Flight, analog-simulator, and analytical studies of an automatically controlled interceptor which uses a bank-angle-error computer for lateral commands
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Brissenden, R. F.↗
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Functional integration of vertical flight path and speed control using energy principles
A generalized automatic flight control system was developed which integrates all longitudinal flight path and speed control functions previously provided by a pitch autopilot and autothrottle. In this design, a net thrust command is computed based on total energy demand arising from both flight path and speed targets. The elevator command is computed based on the energy distribution error between flight path and speed. The engine control is configured to produce the commanded net thrust. The design incorporates control strategies and hierarchy to deal systematically and effectively with all aircraft operational requirements, control nonlinearities, and performance limits. Consistent decoupled maneuver control is achieved for all modes and flight conditions without outer loop gain schedules, control law submodes, or control function duplication.
Lambregts, A. A.↗
Smart motor technology
Current spacecraft design relies upon microprocessor control; however, motors usually require extensive additional electronic circuitry to interface with these microprocessor controls. An improved control technique that allows a smart brushless motor to connect directly to a microprocessor control system is described. An actuator with smart motors receives a spacecraft command directly and responds in a closed loop control mode. In fact, two or more smart motors can be controlled for synchronous operation.
Packard, D.↗
Total energy control system autopilot design with constrained parameter optimization
A description is given of the application of a multivariable control design method (SANDY) based on constrained parameter optimization to the design of a multiloop aircraft flight control system. Specifically, the design method is applied to the direct synthesis of a multiloop AFCS inner-loop feedback control system based on total energy control system (TECS) principles. The design procedure offers a structured approach for the determination of a set of stabilizing controller design gains that meet design specifications in closed-loop stability, command tracking performance, disturbance rejection, and limits on control activities. The approach can be extended to a broader class of multiloop flight control systems. Direct tradeoffs between many real design goals are rendered systematic by proper formulation of the design objectives and constraints. Satisfactory designs are usually obtained in few iterations. Performance characteristics of the optimized TECS design have been improved, particularly in the areas of closed-loop damping and control activity in the presence of turbulence.
Ly, Uy-Loi↗
Hypersonic vehicle control law development using H infinity and mu-synthesis
Applicability and effectiveness of robust control techniques to a single-stage-to-orbit (SSTO) airbreathing hypersonic vehicle on an ascent accelerating path and their effectiveness are explored in this paper. An SSTO control system design problem, requiring high accuracy tracking of velocity and altitude commands while limiting angle of attack oscillations, minimizing control power usage and stabilizing the vehicle all in the presence of atmospheric turbulence and uncertainty in the system, was formulated to compare results of the control designs using H infinity and mu-synthesis procedures. The math model, an integrated flight/propulsion dynamic model of a conical accelerator class vehicle, was linearized as the vehicle accelerated through Mach 8. Controller analysis was conducted using the singular value technique and the mu-analysis approach. Analysis results were obtained in both the frequency and the time domains. The results clearly demonstrate the inherent advantages of the structured singular value framework for this class of problems. Since payload performance margins are so critical for the SSTO mission, it is crucial that adequate stability margins be provided without sacrificing any payload mass.
Gregory, Irene M.↗
Flight, analog-simulator, and analytical studies of an automatically controlled interceptor which uses a bank-angle-error computer for lateral commands
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Cheatham, Donald C↗
Investigations into mirror fabrication metrology analysis
This final report describes the work performed under this delivery order from June 1993 through August 1994. The scope of work included three distinct tasks in support of the AXAF-I program. The objective of the first task was to perform investigations of the grinding and polishing characteristics of the zerodur material by fabricating several samples. The second task was to continue the development of the integrated optical performance modeling software for AXAF-I. The purpose of third and final task was to develop and update the database of AXAF technical documents for an easy and rapid access. The MSFC optical and metrology shops were relocated from the B-wing of Building 4487 to Room BC 144 of Building 4466 in the beginning of this contract. This included dismantling, packing, and moving the equipment from its old location, and then reassembling it at the new location. A total of 65 zerodur samples, measuring 1 inch x 2 inches x 6 inches were ground and polished to a surface figure of lambda/10 p-v, and a surface finish of 5A rms were fabricated for coating tests. A number of special purpose tools and metal mirrors were also fabricated to support various AXAF-I development activities. In the metrology area, the ZYGO Mark 4 interferometer was relocated and also upgraded with a faster and more powerful processor. Surface metrology work was also performed on the coating samples and other optics using ZYGO interferometer and WYKO profilometer. A number of new features have been added to the GRAZTRACE program to enhance its analysis and modeling capabilities. A number of new commands have been added to the command mode GRAZTRACE program to provide a better control to the user on the program execution and data manipulation. Some commands and parameter entries have been reorganized for a uniform format. The command mode version of the convolution program CONVOLVE has been developed. An on-line help system and a user's manual have also been developed for the benefit of the users. The database of AXAF technical documents continues to progress. The titles, company name, date, and location of over 390 documents have been entered in this database. This database provides both a data search and retrieval function, and a data adding function. These functions allow a user to quickly search the data files for documents or add new information. A detailed user's guide has also been prepared. This user guide includes a document classification guide, a list of abbreviations, and a list of acronyms, which have been used in compiling this database of AXAF-I technical documents.
Dimmock, John O.↗
Chandra Space Flight Software: Using Software to Autonomously Operation the Largest and Most Sensitive X-Ray Telescope in the World
Chandra is the world's largest and most sensitive X-ray telescope. The Chandra X-ray Observatory is the third in NASA's family of "Great Observatories." The Chandra X-ray Observatory, launched by Space Shuttle Columbia on July 23, 1999, is NASA's newest Great Observatory. The Chandra space flight software is the operational software, which controls and directs the Chandra X-ray Observatory. The Chandra flight software has executed faultlessly for over 13,000 hours on-orbit. The Chandra flight software directly controls the Pointing, Aspect Determination, Electrical Power Subsystem, Propulsion system, and the Command, Communications, and Data Management subsystems. The software controls the spacecraft operations during all phases of the mission. The software also performs thermal control of the telescope to maintain pointing accuracy and monitors radiation levels throughout the orbit so that the Science Instruments can be safed if radiation thresholds are exceeded. The efficient operation of Chandra flight software has enabled the gathering of crucial science data. The Chandra flight software fault protection is the key to early detection and prevention of science instrument or spacecraft damage in an operating platform/environment, which is completely unforgiving. Permanently open Sun Shade Door and ACIS focal plane radiator sensitivity exposes science instruments and mirrors to damage for pointing anomalies causing an attitude excursion. The Chandra flight software must prevent these attitude excursions from occurring for ANY failure. Another example is that the power system has an unregulated bus, which imposes severe operating requirements on Chandra flight software to control array pointing and battery connection/disconnect using a unique algorithmic and logic approach. The Chandra flight software has enabled a truly autonomous vehicle with greater than 99% of all mission data collected as planned. Less than 15% of spacecraft operations are conducted in view (1 hour out of 8) leading to very extended periods without ground contact. The Chandra flight software implements the flexible mission plan during this out of view period, manages the solid state recorder capacity, controls all pointing and maneuvers, provides fault detection for all satellite subsystems, and initiates communications with the ground at the appropriate time. This paper will describe the software architecture features, key design elements and software testing techniques that have facilitated Chandra's success.
Crumbley, Tim↗
Development, Field Testing, and Evaluation of LIDAR Assisted Controls
Typical wind turbines utilize feedback controllers which have a delayed response to winds peed disturbances. A nacelle mounted LIght Detection and Ranging(LIDAR) system measures a preview wind signal in front of the turbine. This can be included in a feed-forward control system, improving turbine pitch command for incoming variations in wind speed. The overall aim is reduced blade and tower fatigue, and potentially improved annual energy production. To be successful, the LIDAR must yield accurate wind speed measurements. Therefore, a LIDAR was characterized against a nearby met tower and turbine wind speed estimator. Results indicate good correlation between measurements.
17 WIND ENERGY↗
Titan/Centaur T/C-1 post flight evaluation report
The first Titan/Centaur launch vehicle, TC-1, was launched from the Eastern Test Range Complex 41 at 09:48:01.46 hours Eastern Daylight Time on February 11, 1974. The vehicle carried a dynamic mass model of the Viking spacecraft and a SPHINX spacecraft, intended to study high voltage interactions in space. This launch was a Proof Flight of a vehicle con- figuration integrating the Air Force Titan booster and the NASA Centaur upper stage. It also was the first flight of the Centaur Standard Shroud developed for the Titan/Centaur. The countdown for the launch proceeded normally except for an additional 45 minute hold which was required to resolve a question concerning interpretation of booster hydraulic system data. The launch window opened at 09:03:00 hours Eastern Daylight Time. The vehicle was launched o on a flight azimuth of 105°. The Titan boost phase of flight was satisfactory. Solid Motor operation, Stage I and Stage II operation were normal. Venting of the Centaur Standard Shroud during ascent was successful and shroud separation and jettison was accomplished without incident. At the completion of the Titan Stage II burn, the Centaur successfully separated from the Titan. At this time, the Centaur main engines were sequenced through the first planned starting cycle but failed to achieve steady state operation. The vehicle flight control system, not sensing vehicle acceleration, commanded engine shutdown, and recycled, as programmed, through a back-up engine start attempt. The second engine start attempt was also unsuccessful. The flight control system then placed the vehicle in a coast-phase mode and the vehicle continued downrange in free fall. The vehicle was destroyed by Range Safety when the impact point was approximately 2200 nautical miles downrange, 12 minutes, 28.5 seconds after liftoff.
S. V. Szabo, Jr.↗
Control Software for Advanced Video Guidance Sensor
Embedded software has been developed specifically for controlling an Advanced Video Guidance Sensor (AVGS). A Video Guidance Sensor is an optoelectronic system that provides guidance for automated docking of two vehicles. Such a system includes pulsed laser diodes and a video camera, the output of which is digitized. From the positions of digitized target images and known geometric relationships, the relative position and orientation of the vehicles are computed. The present software consists of two subprograms running in two processors that are parts of the AVGS. The subprogram in the first processor receives commands from an external source, checks the commands for correctness, performs commanded non-image-data-processing control functions, and sends image data processing parts of commands to the second processor. The subprogram in the second processor processes image data as commanded. Upon power-up, the software performs basic tests of functionality, then effects a transition to a standby mode. When a command is received, the software goes into one of several operational modes (e.g. acquisition or tracking). The software then returns, to the external source, the data appropriate to the command.
Howard, Richard T.↗
Method and apparatus for reducing spacecraft instrument induced jitter via multifrequency cancellation
A method, apparatus, article of manufacture, and a memory structure for compensating for instrument induced spacecraft jitter is disclosed. The apparatus comprises a spacecraft control processor for producing an actuator command signal, a signal generator, for producing a cancellation signal having at least one harmonic having a frequency and an amplitude substantially equal to that of a disturbance harmonic interacting with a spacecraft structural resonance and a phase substantially out of phase with the disturbance harmonic interacting with the spacecraft structural resonance, and at least one spacecraft control actuator, communicatively coupled to the spacecraft control processor and the signal generator for inducing satellite motion according to the actuator command signal and the cancellation signal. The method comprises the steps of generating a cancellation signal having at least one harmonic having a frequency and an amplitude substantially equal to that of a disturbance harmonic interacting with a spacecraft structural resonance and a phase substantially out of phase with the disturbance harmonic interacting with the spacecraft structural resonance, and providing the cancellation signal to a spacecraft control actuator. The apparatus comprises a storage device tangibly embodying the method steps described above.
Liu, Ketao↗
Immunity-Based Aircraft Fault Detection System
In the study reported in this paper, we have developed and applied an Artificial Immune System (AIS) algorithm for aircraft fault detection, as an extension to a previous work on intelligent flight control (IFC). Though the prior studies had established the benefits of IFC, one area of weakness that needed to be strengthened was the control dead band induced by commanding a failed surface. Since the IFC approach uses fault accommodation with no detection, the dead band, although it reduces over time due to learning, is present and causes degradation in handling qualities. If the failure can be identified, this dead band can be further A ed to ensure rapid fault accommodation and better handling qualities. The paper describes the application of an immunity-based approach that can detect a broad spectrum of known and unforeseen failures. The approach incorporates the knowledge of the normal operational behavior of the aircraft from sensory data, and probabilistically generates a set of pattern detectors that can detect any abnormalities (including faults) in the behavior pattern indicating unsafe in-flight operation. We developed a tool called MILD (Multi-level Immune Learning Detection) based on a real-valued negative selection algorithm that can generate a small number of specialized detectors (as signatures of known failure conditions) and a larger set of generalized detectors for unknown (or possible) fault conditions. Once the fault is detected and identified, an adaptive control system would use this detection information to stabilize the aircraft by utilizing available resources (control surfaces). We experimented with data sets collected under normal and various simulated failure conditions using a piloted motion-base simulation facility. The reported results are from a collection of test cases that reflect the performance of the proposed immunity-based fault detection algorithm.
Dasgupta, D.↗
Satellite Attitude Control Using a Combination of Inertia Wheels and a Bar Magnet
The use of inertia wheels to control the attitude of a satellite has currently aroused much interest. The stability of such a system has been studied in this investigation. A single-degree-of-freedom analysis indicates that a response with suitable dynamic characteristics and precise control can be achieved by commanding the angular velocity of the inertia wheel with an error signal that is the sum of the attitude error, the attitude rate, and the integral of the attitude error. A digital computer was used to study the three-degree-of-freedom response to step displacements, and the results indicate that the cross-coupling effects of inertia coupling and precession coupling had no effect on system stability. A study was also made of the use of a bar magnet to supplement the inertia wheels by providing a means of removing any momentum introduced into the system by disturbances such as aerodynamic torques. A study of a case with large aerodynamic torques, with a typical orbit, indicated that the magnet was a suitable device for supplying the essential trimming force. Single-degree-of-freedom bench tests generally verified the dynamic response predicted by the analytical study. the test table to within plus or minus 9 arc-seconds of the reference direction, even though the hardware components that were used in these tests were not specifically designed for the control system.
Adams, James J.↗
Flight test maneuver modeling and control
The use of automated flight test schemes decrease the aircraft flight testing time and pilot work load while enhancing the data quality. Two major elements involved in developing such an automated technique are maneuver modeling to generate command histories from the maneuver specifications and the synthesis of control systems to track these command histories. This paper describes the maneuver modeling for eight flight test trajectories. The control system synthesis with Kosut's suboptimal minimum error excitation linear quadratic regulator approach is presented. The closed-loop simulation results are given.
Menon, P. K. A.↗
Contact Control, Version 1
The contact control code is a generalized force control scheme meant to interface with a robotic arm being controlled using the Robot Operating System (ROS). The code allows the user to specify a control scheme for each control dimension in a way that many different control task controllers could be built from the same generalized controller. The input to the code includes maximum velocity, maximum force, maximum displacement, and a control law assigned to each direction and the output is a 6 degree of freedom velocity command that is sent to the robot controller.
von Sternberg, Alex↗
Large screen display for the Mission Control Center
The Mission Control Center (MCC), located at the Johnson Space Center near Houston, Texas, is the primary point of control and monitoring for National Space Transportation System (NSTS) flight activities. NSTS flight managers monitor and command spacecraft from one of two Flight Control Rooms (FCR). Each FCR is equipped with five large screen displays for group dissemination of spacecraft system status and vehicle position relative to Earth geography. The primary or center screen display is ten feet in height and twenty feet in width. The secondary or side screens are seven and one-hald feet high and ten feet wide. The center screen projection system is exhibiting high maintenance costs and is considered to be in wear-out phase. The replacement of the large center screen displays at the MCC is complicated by the unique requirements of the Flight Controller user. These requirements demand a very high performance, multiple color projection system capable of the display of high resolution text, graphics and images produced in near real time. The current system to be replaced, the replacement system requirements, the efforts necessary to procure the major element of this system (the projector) for the government, and how the new capabilities are to be integrated into the existing MCC operational configuration are discussed.
Skudlarek, Martin J.↗
Safety aspects of spacecraft commanding
The commanding of spacecraft is a potentially hazardous activity for the safety of the spacecraft. Present day control systems contain safety features in their commanding subsystem and in addition, strict procedures are also followed by operations staff. However, problems have occurred on a number of missions as a result of erroneous commanding leading in some cases to spacecraft contingencies and even to near loss of the spacecraft. The problems of checking commands in advance are increased by the tendency in modern spacecraft to use blocked/time-tagged commands and the increased usage of on-board computers, for which commands changing on-board software tables can radically change spacecraft or subsystem behavior. This paper reports on an on-going study. The study aims to improve the approach to safety of spacecraft commanding. It will show how ensuring 'safe' commanding can be carried out more efficiently, and with greater reliability, with the help of knowledge based systems and/or fast simulators. The whole concept will be developed based on the Object-Oriented approach.
Peccia, N.↗