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A control moment gyroscope assembly is described for use in an astronaut maneuvering research vehicle. This vehicle (backpack) will be used by astronauts inside the orbiting Skylab for evaluation of various maneuvering systems.
A static object revolving at a constant velocity is stationary with respect to that environment. When the object is rotated outside the plane of spin, a gyroscopic or cross-coupled acceleration is produced orthogonal to the two planes of rotation. In this situation, a man feels himself moving in a direction other than that which his visual or proprioceptive sensors perceive. The conflict in spatial orientation is the cross-coupled acceleration imposed on the semicircular canals. This perceptual conflict and the thresholds involved were studied by partial isolation of the physiological stimuli through sensory deprivation. Subjects weighted to neutral buoyancy were submerged in 94 F water in the dark. The subjects were then rotated while being revolved about a displaced axis. Thresholds for detection of angular acceleration were higher than those reported in the literature for detection of acceleration of a single plane. This discrepancy may be attributable to the length of time the stimuli are imposed to each of the canals and the cupular response periods.
A cryogenic gyroscope housing having gas spin-up means provided in annular discs inserted between housing shells is described. A circumferential recess in the inner edges of the discs at their juncture serves as the gas spin-up channel, and recesses in the discs at their junctures with the shells form suction channels. The discs also have inlet and outlet ports communicating with the spin-up channel and exhaust slots communicating with the suction channels. Mating surfaces of the discs and housing shells are held in position by optical contact at the equational plane of the housing. Suspension electrodes and thin-film readout loops are disposed in shells. A centering band and clamp rings provide for proper alinement and placement of parts in formation of optical contact joints.
The work is described which was accomplished during the investigation of the application of dry-tuned gimbal gyroscopes to strapdown navigation systems. A conventional strapdown configuration, employing analog electronics in conjunction with digital attitude and navigation computation, was examined using various levels of redundancy and both orthogonal and nonorthogonal sensor orientations. It is concluded that the cost and reliability performance constraints which had been established could not be met simultaneously with such a system. This conclusion led to the examination of an alternative system configuration which utilizes an essentially new strapdown system concept. This system employs all-digital signal processing in conjunction with the newly-developed large scale integration (LSI) electronic packaging techniques and a new two-degree-of-freedom dry tuned-gimbal instrument which is capable of providing both angular rate and acceleration information. Such a system is capable of exceeding the established performance goals.
A gyroscope experiment designed to measure both the geodetic and the Lense-Thirring precessions to an accuracy of 0.01 arc-second per year appears economically and technically feasible. It is estimated that an accuracy of about one part in 10 to the 11th power in an Eotvos experiment would be required to detect a situation in which the weak interaction contributed to the inertial masses but not the gravitational masses of nuclei; a correspondingly higher accuracy in the experiment is required to detect the situation where the weak interaction contributed to the gravitational masses some fraction between zero and one of its contribution to the inertial masses.
The design, analysis, and experimental evaluation of an optimum performance torque current generator for use with strapdown gyroscopes, is presented. Among the criteria used to evaluate the design were the following: (1) steady-state accuracy; (2) margins of stability against self-oscillation; (3) temperature variations; (4) aging; (5) static errors drift errors, and transient errors, (6) classical frequency and time domain characteristics; and (7) the equivalent noise at the input of the comparater operational amplifier. The DC feedback loop of the torque current generator was approximated as a second-order system. Stability calculations for gain margins are discussed. Circuit diagrams are shown and block diagrams showing the implementation of the torque current generator are discussed.
Three different rebalance electronic loops were designed, implemented, and evaluated. The loops were width-modulated binary types using a 614.4 kHz keying signal; they were developed to accommodate the following three inertial sensors with the indicated resolution values: (1) Kearfott 2412 accelerometer - resolution = 260 micro-g/data pulse, (2) Honeywell GG334 gyroscope - resolution = 3.9 milli-arc-sec/data pulse, (3) Kearfott 2401-009 accelerometer - resolution = 144 milli-g/data pulse. Design theory, details of the design implementation, and experimental results for each loop are presented.
The design of apparatus being built to measure the general relativistic precession of gyroscopes in earth orbit is discussed, with emphasis on the role of cryogenics. Operation with a superconducting rotor is crucial in that it provides the only known way of attaining the required angular resolution of 0.001 arc-sec. Operation at low temperatures also provides the star tracker, to which the gyros are referenced, with excellent null stability. The boil-off gas from the large helium dewar is used to operate the vehicle in a drag-free mode which is expected to improve the gyro performance by a factor of ten. The dewar system is compatible with a wide range of experiments requiring temperatures as low as 2K in space.
Consideration is given to the development of a low-noise fiber-optic ring interferometer gyroscope. A technique for measuring the Fresnel drag coefficient of optical fibers is described, and the accuracy of the technique is considered. An experiment is performed which allows verification of the Einstein velocity addition theorem to the first nonlinear term. An experimental setup for measuring Fresnel drag is described: it consists of a Sagnac interferometer and a Fresnel drag measurement configuration.
The design, construction, and testing of a one meter diameter fiber ring optical gyro, using 1.57 kilometers of single mode fiber, are described. The various noise components: electronic, thermal, mechanical, and optical, were evaluated. Both dc and ac methods were used. An attempt was made to measure the Earth rotation rate; however, the results were questionable because of the optical and electronic noise present. It was concluded that fiber ring optical gyroscopes using all discrete components have many serious problems that can only be overcome by discarding the discrete approach and adapting an all integrated optic technique that has the laser source, modulator, detector, beamsplitters, and bias element on a single chip.
Light beams pass in opposite directions through a single mode fiber optic wave guide that extends in a circle or coil in an optical gyroscope system which measures the rotation rate of the coil by measuring the relative phase shifts of the beams by interferometric techniques. Beam splitting and phase shifting of the light are facilitated by utilizing brief pulses of light and by using light-controlling devices which are operated for a brief time only when the light pulse passes in one direction through the device but not at a different time when the pulse is passing in the opposite direction through the device. High accuracy in rotation measurement is achieved at both very slow and very fast rotation rates, by alternately operating the system so that at zero rotation the interfering waves are alternately 90 out of phase and in phase. Linear polarization of the light beams is maintained by coiling the full length of the optic fiber in a single plane.
Turbomachine blades on spinning and precessing rotors experience gyroscopically induced instabilities and forcing. With vehicle-mounted turbomachines, either constant or harmonic precession occurs, depending on vehicle or mount motion. Responses of uniform cantilever beams at arbitrary stagger, subjected to the noted rotor motion, are predicted in both self-excited and forced-excitation modes taking into account Coriolis acceleration.
A program has been conducted to evaluate the noise signature of Space Telescope gyros. The Space Telescope gyros provide a three-axis attitude reference using six single-degree-of-freedom gyroscopes operated with pulse rebalance electronics; the rate sensor attitude quantization is 0.00025 arcsec. The results of the noise evaluation program, including error source characterization and identification of candidate design modifications, are summarized together with the results of prototype hardware testing. It is shown that the proposed design modifications can significantly improve the rate sensor noise performance.
Approximate expressions are developed for internally balanced singular values corresponding to the modes of mechanical systems with gyroscopic forces, light damping, and small circulatory forces. A brief overview is first given of the balanced realization model reduction method, including a discussion of recent work. The models considered are defined, and a perturbation analysis is used to show that the modal representation becomes asymptotically balanced as damping reduces to zero. The approximate balanced singular values are calculated, and a simple example of a flexible, dual-spin spacecraft is given as an illustration of the results.
An optimal algorithm for the in-flight calibration of spacecraft gyroscope systems is presented. Special consideration is given to the selection of the loss function weight matrix in situations in which the spacecraft attitude sensors provide significantly more accurate information in pitch and yaw than in roll, such as will be the case in the Hubble Space Telescope mission. The results of numerical tests that verify the accuracy of the algorithm are discussed.
The development of a prototype Control Moment Gyroscope (CMG) is discussed. Physical characteristics and the results of functional testing are presented to demonstrate the level of system performance obtained. Particular attention is given to how the man-rated mission requirement influenced the choice of the materials, fabrication, and design details employed. Comparisons are made of the measured system responses against the prediction generated by computer simulation.
A sufficient condition for the stability of conservative gyroscopic systems with negative definite stiffness is presented. The conditions for stability are stated in terms of the definiteness of certain combinations of the coefficient matrices of the equations of motion. These conditions yield design constraints in terms of the physical parameters of the system. An example is given to illustrate the correctness of the results, as well as to provide a comparison with the results of other researchers.
Laboratory tests of the spherical electrostatically levitated cryogenically cooled coated gyroscope being developed for the Gravity Probe B (GP-B) spacecraft (Bardas et al., 1986) are reported. Spin speed and the dc components of the trapped magnetic field are measured with three orthogonal pickup loops attached to SQUID detectors as the levitated gyro is brought up to speed by an He gas jet. Data on the spin-vector time history, mass unbalance, higher rotor-shape harmonics, and spin-vector position are presented in extensive graphs and characterized in detail, and a mathematical model of the electrostatic suspension torques is derived. Prototype gyro 86-4 is found to have mass unbalance within the range required for the GP-B mission (to detect the geodetic and motional effects predicted by general relativity theory).