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NASA NTRS1997

Observations of Accreting Pulsars

We summarize 5 years of continuous monitoring of accretion-powered pulsars with the Burst and Transient Source Experiment (BATSE) on the Compton Gamma Ray Observatory. Our 20-70 keV observations have determined or refined the orbital parameters of 13 binaries, discovered five new transient accreting pulsars, measured the pulsed flux history during outbursts of 12 transients (GRO J1744-28, 4U 0115+634, GRO J1750-27, GS 0834-430, 2S 1417-624, GRO J1948+32, EXO 2030+375, GRO J1008-57, A0535+26, GRO J2058+42, 4U 1145-619, and A1118-616), and also measured the accretion torque history during outbursts of six of those transients whose orbital param- eters were also known. We have also continuously measured the pulsed flux and spin frequency for eiaht persistently accreting pulsars (Her X-1, Cen X-3, Vela X-1, OAO 1657-415, GX 301-2, 4U 1626-67, 4U 1538-52, and GX 1+4). Because of their continuity and uniformity over a long baseline, BATSE observations have provided new insights into the long-term behavior of accreting magnetic neutron stars. We have found that all accreting pulsars show stochastic variations in their spin frequencies and luminosities, including those displaying secular spin-up or spin-down on long timescales, which blurs the con- ventional distinction between disk-fed and wind-fed binaries. Pulsed flux and accretion torque are strongly correlated in outbursts of transient accreting pulsars but are uncorrelated, or even anti- correlated, in persistent sources. We describe daily folded pulse profiles, frequency, and flux measurements that are available through the Compton Observatory Science Support Center at NASA/Goddard Space Flight Center.

Bildsten, Lars↗

NASA NTRS2007

The Prelude to and Aftermath of the Giant Flare of 2004 December 27: Persistent and Pulsed X-ray Properties of SGR 1806-20 from 1993 to 2005

We report on the evolution of key spectral and temporal parameters of SGR 1806-20 prior to and following the highly energetic giant flare of 2004 December 27. Using RXTE, we track the pulse frequency of the SGR and find that the spin-down rate varied erratically in the months before and after the flare. Contrary to the giant flare in SGR 1900+14, we find no evidence for a discrete jump in spin frequency at the time of the December 27th flare (Absolute value of (Delta * upsilon/upsilon) < 5 10 (exp -6)). In the months surrounding the flare, we find a strong correlation between pulsed flux and torque consistent with the model for magnetar magnetosphere electrodynamics proposed. As with the flare in SGR 1900+14, the pulse morphology of SGR 1806-20 changes drastically following the flare. Using Chandra and other publicly available imaging X-ray detector observations, we construct a spectral history of SGR 1806-20 from 1993 to 2005. The usual magnetar persistent emission spectral model of a power law plus a blackbody provides an excellent fit to the data. We confirm the earlier finding of increasing spectral hardness of SGR 1806-20 between 1993 and 2004. However, our results indicate significant differences in the temporal evolution of the spectral hardening. Rather than a direct correlation between torque and spectral hardness, we find evidence for a sudden torque change that preceded a gradual hardening of the energy spectrum on a timescale of years. Interestingly, the spectral hardness, spin-down rate, phase-averaged flux, and pulsed flux of SGR 1806-20 all peak months before the flare epoch.

Woods, Peter M.↗

NASA NTRS1974

Passive dual spin misalignment compensators

A combination dual-spin gyroscopically stabilized device is described having a spinning rotor and a non-spinning platform. Two substantially lossless mechanical resonators, resonant at the spin frequency, are orthogonally positioned on the platform for compensation for the disturbing torque acting on the platform due to rotor misalignment.

Donohue, J. H.↗

NASA NTRS2020

Superorbital Modulation in the High-Mass X-ray Binary 4U 1538−52, and Possible Modulation in IGR J16393−4643

Hard X-ray observations with the Neil Gehrels Swift Observatory Burst Alert Telescope (BAT) reveal superorbital modulation in the wind-accreting supergiant high-mass X-ray binary (HMXB) 4U 1538−52 at a period of 14.9130±0.0026days that is consistent with four times the 3.73 day orbital period. These periods agree with a previously suggested correlation between superorbital and orbital periods in similar HMXBs. During the∼14 years of observations the superorbital modulation changes amplitude, and since ∼MJD 57,650 it was no longer detected in the power spectrum, although a peak near the second harmonic of this was present for some time. Measurements of the spin period of the neutron star in the system with the Fermi Gamma-ray Burst Monitor show a long-term spin-down trend which halted towards the end of the lightcurve, suggesting a connection between ̇P spin and superorbital modulation, as proposed for 2S 0114+650.However, an earlier torque reversal from INTEGRAL observations was not associated with superorbital modulation changes. B and V band photometry from the Las Cumbres Observatory reveals orbital ellipsoidal photometric variability, but no superorbital optical modulation. However the photometry was obtained when the 14.9130 day period was no longer detected in the BAT power spectrum. We revisit possible superorbital modulation in BAT observations of IGR J16393−4643 but cannot conclusively determine whether this is present, although is not persistent. We consider superorbital modulation mechanisms, and suggest that the Corotation Interaction Region model, with small deviations from orbital synchronization, appears promising.

Robin H D Corbet↗

NASA NTRS1971

Planetary explorer liquid propulsion study

An analytical evaluation of several candidate monopropellant hydrazine propulsion system approaches is conducted in order to define the most suitable configuration for the combined velocity and attitude control system for the Planetary Explorer spacecraft. Both orbiter and probe-type missions to the planet Venus are considered. The spacecraft concept is that of a Delta launched spin-stabilized vehicle. Velocity control is obtained through preprogrammed pulse-mode firing of the thrusters in synchronism with the spacecraft spin rate. Configuration selection is found to be strongly influenced by the possible error torques induced by uncertainties in thruster operation and installation. The propulsion systems defined are based on maximum use of existing, qualified components. Ground support equipment requirements are defined and system development testing outlined.

Mckevitt, F. X.↗

NASA NTRS1982

A digital optical torquemeter for high rotational speed applications

A digital optical torquemeter system designed for applications at high rotational speeds was fabricated and tested for zero stability at speeds up to 20,000 rpm. Data obtained in a spin rig and with simulated inputs demonstrate that the system is capable of measuring torque bar twist to within 0.03 degrees at speeds of 30,000 rpm. The optical system uses fiber optic bundles to transmit light to the torque bar and to silicon avalanche detectors. The system is microcomputer based and provides measurements of average torque and torque as a function of angular shaft position. The torquemeter requires no bearings or other contact between the rotating torque bar and the nonrotating optics, and tolerates movement of the torque bar as large as 1 mm relative to the optics.

Lesco, D. J.↗

NASA NTRS2006

Bias Momentum Sizing for Hovering Dual-Spin Platforms

An atmospheric flight vehicle in hover is typically controlled by varying its thrust vector. Achieving both levitation and attitude control with the propulsion system places considerable demands on it for agility and precision, particularly if the vehicle is statically unstable, or nearly so. These demands can be relaxed by introducing an appropriately sized angular momentum bias aligned with the vehicle's yaw axis, thus providing an additional margin of attitude stability about the roll and pitch axes. This paper describes a methodical approach for trading off angular momentum bias level needed with desired levels of vehicle response due to the design disturbance environment given a vehicle's physical parameters. It also describes several simplifications that provide a more physical and intuitive understanding of dual-spin dynamics for hovering atmospheric vehicles. This approach also mitigates the need for control torques and inadvertent actuator saturation difficulties in trying to stabilize a vehicle via control torques produced by unsteady aerodynamics, thrust vectoring, and unsteady throttling. Simulation results, based on a subscale laboratory test flying platform, demonstrate significant improvements in the attitude control robustness of the vehicle with respect to both wind disturbances and off-center of gravity payload changes during flight.

Lim, Kyong B.↗

NASA NTRS1970

Spin-orbit resonance of Mercury

Mercury spin orbit resonance probability computation, making a priori assumptions for long term orbital variations, tidal torque and equatorial asymmetry

Counselman, C. C., III↗

NASA NTRS2012

Feasibility Study of Two Candidate Reaction Wheel/thruster Hybrid Control Architecture Designs for the Cassini Spacecraft

As the first spacecraft to achieve orbit at Saturn in 2004, Cassini has collected science data throughout its four-year prime mission (2004-08), and has since been approved for a first and second extended mission through 2017. Cassini carries a set of three "fixed" reaction wheels and a backup reaction wheel (reaction wheel #4) is mounted on top of an articulable platform. If necessary, this platform could be articulated to orient the backup reaction wheel with the degraded wheel. The reaction wheels are used primarily for attitude control when precise and stable pointing of a science instrument such as the narrow angle camera is required. In 2001-02, reaction wheel #3 exhibited signs of bearing cage instability. As a result, reaction wheel #4 was articulated to align with reaction wheel #3. Beginning in July 2003, Cassini was controlled using wheel #1, #2, and #4. From their first use in the spring of 2000 until today, reaction wheels #1 and #2 have accumulated more than3.5 billions revolutions each. As such, in spite of very carefully management of the wheel spin rates by the mission operation team, there are some observed increases in the drag torque of the wheels' bearings. Hence, the mission operations team must prepare for the contingency scenario in which the reaction wheel #1 (in addition to wheel #3) had degraded. In this hypothetical fault scenario, the two remaining reaction wheels (#2 and #4) will not be able to provide precise and stable three-axis control of the spacecraft. In this study, we evaluate the feasibility of controlling Cassini using the two remaining reaction wheels and four thrusters to meet the science pointing requirements for two key science operational modes: the Optical Remote Sensing and Downlink, Fields, Particles, & Waves operation modes. The performance (e.g., pointing control error, pointing stability, hydrazine consumption rate, etc.) of the hybrid controllers in both operations scenarios will be compared with those achieved using an all-thruster controller design. Strength and weaknesses of the hybrid control architecture are assessed quantitatively.

Cassini↗

NASA NTRS1973

Dynamic passivation of a spinning and tumbling satellite using free-flying teleoperators.

A satellite will generally have some initial angular motion. Before the satellite can be retrieved, it will be necessary to null its angular rates. A method is presented for nulling the simultaneous angular rates for cylindrical and near-cylindrical satellites. It is assumed that there are no external torques acting on the satellite initially. A model is being fabricated to verify the analysis. The analysis shows that it is feasible to null the spin and tumble rates for cylindrical and near-cylindrical satellites with an arm attached to a remote manipulator unit.

Faile, G. C.↗

NASA NTRS1984

Secular solution for delta-V during spin rate change maneuvers of rigid body spacecraft

Analytic expressions have been found for Euler's Equations of Motion and for the Eulerian Angles for both symmetric and near symmetric rigid bodies under the influence of arbitrary constant body-fixed torques. These solutions have been used to solve for the secular terms in the translational delta-V equations in inertial space. This secular delta-V solution is of interest in application to spinning spacecraft in that it describes the average direction of the delta-V of the spacecraft during a spin-up maneuver. Numerical integration of the governing differential equations has verified that the secular delta-V solution is valid for large time and is accurate in many physical situations including spin-up maneuvers of the Galileo spacecraft.

Klumpe, E. W.↗

NASA NTRS2005

Spinning Spacecraft Attitude Estimation Using Markley Variables: Filter Implementation And Results

Attitude estimation is often more difficult for spinning spacecraft than for three-axis stabilized platforms due to the need to follow rapidly-varying state vector elements and the lack of three-axis rate measurements from gyros. The estimation problem simplifies when torques are negligible and nutation has damped out, but the general case requires a sequential filter with dynamics propagation. This paper describes the implementation and test results for an extended Kalman filter for spinning spacecraft attitude and rate estimation based on a novel set of variables suggested in a paper by Markley [AAS93-3301 (referred to hereafter as Markley variables). Markley has demonstrated that the new set of variables provides a superior parameterization for numerical integration of the attitude dynamics for spinning or momentum-biased spacecraft. The advantage is that the Markley variables have fewer rapidly-varying elements than other representations such as the attitude quaternion and rate vector. A filter based on these variables was expected to show improved performance due to the more accurate numerical state propagation. However, for a variety of test cases, it has been found that the new filter, as currently implemented, does not perform significantly better than a quaternion-based filter that was developed and tested in parallel. This paper reviews the mathematical background for a filter based on Markley variables. It also describes some features of the implementation and presents test results. The test cases are based on a mission using magnetometer and Sun sensor data and gyro measurements on two axes normal to the spin axis. The orbit and attitude scenarios and spacecraft parameters are modeled after one of the THEMIS (Time History of Events and Macroscale Interactions during Substorms) probes. Several tests are presented that demonstrate the filter accuracy and convergence properties. The tests include torque-free motion with various nutation angles, large constant-torque attitude slews, sensor misalignments, large initial attitude and rate errors, and cases with low data frequency. It is found that the convergence is rapid, the radius of convergence is large, and the results are reasonably accurate even in the presence of unmodeled perturbations.

Sedlak, Joseph E.↗

NASA NTRS1997

Magnetic Excitation for Spin Vibration Testing

The Dynamic Spin Rig Laboratory (DSRL) at the NASA Lewis Research Center is a facility used for vibration testing of structures under spinning conditions. The current actuators used for excitation are electromagnetic shakers which are configured to apply torque to the rig's vertical rotor. The rotor is supported radially and axially by conventional bearings. Current operation is limited in rotational speed, excitation capability, and test duration. In an effort to enhance its capabilities, the rig has been initially equipped with a radial magnetic bearing which provides complementary excitation and shaft support. The new magnetic feature has been used in actual blade vibration tests and its performance has been favorable. Due to the success of this initial modification further enhancements are planned which include making the system fully magnetically supported. This paper reports on this comprehensive effort to upgrade the DSRL with an emphasis on the new magnetic excitation capability.

Johnson, Dexter↗

NASA NTRS1993

Analytic Theory and Control of the Motion of Spinning Rigid Bodies

Numerical simulations are often resorted to, in order to understand the attitude response and control characteristics of a rigid body. However, this approach in performing sensitivity and/or error analyses may be prohibitively expensive and time consuming, especially when a large number of problem parameters are involved. Thus, there is an important role for analytical models in obtaining an understanding of the complex dynamical behavior. In this dissertation, new analytic solutions are derived for the complete attitude motion of spinning rigid bodies, under minimal assumptions. Hence, we obtain the most general solutions reported in the literature so far. Specifically, large external torques and large asymmetries are included in the problem statement. Moreover, problems involving large angular excursions are treated in detail. A new tractable formulation of the kinematics is introduced which proves to be extremely helpful in the search for analytic solutions of the attitude history of such kinds of problems. The main utility of the new formulation becomes apparent however, when searching for feedback control laws for stabilization and/or reorientation of spinning spacecraft. This is an inherently nonlinear problem, where standard linear control techniques fail. We derive a class of control laws for spin axis stabilization of symmetric spacecraft using only two pairs of gas jet actuators. Practically, this could correspond to a spacecraft operating in failure mode, for example. Theoretically, it is also an important control problem which, because of its difficulty, has received little, if any, attention in the literature. The proposed control laws are especially simple and elegant. A feedback control law that achieves arbitrary reorientation of the spacecraft is also derived, using ideas from invariant manifold theory. The significance of this research is twofold. First, it provides a deeper understanding of the fundamental behavior of rigid bodies subject to body-fixed torques. Assessment of the analytic solutions reveals that they are very accurate; for symmetric bodies the solutions of Euler's equations of motion are, in fact, exact. Second, the results of this research have a fundamental impact on practical scientific and mechanical applications in terms of the analysis and control of all finite-sized rigid bodies ranging from nanomachines to very large bodies, both man made and natural. After all, Euler's equations of motion apply to all physical bodies, barring only the extreme limits of quantum mechanics and relativity.

Tsiotras, Panagiotis↗

NASA NTRS1978

Disk accretion by magnetic neutron stars

A model for disk accretion by a rotating magnetic neutron star is proposed which includes a detailed description of matter flow in the transition region between the disk and the magnetosphere. It is shown that the disk plasma cannot be completely screened from the stellar magnetic field and that the resulting magnetic coupling between the star and the disk exerts a significant torque on the star. On the assumption that the distortion of the residual stellar field lines threading the disk is limited by reconnection, the total accretion torque on the star is calculated. The calculated torque gives period changes in agreement with those observed in the pulsating X-ray sources and provides a natural explanation of why a fast rotator like Her X-1 has a spin-up rate much below the conventional estimate for slow rotators. It is shown that for such fast rotators, fluctuations in the mass-accretion rate can produce fluctuations in the accretion torque about 100 times larger. For sufficiently fast rotators or, equivalently, for sufficiently low accretion rates, the star experiences a braking torque even while accretion continues and without any mass ejection from its vicinity.

Ghosh, P.↗

NASA NTRS2003

Quasi-Sun-Pointing of Spacecraft Using Radiation Pressure

A report proposes a method of utilizing solar-radiation pressure to keep the axis of rotation of a small spin-stabilized spacecraft pointed approximately (typically, within an angle of 10 deg to 20 deg) toward the Sun. Axisymmetry is not required. Simple tilted planar vanes would be attached to the outer surface of the body, so that the resulting spacecraft would vaguely resemble a rotary fan, windmill, or propeller. The vanes would be painted black for absorption of Solar radiation. A theoretical analysis based on principles of geometric optics and mechanics has shown that torques produced by Solar-radiation pressure would cause the axis of rotation to precess toward Sun-pointing. The required vane size would be a function of the angular momentum of the spacecraft and the maximum acceptable angular deviation from Sun-pointing. The analysis also shows that the torques produced by the vanes would slowly despin the spacecraft -- an effect that could be counteracted by adding specularly reflecting "spin-up" vanes.

Spilker, Thomas↗

NASA NTRS1971

Computer simulation for attitude disturbance torques for the Tiros-series.

Description of the Tiros-M Magnetic Attitude Prediction Program (TMMGAP), a simulation program designed to assist in the rotational motion control of the Tiros-series spacecraft. The subsystems of the program include input, attitude simulation, executive, attitude control and output components, simulating solar radiation pressure torque, gravity gradient torque, residual magnetic moment torque, and magnetic attitude control torques. The program provides data for prelaunch studies for launch window selection and mission planning, facilitates spacecraft spin axis reorientation after launch, provides spin axis control recommendations to meet mission constraints, and assists in the interpretation of cloud cover data. The program is characterized as effective in controlling spin axis and in processing picture data.

Sugai, I.↗

NASA NTRS1975

An optimal control of a flexible spinning satellite

A modification of optimal spinning satellite control theory is proposed, based on introducing an additional vector into the equation for control torque components. This modification essentially means that the amplitudes of the time-dependent satellite perturbation functions can be made small when the amplitudes of the control torque components are allowed to be different. An algorithm for computer simulation of the satellite control theory is provided. A singular perturbation scheme is used which greatly reduces the number of degrees of freedom in the flexible satellite motion equations.

Das, A.↗