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NASA NTRS1993

Controlled structures technology and the design of an optical interferometer spacecraft

The impact of extremely stringent structural control requirements and controlled structures techniques on the overall design of a spacecraft system is examined. A space-based optical interferometer presents a design case that necessitates the application of controlled structures technology. In order for interferometry to succeed, differential pathlengths between the optical components need to be identical within a fraction of a wavelength of the light (about 25 nm for visible light). This high level of precision must be maintained on a large, flexible structure in the face of common spacecraft vibrational disturbances. Aspects of spacecraft design are examined to determine the impact of structural control on the 'normal' design process. Structural control objectives can drive several choices in subsystem component selection and sizing that minimize the vibrational environment.

Nisbet, Andrew M.↗

NASA NTRS1993

Validated technology for the reduction of spacecraft vibrations - Controls-Structures Integration (CSI)

The NASA Langley Research Center has constructed several testbeds to assess the viability of flexible structure control. It is found, however, that simply adding sensors, actuators, and a control system to an existing structure (i.e. space platform) is not the preferred methodology for improving pointing performance. When the structure is designed without regard to pointing control, significant design freedom is lost. The preferred design procedure is to simultaneously design the structure and the control system, hence, the name Controls-Structures Integration. By designing the structure and control system simultaneously, much higher efficiency can be achieved. In this study, an 18 m long truss structure with several appendages was enhanced through integrated controls and structures design. The design was fabricated and tested for validation of the methodology. Test results collaborated predictions and showed a 60 percent reduction in control energy for the enhanced test article.

Newsom, Jerry R.↗

NASA NTRS1990

Continuation methods in multiobjective optimization for combined structure control design

A homotopy approach involving multiobjective functions is developed to outline the methods that have evolved for the combined control-structure optimization of physical systems encountered in the technology of large space structures. A method to effect a timely consideration of the control performance prior to the finalization of the structural design involves integrating the control and structural design processes into a unified design methodology that combines the two optimization problems into a single formulation. This study uses the combined optimization problem as a family of weighted structural and control costs. Connections with vector optimizations are described; an analysis of the zero-set of required conditions is made, and a numerical example is given.

Milman, M.↗

NASA NTRS1990

Approach to large space structure control system design using traditional tools

This paper illustrates how traditional analysis and design tools can be successfully applied, with insights derived from recent research on control-structure interaction, to preliminary control system design for a large space structure such as the Space Station Freedom. The control system regulates attitude during construction, normal on-orbit operation, reboost, and docking using control-moment gyros and thrusters. The tools include finite-element modeling, model reduction based on modal truncation, single-input/single-output Bode plot design, position and rate feedback, roll-off and phase filter, and simulation. The resulting system is characterized by simple architecture and moderate bandwidth. The large configuration changes during the construction period are handled by gain scheduling.

Chu, P. Y.↗

NASA NTRS1992

The direct effects of gravity on the control and output matrices of controlled structure models

The effects of gravity on the dynamic performance of structural control actuators and sensors are dual forms of an additive perturbation that can attenuate or amplify the device response (input or output). The modal modeling of these perturbations is derived for the general case of arbitrarily oriented devices and arbitrarily oriented planes of deformation. A nondimensional sensitivity analysis to identify the circumstances under which the effects of gravity are important is presented. Results show that gravity effects become important when the product of the ratio of the normalized modal slope and the modal displacement is comparable to the ratio of the gravitational acceleration and the product of the beam length and the squared eigenfrequency for a given mode.

Rey, Daniel A.↗

NASA NTRS1990

Integrated structure-control optimization of space structures

In the past few years there has been substantial interest in the integrated design of large space structures and their vibration control systems. This paper overviews two aspects of integrated control-structure design. The first is the calculation of derivatives of control system stability margins with respect to structural parameters, and the effect of modal truncation on the accuracy of these derivatives. The second aspect is the various formulations used to define an integrated design optimization problem.

Haftka, Raphael T.↗

NASA NTRS1991

Recent results on structural control of an active precision structure

This paper describes recent results in structural control of an active precision truss structure at JPL. The goal is to develop practical control methodology and to apply to active truss structures intended for high precision space-based optics applications. The active structure considered incorporates piezoelectric active members which apply control forces internal to the structure and thereby improve the structure's dimensional stability. Two approaches to structural control system design were investigated. The first approach uses only noncollocated measurements of acceleration at the location of a simulated optical component to achieve structural stabilization. The second approach is essentially the same as the first one except that a viscous damper was used in place of a truss member on the structure to improve the dampings of selected flexible modes. The corresponding experimental closed-loop results are presented in this paper.

Chu, C. C.↗

NASA NTRS1984

Dual structural-control optimization of large space structures

A new approach is proposed for solving dual structural-control optimization problems for high-order flexible space structures where reduced-order structural models are employed. For a given initial structural dessign, a quadratic control cost is minimized subject to a constant-mass constraint. The sensitivity of the optimal control cost with respect to the stuctural design variables is then determined and used to obtain successive structural redesigns using a contrained gradient optimization algorithm. This process is repeated until the constrained control cost sensitivity becomes negligible. A numerical example is presented which demonstrates that this new approach effectively addresses the problem of dual optimization for potentially very high-order structures.

Messac, A.↗

NASA NTRS1993

C-SIDE: The control-structure interaction demonstration experiment

The Control-Structure Interaction Demonstration Experiment (C-SIDE) is sponsored by the Electro-Optics and Cryogenics Division of Ball Aerospace Systems Group. Our objective is to demonstrate methods of solution to structure control problems utilizing currently available hardware in a system that is an extension of our corporate experience. The larger space structures with which Ball has been associated are the SEASAT radar antenna, Shuttle Imaging Radar (SIR) -A, -B and -C antennas and the Radarsat spacecraft. The motivation for the C-SIDE configuration is to show that integration of active figure control in the radar's system-level design can relieve antenna mechanical design constraints. This presentation is primarily an introduction to the C-SIDE testbed. Its physical and functional layouts, and major components are described. The sensor is of special interest as it enables direct surface figure measurements from a remote location. The Remote Attitude Measurement System (RAMS) makes high-rate, unobtrusive measurements of many locations, several of which may be collocated easily with actuators. The control processor is a 386/25 executing a reduced order model-based algorithm with provision for residual mode filters to compensate for structure interaction. The actuators for the ground demonstration are non-contacting, linear force devices. Results presented illustrate some basic characteristics of control-structure interaction with this hardware. The testbed will be used for evaluation of current technologies and for research in several areas. A brief indication of the evolution of the C-SIDE is given at the conclusion.

Mohl, James B.↗

NASA NTRS1989

Dynamic and structural control utilizing smart materials and structures

An account is given of several novel 'smart material' structural control concepts that are currently under development. The thrust of these investigations is the evolution of intelligent materials and structures superceding the recently defined variable-geometry trusses and shape memory alloy-reinforced composites; the substances envisioned will be able to autonomously evaluate emergent environmental conditions and adapt to them, and even change their operational objectives. While until now the primary objective of the developmental efforts presently discussed has been materials that mimic biological functions, entirely novel concepts may be formulated in due course.

Rogers, C. A.↗

NASA NTRS1990

Computer implementation of analysis and optimization procedures for control-structure interaction problems

Implementation aspects of control-structure interaction analysis and optimization by the staggered use of single-discipline analysis modules are discussed. The single-discipline modules include structural analysis, controller synthesis and optimization. The software modularity is maintained by employing a partitioned control-structure interaction analysis procedure, thus avoiding the need for embedding the single-discipline modules into a monolithic program. A software testbed has been constructed as a stand-alone analysis and optimization program and tested for its versatility and software modularity by applying it to the dynamic analysis and preliminary design of a prototype Earth Pointing Satellite. Experience with the in-core testbed program so far demonstrates that the testbed is efficient, preserves software modularity, and enables the analyst to choose a different set of algorithms, control strategies and design parameters via user software interfaces. Thus, the present software architecture is recommended for adoption by control-structure interaction analysts as a preliminary analysis and design tool.

Belvin, W. Keith↗

NASA NTRS1992

Active structural control for damping augmentation and compensation of thermal distortion

A large space-based Focus Mission Interferometer is used as a testbed for the NASA Controls and Structures Interaction Program. Impedance-based adaptive structural control and control of thermal disturbances are demonstrated using an end-to-end simulation of the system's optical performance. Attention is also given to integrated optical/structural modeling and a hierarchical, layered control strategy.

Sirlin, S. W.↗

NASA NTRS1993

Sensitivity analysis of Lyapunov and Riccati equations with application to controls-structures integrated design

Controls-structure integrated design is a complicated multidisciplinary design optimization problem which involves the state equations pertaining to open-loop eigenvalues and control laws. In order to alleviate the intensity of the computation, this study uses the adjoint variable method to derive sensitivity equations for the eigenvalue, Liapunov, and Riccati equations. These individual sensitivity equations are then combined together to form the multidisciplinary sensitivity equations for the control structure integrated design problems. A set of linear sensitivity equations, proportional in number to the number of performance functions involved in the optimization process, are solved. This proposed approach may provide a great saving in computer resources. The validity of the newly developed sensitivity equations is verified by numerical examples.

Hou, Gene↗

NASA NTRS1993

Optimization for efficient structure-control systems

The efficiency of a structure-control system is a nondimensional parameter which indicates the fraction of the total control power expended usefully in controlling a finite-dimensional system. The balance of control power is wasted on the truncated dynamics serving no useful purpose towards the control objectives. Recently, it has been demonstrated that the concept of efficiency can be used to address a number of control issues encountered in the control of dynamic systems such as the spillover effects, selection of a good input configuration and obtaining reduced order control models. Reference (1) introduced the concept and presented analyses of several Linear Quadratic Regulator designs on the basis of their efficiencies. Encouraged by the results of Ref. (1), Ref. (2) introduces an efficiency modal analysis of a structure-control system which gives an internal characterization of the controller design and establishes the link between the control design and the initial disturbances to affect efficient structure-control system designs. The efficiency modal analysis leads to identification of principal controller directions (or controller modes) distinct from the structural natural modes. Thus ultimately, many issues of the structure-control system revolve around the idea of insuring compatibility of the structural modes and the controller modes with each other, the better the match the higher the efficiency. A key feature in controlling a reduced order model of a high dimensional (or infinity-dimensional distributed parameter system) structural dynamic system must be to achieve high efficiency of the control system while satisfying the control objectives and/or constraints. Formally, this can be achieved by designing the control system and structural parameters simultaneously within an optimization framework. The subject of this paper is to present such a design procedure.

Oz, Hayrani↗

NASA NTRS1990

The NASA controls-structures interaction technology program

The interaction between a flexible spacecraft structure and its control system is commonly referred to as controls-structures interaction (CSI). The CSI technology program is developing the capability and confidence to integrate the structure and control system, so as to avoid interactions that cause problems and to exploit interactions to increase spacecraft capability. A NASA program has been initiated to advance CSI technology to a point where it can be used in spacecraft design for future missions. The CSI technology program is a multicenter program utilizing the resources of the NASA Langley Research Center (LaRC), the NASA Marshall Space Flight Center (MSFC), and the NASA Jet Propulsion Laboratory (JPL). The purpose is to describe the current activities, results to date, and future activities of the NASA CSI technology program.

Newsom, Jerry R.↗

NASA NTRS1990

The NASA controls-structures interaction technology program

The interaction between a flexible spacecraft structure and its control system is commonly referred to as controls-structures interaction (CSI). The CSI technology program is developing the capability and confidence to integrate the structure and control system, so as to avoid interactions that cause problems and to exploit interactions to increase spacecraft capability. A NASA program has been initiated to advance CSI technology to a point where it can be used in spacecraft design for future missions. The CSI technology program is a multicenter program utilizing the resources of the NASA Langley Research Center, the NASA Marshall Space Flight Center, and the NASA Jet Propulsion Laboratory. The purpose of this paper is to describe the current activities, results to date, and future activities of the NASA CSI technology program.

Newsom, Jerry R.↗

NASA NTRS1994

Software for continuum modeling of controls-structures interactions

It is clear that computer software is needed to assist in the generation of the equations of motion for complex, flexible spacecraft. Daniel Poelaert of ESTEC has developed the software DISTEL with which he has modeled the structural dynamics for different satellites. He is interested in expanding the capabilities of DISTEL to include structural damping and control systems. Unfortunately, the software has not been released. The author has developed similar software, PDEMOD, which has been used to model the Spacecraft control Laboratory Experiment (SCOLE), the Solar Array Flight Experiment (SAFE), the Mini-MAST truss, and the LACE satellite. PDEMOD has been used also for optimal parameter estimation and integrated control-structures design. PDEMOD is also being extended to include structural damping and control systems which are imbedded into the same equations for the structural dynamics. This paper will address the formulation of the equations for the structural dynamics of spacecraft structures which are constructed of a 3-dimensional arrangement of rigid bodies and flexible beam elements. Control system dynamics are imbedded into the same equations so that model order reduction approximations are not necessary. The input data consists of the physical data of the elements and the topological information describing how the elements are connected. PDEMOD accomplishes the following: (1) automatically assembles the equations of motion for the entire structural model; (2) calculates the modal frequencies; (3) calculates the mode shapes; (4) generates perspective views of the mode shapes; and (5) forms selected transfer functions. The software PDEMOD continues to be developed to provide additional features to assist in analyzing and synthesizing control and structural systems for flexible spacecraft.

Taylor, Lawrence W., Jr.↗

NASA NTRS1989

Control Structures Interaction (CSI) Technology

Control Structures Interaction (CSI) technology for control of space structures is being developed cooperatively by JPL, LaRC and MSFC for NASA OAST/RM. The mid-'90s goal of JPL's CSI program is to demonstrate with analysis, ground and flight tests, the super quiet structures needed for large diffraction-limited instruments such as optical stellar interferometers and large advanced successors to the Hubble Space Telescope. Microprecision CSI technology is intended as a new "building block" for use by the designers of large optical systems. The thrust of the microprecision CSI technology effort is to achieve nanometer-levels of space structure stability/accuracy with designs which employ otherwise conventional spacecraft technologies. JPL design experiences have indicated the following CSI technology development areas are especially applicable to large optical system projects: (1) Active structural members; (2) Control/structures design methods; (3) Microdynamic effects characterization; and (4) Ground and flight test validation of CSI methods.

Layman, W. E.↗