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At least 1,369 records · Page 76

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NASA NTRS1983

Flight-test results using nonlinear control with the F-8C digital fly-by-wire aircraft

The design and operation of the cooperative advanced digital research experiment (CADRE) to develop nonlinear pitch flight control algorithms is described, and the results of an in-flight evaluation using the F-8C digital fly-by-wire (DFBW) research aircraft are presented. The CADRE controller is described, including the initial filter, linear command prefilter, nonlinear command prefilter, and gain scheduling. The variable-integral control-to-optimize response of the controller is considered, and CADRE parameter combinations are addressed. The remotely-augmented-vehicle interface used in the DFBW aircraft experiment is discussed. The distanct-tracking and close-formation tracking evaluation tasks for the aircraft are described along with evaluation configurations, and the test results are presented and discussed. The latter indicate that a nonlinear adaptive controller is a feasible control system technique for the fighter tracking task.

Larson, R. R.↗

NASA NTRS1983

The Voyager 2 scan platform anomaly

The two Voyager spacecraft were launched in the summer of 1977, flew past Jupiter in 1979, and reached Saturn in 1980 and 1981. The Voyager Attitude and Articulation Control Subsystem (AACS) controls the positioning of a scan platform on which scientific instruments are mounted. On August 26, 1981, it was discovered that the azimuth axis of the scan platform of Voyager 2 had not completed the commanded slew. The profile of the failed slew command resembled a similar scan failure on Voyager 1 on February 23, 1979. In that case, contamination of the output gear mesh in the azimuth actuator was identified as the most probable cause of the failure. The problem was solved by cycling the azimuth actuator until the contaminant broke down and smooth operation was restored. A similar treatment applied to the Voyager 2 problem failed. Details of the Voyager 2 anomaly investigation are discussed.

Marchetto, C. A.↗

NASA NTRS1983

Evaluation of control and display configurations for helicopter shipboard operations

A simulation evaluation of several approach and landing flight-control configurations and of two out-of-the-cockpit display devices (a head-up display and a helmet-mounted display) was performed for the task of landing a helicopter on a destroyer in adverse weather. The results indicated that the ship airwake turbulence was the most significant environmental variable affecting hover performance. In addition, to achieve adequate landing performance, attitude-command control compensation was required for the pilot regardless of the display used. For improved performance with reduced pilot effort, a velocity-command, position-hold control system was desired.

Paulk, C. H., Jr.↗

NASA NTRS1983

Development of real-time ATC simulation facility

The Flight Transportation Laboratory has developed a real time interactive Air Traffic Control simulation facility designed to provide a versatile and easy to use tool for research and experimentation involving air traffic control. The facility uses a VAX-11/750 as the central computer. The SANDERS GRAPHICS-7 display system is used to simulate air traffic control displays. Pseudo-pilot displays are provided on Texas Instruments TI940 video terminals. Finally, a custom designed audio system driven by a Z-80 and interfaced with the VAX provides voice communication between the air traffic controllers and the pseudo-pilots. The audio system provides computer controlled voice disguising and thus allows each aircraft to have its own audio characteristics and provides an added realism to the experiment. The facility can accommodate multiple controller stations and pseudo-pilot stations. Each station is manned by a single operator who has a large repertoire of commands with which to control his/her display and the simulated aircraft under his/her jurisdiction. An additional console and a distinct set of commands allow full controllability of the simulation environment by the experimenter in real time.

Pararas, J.↗

NASA NTRS1983

New applications for phosphoric acid fuel cells

New applications for phosphoric acid fuel cells were identified and evaluated. Candidates considered included all possibilities except grid connected electric utility applications, on site total energy systems, industrial cogeneration, opportunistic use of waste hydrogen, space and military applications, and applications smaller than 10 kW. Applications identified were screened, with the most promising subjected to technical and economic evaluation using a fuel cell and conventional power system data base developed in the study. The most promising applications appear to be the underground mine locomotive and the railroad locomotive. Also interesting are power for robotic submersibles and Arctic villages. The mine locomotive is particularly attractive since it is expected that the fuel cell could command a very high price and still be competitive with the conventionally used battery system. The railroad locomotive's attractiveness results from the (smaller) premium price which the fuel cell could command over the conventional diesel electric system based on its superior fuel efficiency, and on the large size of this market and the accompanying opportunities for manufacturing economy.

Stickles, R. P.↗

NASA NTRS1984

Primer for the Transportable Applications Executive

The Transportable Applications Executive (TAE), an interactive multipurpose executive that provides commonly required functions for scientific analysis systems, is discussed. The concept of an executive is discussed and the various components of TAE are presented. These include on-line help information, the use of menus or commands to access analysis programs, and TAE command procedures.

Carlson, P. A.↗

NASA NTRS1984

ESCHER: An interactive mesh-generating editor for preparing finite-element input

ESCHER is an interactive mesh generation and editing program designed to help the user create a finite-element mesh, create additional input for finite-element analysis, including initial conditions, boundary conditions, and slidelines, and generate a NEUTRAL FILE that can be postprocessed for input into several finite-element codes, including ADINA, ADINAT, DYNA, NIKE, TSAAS, and ABUQUS. Two important ESCHER capabilities, interactive geometry creation and mesh archival storge are described in detail. Also described is the interactive command language and the use of interactive graphics. The archival storage and restart file is a modular, entity-based mesh data file. Modules of this file correspond to separate editing modes in the mesh editor, with data definition syntax preserved between the interactive commands and the archival storage file. Because ESCHER was expected to be highly interactive, extensive user documentation was provided in the form of an interactive HELP package.

Oakes, W. R., Jr.↗

NASA NTRS1984

OMV: A simplified mathematical model of the orbital maneuvering vehicle

A model of the orbital maneuvering vehicle (OMV) is presented which contains several simplications. A set of hand controller signals may be used to control the motion of the OMV. Model verification is carried out using a sequence of tests. The dynamic variables generated by the model are compared, whenever possible, with the corresponding analytical variables. The results of the tests show conclusively that the present model is behaving correctly. Further, this model interfaces properly with the state vector transformation module (SVX) developed previously. Correct command sentence sequences are generated by the OMV and and SVX system, and these command sequences can be used to drive the flat floor simulation system at MSFC.

Teoh, W.↗

NASA NTRS1984

Investigation, development and application of optimal output feedback theory. Volume 2: Development of an optimal, limited state feedback outer-loop digital flight control system for 3-D terminal area operation

This report contains the development of a digital outer-loop three dimensional radio navigation (3-D RNAV) flight control system for a small commercial jet transport. The outer-loop control system is designed using optimal stochastic limited state feedback techniques. Options investigated using the optimal limited state feedback approach include integrated versus hierarchical control loop designs, 20 samples per second versus 5 samples per second outer-loop operation and alternative Type 1 integration command errors. Command generator tracking techniques used in the digital control design enable the jet transport to automatically track arbitrary curved flight paths generated by waypoints. The performance of the design is demonstrated using detailed nonlinear aircraft simulations in the terminal area, frequency domain multi-input sigma plots, frequency domain single-input Bode plots and closed-loop poles. The response of the system to a severe wind shear during a landing approach is also presented.

Broussard, J. R.↗

NASA NTRS1983

Design and flight testing of a digital landing approach autopilot

An important feature in General Aviation (GA) autopilots is the ability to intercept and hold the glideslope and localizer during a landing approach. Most General Aviation landing approach autopilots available today use analog systems. This paper presents the designs of digital landing approach autopilots for a General Aviation (NAVION) aircraft using modern linear quadratic control theory. Each constant gain, direct digitally designed autopilot operates synchronously at a slow rate (10 samples per second) and has modest memory requirements, i.e., a full state Kalman filter is not used. The autopilot is designed to track desired position trajectories constructed in an ILS or MLS terminal area using command generators. Alternative command errors for intercepting and holding the localizer beam centerline are investigated. Linear simulations and flight test results are presented demonstrating the successful application of the linear quadratic regulator approach.

Broussard, J. R.↗

NASA NTRS1983

Man's role in a remote orbital servicing system

The Remote Orbital Servicing System (ROSS), a focal point for NASA research in automation and robotics, is discussed in terms of the role of man in such a system. In the supervisory control mode, the ROSS operator inputs high-level goals to a strategic (nonreal-time) planner which then passes the plan or series of actions to a tactical (real-time) planner which executes the plan. Using directed control, man makes more specific commands to perform strategic planning with or without the use of the automated strategic planner. Shared computer/manual control will require a multifunction interactive display. At the teleoperator control level, a hand controller is used to command the ROSS manipulator and end effectors.

Pennington, J. E.↗

NASA NTRS1983

Algorithm development for a spacecraft autonomous power system

Two algorithms were developed to demonstrate the implementation of autonomous functions in an existing spacecraft power system. The functions selected for autonomous operation include a typical performance monitoring function, battery state of charge, and a fault detection and response function represented by a battery state of charge below a preselected limit. The constraints imposed by the existing power system configuration are the available data in the telemetry stream and the existing commands and command structure. The areas requiring future development are the degree of battery characterization, the effects of hardware/software faults, and the verification of faults.

Bridgeforth, A. O.↗

NASA NTRS1984

Functional evaluation of the Galileo attitude and articulation control subsystem using FUNSIM

The functional performance of the Galileo spacecraft's attitude and articulation control subsystem is evaluated. The tests are performed utilizing the simulation program developed on an IBM 370 system known as the Functional Simulation (FUNSIM). FUNSIM is an entirely software-based simulation which uses the actual flight software in HAL/S and simulated spacecraft dynamics in FORTRAN language. A description of how the test cases were selected to verify that the algorithms perform functionally correctly, and a summary of the problems encountered are included in the paper. The benefits of having an alternative test bed such as FUNSIM to the real-time simulation test beds which utilize the spacecraft hardware components in discovering the problems are described. A sample test case which shows that the desired tasks were performed functionally correctly is included in the paper. The commands in this test are selected to start the dual-spin spacecraft initially in launch mode and lead it all the way to inertial mode. Major attitude control algorithms such as rotor and platform attitude estimators, clock and core platform attitude estimators, clock and core platform controllers, and the command turn and burn are examined.

Namiri, M. K.↗

NASA NTRS1984

An in flight investigation of pitch rate flight control systems and application of frequency domain and time domain predictive criteria

The degree of attitude control provided by current integral-proportional pitch rate command-type control systems, while a prerequisite for flared landing, is insufficient for 'Level 1' performance. The pilot requires 'surrogate' feedback cues to precisely control flight path in the landing flare. Monotonic stick forces and pilot station vertical acceleration are important cues which can be provided by means of angle-of-attack and pitch rate feedback in order to achieve conventional short period and phugoid characteristics. Integral-proportional pitch rate flight control systems can be upgraded to Level 1 flared landing performance by means of lead/lag and washout prefilters in the command path. Strong pilot station vertical acceleration cues can provide Level 1 flared landing performance even in the absence of monotonic stick forces.

Berthe, C. J.↗

NASA NTRS1984

Translational control of a graphically simulated robot arm by kinematic rate equations that overcome elbow joint singularity

An operator commands a robot hand to move in a certain direction relative to its own axis system by specifying a velocity in that direction. This velocity command is then resolved into individual joint rotational velocities in the robot arm to effect the motion. However, the usual resolved-rate equations become singular when the robot arm is straightened. To overcome this elbow joint singularity, equations were developed which allow continued translational control of the robot hand even though the robot arm is (or is nearly) fully extended. A feature of the equations near full arm extension is that an operator simply extends and retracts the robot arm to reverse the direction of the elbow bend (difficult maneuver for the usual resolved-rate equations). Results show successful movement of a graphically simulated robot arm.

Barker, L. K.↗

NASA NTRS1984

Automated CPX support system preliminary design phase

The development of the Distributed Command and Control System (DCCS) is discussed. The development of an automated C2 system stimulated the development of an automated command post exercise (CPX) support system to provide a more realistic stimulus to DCCS than could be achieved with the existing manual system. An automated CPX system to support corps-level exercise was designed. The effort comprised four tasks: (1) collecting and documenting user requirements; (2) developing a preliminary system design; (3) defining a program plan; and (4) evaluating the suitability of the TRASANA FOURCE computer model.

Bordeaux, T. A.↗

NASA NTRS1985

Kinematic rate control of simulated robot hand at or near wrist singularity

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.

Barker, K.↗

NASA NTRS1985

Development of control laws for a flight test maneuver autopilot for an F-15 aircraft

An autopilot can be used to provide precise control to meet the demanding requirements of flight research maneuvers with high-performance aircraft. The development of control laws within the context of flight test maneuver requirements is discussed. The control laws are developed using eigensystem assignment and command generator tracking. The eigenvalues and eigenvectors are chosen to provide the necessary handling qualities, while the command generator tracking enables the tracking of a specified state during the maneuver. The effectiveness of the control laws is illustrated by their application to an F-15 aircraft to ensure acceptable aircraft performance during a maneuver.

Alag, G. S.↗