC to design controllers using 'data models.' The basic philosophy of this approach is to start with a stabilizing controller and frequency response data that describes the plant; then, iteratively vary the free parameters of the controller so that performance measures become closer to satisfying design specifications. The frequency response data can be either experimentally derived or analytically derived. One 'design-with-data' algorithm presented in this paper is called the Compensator Improvement Program (CIP). The current CIP designs controllers for MIMO systems so that classical gain, phase, and attenuation margins are achieved. The center-piece of the CIP algorithm is the constraint improvement technique which is used to calculate a parameter change vector that guarantees an improvement in all unsatisfied, feasible performance metrics from iteration to iteration. The paper also presents a recently demonstrated CIP-type algorithm, called the Model and Data Oriented Computer-Aided Design System (MADCADS), developed for achieving H(sub infinity) type design specifications using data models. Control system design for the NASA/MSFC Single Structure Control Facility are demonstrated for both CIP and MADCADS. Advantages of design-with-data algorithms over techniques that require analytical plant models are also presented.

Irwin, R. Dennis↗
NASA NTRS1991

Adaptive control of interface by temperature and interface profile feedback in transparent multi-zone crystal growth furnace

The objective of this research is to control the dynamics of multizone programmable crystal growth furnaces. Due to the inevitable heat exchange among different heating zones and the transient nature of the process, the dynamics of multizone furnaces is time varying, distributed, and therefore complex in nature. Electrical power to heating zones and the translational speed of the ampoule are employed as inputs to control the dynamics. Structural properties of the crystal is the ultimate aim of this adaptive control system. These properties can be monitored in different ways. Following an order of complexity, these may include: (1) on line measurement of the material optical properties such as the refractive index of crystal; (2) on line x-ray imaging of the interface topology; (3) on line optical quantification of the interface profile such as the determination of concavity or convexity of the interface shape; and (4) on line temperature measurement at points closest to the material such as measurements of the ampoule's outside and inside surface temperatures. The research performed makes use of the temperature and optical measurements, specified in (3) and (4) as the outputs of furnace dynamics. However, if the instrumentation is available, the proposed control methodology can be extended to the measurements listed in (1) and (2).

Batur, Celal↗
NASA NTRS1989

Frequency response modeling and control of flexible structures: Computational methods

The dynamics of vibrations in flexible structures can be conventiently modeled in terms of frequency response models. For structural control such models capture the distributed parameter dynamics of the elastic structural response as an irrational transfer function. For most flexible structures arising in aerospace applications the irrational transfer functions which arise are of a special class of pseudo-meromorphic functions which have only a finite number of right half place poles. Computational algorithms are demonstrated for design of multiloop control laws for such models based on optimal Wiener-Hopf control of the frequency responses. The algorithms employ a sampled-data representation of irrational transfer functions which is particularly attractive for numerical computation. One key algorithm for the solution of the optimal control problem is the spectral factorization of an irrational transfer function. The basis for the spectral factorization algorithm is highlighted together with associated computational issues arising in optimal regulator design. Options for implementation of wide band vibration control for flexible structures based on the sampled-data frequency response models is also highlighted. A simple flexible structure control example is considered to demonstrate the combined frequency response modeling and control algorithms.

Bennett, William H.↗
NASA NTRS1990

A multidisciplinary approach to optimization of controlled space structures

A fundamental problem facing controls-structures analysts is a means of determining the trade-offs between structural design parameters and control design parameters in meeting some particular performance criteria. Developing a general optimization-based design methodology integrating the disciplines of structural dynamics and controls is a logical approach. The objective of this study is to develop such a method. Classical design methodology involves three phases. The first is structural optimization, wherein structural member sizes are varied to minimize structural mass, subject to open-loop frequency constraints. The next phase integrates control and structure design with control gains as additional design variables. The final phase is analysis of the 'optimal' integrated design phase considering 'real' actuators and 'standard' member sizes. The control gains could be further optimized for fixed structure, and actuator saturation constraints could be imposed. However, such an approach does not take full advantage of opportunities to tailor the structure and control system design as one system.

Woodard, Stanley E.↗
NASA NTRS1992

Model reduction in a subset of the original states

A model reduction method is investigated to provide a smaller structural dynamic model for subsequent structural control design. A structural dynamic model is assumed to be derived from finite element analysis. It is first converted into the state space form, and is further reduced by the internal balancing method. Through the co-ordinate transformation derived from the states that are deleted during reduction, the reduced model is finally expressed with the states that are members of the original states. Therefore, the states in the final reduced model represent the degrees of freedom of the nodes that are selected by the designer. The procedure provides a more practical implementation of model reduction for applications in which specific nodes, such as sensor and/or actuator attachment points, are to be retained in the reduced model. Thus, it ensures that the reduced model is under the same input and output condition as the original physical model. The procedure is applied to two simple examples and comparisons are made between the full and reduced order models. The method can be applied to a linear, continuous and time-invariant model of structural dynamics with nonproportional viscous damping.

Yae, K. H.↗
NASA NTRS1986

Flight Dynamics Laboratory overview

The Flight Dynamics Laboratory (FDL) is one of four Air Force Wright Aeronautical Laboratories (AFWAL) and part of the Aeronautical Systems Division located at Wright-Patterson AFB, Ohio. The FDL is responsible for the planning and execution of research and development programs in the areas of structures and dynamics, flight controls, vehicle equipment/subsystems, and aeromechanics. Some of the areas being researched in the four FDL divisions are as follows: large space structures (LSS) materials and controls; advanced cockpit designs; bird-strike-tolerant windshields; and hypersonic interceptor system studies. Two of the FDL divisions are actively involved in programs that deal directly with LSS control/structures interaction: the Flight Controls Division and the Structures and Dynamics Division.

Sandford, Thaddeus↗