ALBERT

Beschreibung: Viewgraphs on current analytical gaps for future needs for large space systems are presented. Topics covered include: future spacecraft; common control objectives; accuracy requirements; increasing complexity; promising approaches; and analytical gaps.

Beschreibung: Large scale space missions of the near future will depend upon successful multi-launch coordination and construction in the space environment. One of the main challenges is how to accomplish a valid global analysis of a construction project with the intent of improving safety, reducing overall mission cost, and total construction time. These three items are dependent on the interruptability of the project, which is the ability of the project to recover from unplanned interruptions; such as failure of the launch vehicle; sudden, on-orbit, crew illness; or damage from a space debris impact on the partially completed space structure. A new method for addressing and analyzing this type of problem is being developed. The method is called Program Interruptability and Risk Evaluation Technique, or PIRET. PIRET has been developed in order to model and analyze potential interruptability concerns of the construction of the U.S. Space Station Freedom (SSF), although PIRET is applicable to any complex, multi-launch structural assembly. This paper is a progress report on the continuing research of the NASA Center for Space Construction at the University of Colorado, Boulder into this area of space construction interruptability. The paper will define the problem of interruptability, will diagram the PIRET approach to space construction, will share results from a preliminary PIRET analysis of SSF, and will show that PIRET is a useful tool for modelling space construction interruptability.

Beschreibung: Large Space Structures do not have much damping, which necessitates the installation of a controller onto the structure. If the controller is improperly designed, the structure may become unstable and be destroyed. Since Large Space Structures are extremely expensive pieces of hardware, new controllers must not be tested first on the structure. They must first be tested in computer simulations. Until now, the usual procedure for simulating controlled Large Space Structures is to compute a reduced order modal representation of the structure and then apply the controller. However, this procedure entails modal truncation error. A new software package which is free from this error is currently under development within the Center for Space Construction. The more accurate finite element representation of the structure is used in the simulation, instead of the less accurate reduced order modal representation. This software also features an efficient matrix storage scheme, which effectively deals with the asymmetric system matrices which occur when control is added to the structure. Also, an integration algorithm was chosen so that the simulation is a reliable indicator of system stability or instability. The software package is fairly general in nature. Linearity of the finite element model and of the controller is the only assumption made. Actuator dynamics, sensor dynamics, noise, and disturbances can be handled by the package. In addition, output feedback of displacement, velocity, and/or acceleration signals can be simulated. Kalman state estimation was also implemented. This software was tested on a finite element model of a real Large Space Structure: The Mini-Mast Truss. Mini-Mast is a testbed at NASA-Langley which is currently under development. A 714 degree of freedom finite element model was computed, and a 19 state controller was designed for it. Torque wheel dynamics were added to the model, and the entire closed loop system was simulated with the software package.

Beschreibung: Guided wave modes in cladded or uncladded fiber-reinforced composite plates and tubes have been analyzed using a stiffness method in which the displacement variation through the thickness is approximated by polynomial interpolation functions. This allows for an arbitrary number of laminations and fiber orientations different from lamina to lamina. It is shown that dispersive behavior of guided modes depends significantly on the cladding, number of laminae, and interfaces between the adjacent laminae. A hybrid modeling technique is described in which an inner region containing cracks (or other defects) is discretized by finite elements, and the field in the exterior region is represented in terms of modes that are found using the stiffness method described above. It is found that the reflected and transmitted amplitudes of modes vary significantly with the size of a transverse or longitudinal (delamination) crack and frequency. We have also studied the impact response of a unidirectional fiber-reinforced plate. Received signals at the epicentral and other locations are shown. Strong longitudinal anisotropy of the graphite/epoxy plate causes the signal to be considerably different from that in an isotropic plate.

Beschreibung: One of the most difficult problems in controlling large systems and structures is compensating for the destructive interaction which can occur between the reduced-order model (ROM) of the plant, which is used by the controller, and the unmodeled dynamics of the plant, often called the residual modes. The problem is more significant in the case of large space structures because their naturally light damping and high performance requirements lead to more frequent, destructive residual mode interaction (RMI). Using the design/compensation technique of residual mode filters (RMF's), effective compensation of RMI can be accomplished in a straightforward manner when using linear controllers. The use of RMF's has been shown to be effective for a variety of large structures, including a space-based laser and infinite dimensional systems. However, the dynamics of space structures is often uncertain and may even change over time due to on-orbit erosion from space debris and corrosive chemicals in the upper atmosphere. In this case, adaptive control can be extremely beneficial in meeting the performance requirements of the structure. Adaptive control for large structures is also based on ROM's and so destructive RMI may occur. Unfortunately, adaptive control is inherently nonlinear, and therefore the known results of RMF's cannot be applied. The purpose is to present the results of new research showing the effects of RMI when using adaptive control and the work which will hopefully lead to RMF compensation of this problem.

Beschreibung: The objective of this program is to develop technology needed for structural evaluation of alternative space construction concepts. Those concepts are as follows: interactive effects on dynamic performance of various environment and self-generated disturbance; new materials concepts, failure mechanisms, and non-destructive evaluation/failure detection; develop stable control algorithms and design effective combination of hierarchical and adaptive controls; and assess control-structure integrated performance and stability.

Beschreibung: Partially constructed/assembled structures in space are complicated enough but their dynamics will also be operating in closed-loop with feedback controllers. The dynamics of such structures are modeled by large-scale finite element models. The model dimension L is extremely large (approximately 10,000) while the numbers of actuators (M) and sensors (P) are small. The model parameters M(sub m) mass matrix, D(sub o) damping matrix, and K(sub o) stiffness matrix, are all symmetric and sparse (banded). Thus simulation of open-loop structure models of very large dimension can be accomplished by special integration techniques for sparse matrices. The problem of simulation of closed-loop control of such structures is complicated by the addition of controllers. Simulation of closed-loop controlled structures is an essential part of the controller design and evaluation process. Current research in the following areas is presented: high-order simulation of actively controlled aerospace structures; low-order controller design and SCI compensation for unmodeled dynamics; prediction of closed-loop stability using asymptotic eigenvalue series; and flexible robot manipulator control experiment.

Beschreibung: Within the Center for Space Construction, the SIMSTRUC project's objectives center around the development of simulation tools for the realistic analysis of large space structures. The word 'tools' is the broad sense; it designates mathematical models, finite element/finite difference formulations, computational algorithms, implementations on advanced computer architectures, and visualization capabilities. The results of our activities during the first year within the SIMSTRUC project are reported. On the modeling side, an alternative approach to fluid/thermal/structure interaction analysis that is a departure from the 'loosely coupled' and 'unified' approaches that are being currently practiced are described. The advantages of our approach both in terms of accuracy and computational efficiency were demonstrated. On the computational side, a software architecture for parallel/vector and massively parallel supercomputers that speeds up finite element and finite difference computations by several orders of magnitude is presented. As an example, the simulation of the deployment of a space structure that used to require over six hours of a workstation using a conventional finite element software, now runs on a multiprocessor using a parallel computation strategy in less than three seconds. In order to promote the physical understanding of the simulation behavior, a real-time visualization capability on the Connection Machine, which allows the analyst to watch the graphical animation of the results at the same time these are generated, was also developed. It is believed that by combining efficient analytical formulations with the state-of-the-art high performance computer implementations and superfast visualization capabilities, SIMSTRUC is moving fast towards the real-time simulation of large space structures. The designers as well as the researchers will certainly benefit from this technology.

Beschreibung: Future spacecraft design will be affected by collisions with man-made debris orbiting the earth. Most of this orbital space debris comes from spent rocket stages. It is projected that the source of future debris will be the result of fragmentation of large objects through hypervelocity collisions. Orbiting spacecraft will have to be protected from hypervelocity debris in orbit. The options are to armor the spacecraft, resulting in increased mass, or actively removing the debris from orbit. An active space debris sweeper is described which will utilize momentum transfer to the debris through laser-induced ablation to alter its orbital parameters to reduce orbital lifetime with eventual entry into the earth's atmosphere where it will burn. The paper describes the concept, estimates the amount of velocity change (Delta V) that can be imparted to an object through laser-induced ablation, and investigates the use of a neutral particle beam for the momentum transfer. The space sweeper concept could also be extended to provide a collision avoidance system for the space station and satellites, or could be used for collision protection during interplanetary travel.

Beschreibung: The design and use of the Space Station Freedom are discussed. The contributions to the Station from EAS, Japan, Canada, and the US are described. Consideration is given to the capability of the Station, the internal accommodations for crew and payloads, various applications for the modules, and the planning and operation of the payloads.

Beschreibung: Procedures for attitude determination based on Wahba's loss function are generalized to include the estimation of parameters other than the attitude, such as sensor biases. Optimization with respect to the attitude is carried out using the q-method, which does not require an a priori estimate of the attitude. Optimization with respect to the other parameters employs an iterative approach, which does require an a priori estimate of these parameters. Conventional state estimation methods require a priori estimates of both the parameters and the attitude, while the algorithm presented in this paper always computes the exact optimal attitude for given values of the parameters. Expressions for the covariance of the attitude and parameter estimates are derived.

Beschreibung: The status and results to date of the NASA-Lewis/USAF Astronautics study of technology for large spacecraft heat-dissipation by means of liquid-droplet radiation (LDR) are discussed. The LDR concept uses a droplet generator to create billions of 200-micron droplets of a heatsink fluid which will cool through radiation into deep space as they fly toward a dropet collector. This exposure to the space environment entails the maintenance of vapor pressure as low as 10 to the -7th torr; the fluid must also be very stable chemically. While certain oils are good fluids for LDR use at low temperatures, higher-temperature heatsink fluids include Li, Sn, and Ga liquid metals.

Beschreibung: A review of unfurlable satellite antennas is presented. Typical application requirements for future space missions are first outlined. Then, U.S. and European mesh and inflatable antenna concepts are described. Precision deployables using rigid panels or petals are not included in the survey. RF modeling and performance analysis of gored or faceted mesh reflector antennas are then reviewed. Finally, both on-ground and in-orbit RF test techniques for large unfurlable antennas are discussed.

Beschreibung: The development and use of microspacecraft are examined. It is proposed that 10-50 microspacecraft per year can be launched; up to 50 microspacecraft can be dispatched with traditional launchers; and 1-3 experiments can be performed on the spacecraft. Various applications for the microspacecraft are discussed and specific examples of proposed missions are presented. Some systems and instruments designed for the microspacecraft are described.

Beschreibung: For 22 years (from ATS-1 to GOES-H) a single technology has dominated imaging from geosynchronous altitudes. In 1990, with the scheduled launch of GOES-I, a major change will occur which will in turn open the way for the Geostationary Platform. The need for improved observations of severe storms has led NOAA to a decision to replace spinning geostationary spacecraft with a three-axis-stabilized type (non-spinning) vehicle already common among communications spacecraft and demonstrated by INSAT. Also, the current spin-scan imager with sounder channels will be replaced by separate instruments capable of independent aiming. The advantages and challenges of the changes are discussed.

Beschreibung: A new, near-optimal feedback control technique is introduced that is shown to provide excellent vibration attenuation for those distributed parameter systems that are often encountered in the areas of aeroservoelasticity and large space systems. The technique relies on a novel solution methodology for the classical optimal control problem. Specifically, the quadratic regulator control problem for a flexible vibrating structure is first cast in a weak functional form that admits an approximate solution. The necessary conditions (first-order) are then solved via a time finite-element method. The procedure produces a low dimensional, algebraic parameterization of the optimal control problem that provides a rigorous basis for a discrete controller with a first-order like hold output. Simulation has shown that the algorithm can successfully control a wide variety of plant forms including multi-input/multi-output systems and systems exhibiting significant nonlinearities. In order to firmly establish the efficacy of the algorithm, a laboratory control experiment was implemented to provide planar (bending) vibration attenuation of a highly flexible beam (with a first clamped-free mode of approximately 0.5 Hz).

Beschreibung: Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Beschreibung: A flexible aircraft or space structure with active control is typically modeled by a large-order state space system of equations in order to accurately represent the rigid and flexible body modes, unsteady aerodynamic forces, actuator dynamics and gust spectra. The control law of this multi-input/multi-output (MIMO) system is expected to satisfy multiple design requirements on the dynamic loads, responses, actuator deflection and rate limitations, as well as maintain certain stability margins, yet should be simple enough to be implemented on an onboard digital microprocessor. A software package for performing an analog or digital control law synthesis for such a system, using optimal control theory and constrained optimization techniques is described.

Beschreibung: Simulation of structural response of multi-flexible-body systems by linearized flexible motion combined with nonlinear rigid motion is discussed. Advantages and applicability of such an approach for accurate simulation with greatly reduced computational costs and turnaround times are described, restricting attention to the control design environment. Requirements for updating the linearized flexibility model to track large angular motions are discussed. Validation of such an approach by comparison with other existing codes is included. Application to a flexible robot manipulator system is described.

Beschreibung: A simulation of the system made up of the Orbiter, Remote Manipulator System (RMS), and payload grappled by the RMS was completed. The simulation was used to study the stability of this overall system when its attitude is under control of the Orbiter's on-orbit Flight Control System (FCS). The simulation was also used to study the dynamics of the system when the RMS and its associated command software are in active control of the relative Orbiter to payload position and orientation. The simulation models all of the following elements: RMS boom bending (represented by two cubic bending models); RMS boom torsion; RMS joint gearbox compliance (represented by a non-linear wind-up model); flexibility at the RMS to Orbiter interface; flexibility at the RMS to payload interface; joint motor dynamics; joint servo-loop dynamics; RMS on-board computer command logic; data transfer delays between the RMS sensor and the RMS on-board computer and between the RMS on-board computer and RMS joint servos; on-orbit flight control nonlinear control logic; and the Reaction Control System (both Primary and Vernier) jet forces and moments.

Beschreibung: A three-dimensional finite element formulation for modeling the transient dynamics of constrained multibody space sructures with truss-like configurations is presented. Convected coordinate systems are used to define rigid-body motion of individual elements in the system. These systems are located at one end of each element and are oriented such that one axis passes through the other end of the element. Deformation of each element, relative to its convected coordinate system, is defined by cubic flexural shape functions as used in finite element methods of structural analysis. The formulation is oriented toward joint dominated structures and places the generalized coordinates at the joint. A transformation matrix is derived to integrate joint degree-of-freedom into the equations of motion of the element. Based on the derivation, a general-purpose code LATDYN (Large Angle Transient DYNamics) was developed. Two examples are presented to illustrate the application of the code. For the spin-up of a flexible beam, results are compared with existing solutions available in the literature. For the deployment of one bay of a deployable space truss (the Minimast), results are verified by the geometric knowledge of the system and converged solution of a successively refined model.

Beschreibung: Described here are Boeing software tools used for the development of control laws of flexible structures. The Boeing Company has developed a software tool called Modern Control Software Package (MPAC). MPAC provides the environment necessary for linear model development, analysis, and controller design for large models of flexible structures. There are two features of MPAC which are particularly appropriate for use with large models: (1) numerical accuracy and (2) label-driven nature. With the first feature MPAC uses double precision arithmetic for all numerical operations and relies on EISPAC and LINPACK for the numerical foundation. With the second feature, all MPAC model inputs, outputs, and states are referenced by user-defined labels. This feature allows model modification while maintaining the same state, input, and output names. In addition, there is no need for the user to keep track of a model variable's matrix row and colunm locations. There is a wide range of model manipulation, analysis, and design features within the numerically robust and flexible environment provided by MPAC. Models can be built or modified using either state space or transfer function representations. Existing models can be combined via parallel, series, and feedback connections; and loops of a closed-loop model may be broken for analysis.

Beschreibung: The goal is to develop the next generation guidance and control analysis and design tools to enable future missions and to improve productivity and reliability.

Beschreibung: A NASA program is about to start which has the objective to advance Controls-Structures Interaction (CSI) technology to a point where it can be used in spacecraft design for future missions. Because of the close interrelationships between the structure, the control hardware, and the analysis/design, a highly interdisciplinary activity is defined in which structures, dynamics, controls, computer and electronics engineers work together on a daily basis and are co-located to a large extent. Methods will be developed which allow the controls and structures analysis and design functions to use the same mathematical models. Hardware tests and applications are emphasized and will require development of concepts and test methods to carry out. Because of a variety of mission application problem classes, several time-phased, focus ground test articles are planned. They will be located at the Langley Researdh Center (LaRC), the Marshall Space Flight Center (MSFC) and at the Jet Propulsion Laboratory (JPL). It is anticipated that the ground tests will be subject to gravity and other environmental effects to the extent that orbital flights tests will be needed for verification of some technology items. The need for orbital flight experiments will be quantified based on ground test results and mission needs. Candidate on-orbit experiments will be defined and preliminary design/definition and cost studies will be carried out for one or more high-priority experiments.

Beschreibung: Actual design turn-around time has become shorter due to the use of optimization techniques which have been introduced into the design process. It seems that what, how and when to use these optimization techniques may be the key factor for future aircraft engineering operations. Another important aspect of this technique is that complex physical phenomena can be modeled by a simple mathematical equation. The new powerful multilevel methodology reduces time-consuming analysis significantly while maintaining the coupling effects. This simultaneous analysis method stems from the implicit function theorem and system sensitivity derivatives of input variables. Use of the Taylor's series expansion and finite differencing technique for sensitivity derivatives in each discipline makes this approach unique for screening dominant variables from nondominant variables. In this study, the current Computational Fluid Dynamics (CFD) aerodynamic and sensitivity derivative/optimization techniques are applied for a simple cone-type forebody of a high-speed vehicle configuration to understand basic aerodynamic/structure interaction in a hypersonic flight condition.

Beschreibung: The problem is to develop analysis methods, modeling stategies, and simulation tools to predict with assurance the on-orbit performance and integrity of large complex space structures that cannot be verified on the ground. The problem must incorporate large reliable structural models, multi-body flexible dynamics, multi-tier controller interaction, environmental models including 1g and atmosphere, various on-board disturbances, and linkage to mission-level performance codes. All areas are in serious need of work, but the weakest link is multi-body flexible dynamics.

Beschreibung: The double lead spiral platen parallel jaw end effector is an extremely powerful, compact, and highly controllable end effector that represents a significant improvement in gripping force and efficiency over the LaRC Puma (LP) end effector. The spiral end effector is very simple in its design and has relatively few parts. The jaw openings are highly predictable and linear, making it an ideal candidate for remote control. The finger speed is within acceptable working limits and can be modified to meet the user needs; for instance, greater finger speed could be obtained by increasing the pitch of the spiral. The force relaxation is comparable to the other tested units. Optimization of the end effector design would involve a compromise of force and speed for a given application.

Beschreibung: The Deployable Retrievable Boom which was developed as a part of the joint U.S.-Italian Tethered Satellite System (TSS) is described. The design mission of the boom is to support, deploy, and retrieve an experiment package for the study of the electromagnetic field surrounding the satellite. The mechanism includes a jettisoning provision and deployable harness for the supported payloads connection. The boom is based on a tubular telescopic concept. Particular emphasis is placed on the payload harness connection capability and safety provisions.

Beschreibung: A brief listing of the concerns of the working group on spacecraft charging is presented. Brief conclusions for each concern is also given.

Beschreibung: The effects of spacecraft charging on spacecraft materials are studied. Spacecraft charging interactions seem to couple environment to system performance through materials. Technology is still developing concerning both environment-driven and operating system-driven interactions. The meeting addressed environment but lacked specific mission requirements, as a result system definition are needed to prioritize interactions.

Beschreibung: An overview is presented of potential interactions that can occur on spacecraft operating in space environments. These interactions are discussed in detail. The environment acts on spacecraft in such a way that charging of exterior surfaces occurs. The consequences from this charging then affect system operational performance. Hence, it is the coupling of this exterior charging to system performance that is of concern here. These interactions were first discovered in the spacecraft charging phenomena in which the geomagnetic substorms charged external surfaces to a level that discharges occurred. As a result of the discharge, electronic systems either changed logic state (anomalous switching) or failed. These interactions can occur in all orbits. The type associated with geosynchronous orbits is called passive since the environment provides the charging mechanism. This type can also occur in polar orbits due to auroral charging environments. In low Earth orbits, the thermal plasma alleviates charging environment concerns, but system operations can induce similar effects.

Beschreibung: Charging of dielectrics is a bulk, not a surface property. Radiation driven charge stops within the bulk and is not quickly conducted to the surface. Very large electric fields develop in the bulk due to this stopped charge. At space radiation levels, it typically requires hours or days for the internal electric fields to reach steady state. The resulting electric fields are large enough to produce electrical failure within the insulator. This type failure is thought to produce nearly all electric discharge anomalies. Radiation also induces bond breakage, creates reactive radicals, displaces atoms and, in general, severely changes the chemistry of the solid state material. Electric fields can alter this process by reacting with charged species, driving them through the solid. Irradiated polymers often lose as much as a percent of their mass, or more, at exposures typical in space. Very different aging or contaminant emission can be induced by the stopped charge electric fields. These radiation effects are detailed.

Beschreibung: The effects of thermal cycling on the thermal and mechanical properties of composite materials that are candidates for space structures are briefly described. The results from a thermal analysis of the orbiting Space Station Freedom is used to define a typical thermal environment and the parameters that cause changes in the thermal history. The interactions of this environment with composite materials are shown and described. The effects of this interaction on the integrity as well as the properties of GR/thermoset, Gr/thermoplastic, Gr/metal and Gr/glass composite materials are discussed. Emphasis is placed on the effects of the interaction that are critical to precision spacecraft. Finally, ground test methodology are briefly discussed.

Beschreibung: Component qualification and acceptance temperatures are derived from worst case thermal analyses and analytic uncertainty margin subject to certain specified temperature extremes. Temperature requirements are shown for equipment operation within specification and for survival and turn-on (need not operate within specification, but must not experience any degradation when returned to operational range). Temperature excursions for most equipment are seen to be 20 to 50 C above and below room temperature. Components without active electronics which are mounted outboard, such as solar arrays and antennas, are usually designed to withstand wider temperature excursions, particularly at the cold end. Batteries are tightly controlled at cold temperatures to increase life. Payload components such as extremely accurate clocks for precise navigation are controlled over a relatively narrow temperature range.

Beschreibung: Effective contamination control must encompass all aspects of ground and flight from design of the system through the end of mission life. Design systems are needed to minimize sensitivity to contamination, ease of cleaning, and contaminant production. Facilities and procedures are critical to maintaining cleanliness during ground operations. Flight operations should be planned so as to minimize contamination. More data from flights are required to assess the adequacy of designs and operations. Standards and specifications should include contamination control requirements.

Beschreibung: In the flight materials exposure data base extensive quantitative data is available from limited exposures in a narrow range of orbital environments. More data is needed in a wider range of environments as well as longer exposure times. Synergistic effects with other environmental factors; polar orbit and higher altitude environments; and real time materials degradation data is needed to understand degradation kinetics and mechanism. Almost no laboratory data exists from high fidelity simulations of the LEO environment. Simulation and test system are under development, and the data base is scanty. Theoretical understanding of hyperthermal atom surface reactions in the LEO environment is not good enough to support development of reliable accelerated test methods. The laser sustained discharge, atom beam sources are the most promising high fidelity simulation-test systems at this time.

Beschreibung: The Spacecraft Anomaly Data Base was useful in identifying trends in anomaly occurrence. Trends alone do not provide quantitative testimony to a spacecraft's reliability, but they do indicate areas that command closer study. An in-depth analysis of a specific anomaly can be expensive and difficult without access to the spacecraft. Statistically verified anomaly trends can provide a good reference point to begin anomaly analysis. Many spacecraft experience an increase in anomalies during the period of several days centered on the solar equinox, a period that is also correlated with sun eclipse at geostationary altitude and an increase in major geomagnetic storms. Increase anomaly occurrence can also be seen during the local time interval between midnight and dawn. This local time interval represents a region in Earth's near space that experiences an enhancement in electron plasma density due to a migration from the magnetotail during or following a geomagnetic substorm.

Beschreibung: The long-term performance of structural materials in the space environment is a key research activity within NASA. The primary concerns for materials in low Earth orbit (LEO) are atomic oxygen erosion and space debris impact. Atomic oxygen studies have included both laboratory exposures in atomic oxygen facilities and flight exposures using the Shuttle. Characterization of atomic oxygen interaction with materials has included surface recession rates, residual mechanical properties, optical property measurements, and surface analyses to establish chemical changes. The Long Duration Exposure Facility (LDEF) is scheduled to be retrieved in 1989 and is expected to provide a wealth of data on atomic oxygen erosion in space. Hypervelocity impact studies have been conducted to establish damage mechanisms and changes in mechanical properties. Samples from LDEF will be analyzed to determine the severity of space debris impact on coatings, films, and composites. Spacecraft placed in geosynchronous Earth orbit (GEO) will be subjected to high doses of ionizing radiation which for long term exposures will exceed the damage threshold of many polymeric materials. Radiation interaction with polymers can result in chain scission and/or cross-linking. The formation of low molecular weight products in the epoxy plasticize the matrix at elevated temperatures and embrittle the matrix at low temperatures. This affects both the matrix-dominated mechanical properties and the dimensional stability of the composite. Embrittlement of the matrix at low temperatures results in enhanced matrix microcracking during thermal cycling. Matrix microcracking changes the coefficient of thermal expansion (CTE) of composite laminates and produces permanent length changes. Residual stress calculations were performed to estimate the conditions necessary for microcrack development in unirradiated and irradiated composites. The effects of UV and electron exposure on the optical properties of transparent polymer films were also examined to establish the optimum chemical structure for good radiation resistance. Thoughts on approaches to establishing accelerated testing procedures are discussed.

Beschreibung: The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base.

Beschreibung: The new concepts are presented for the Geostationary Earth Science Platform. Bus and payload arrangements, with instrument locations on the payload module and basic payload dimensions, are depicted and compared for each concept. The Titan 4 SRMU (with solid rocket motor upgrage) launch vehicle is described and compared to the standard Titan 4. The upgraded Titan 4 is capable of launching a 13,500 lb payload to GEO. The launch configuration showing each concept packaged within the 16 ft diameter payload envelope is presented. This presentation is represented by viewgraph only.

Beschreibung: The completion of the Space Station Propulsion Advanced Technology Programs established an in-depth data base for the baseline gaseous oxygen/gaseous hydrogen thruster, the waste gas resistojet, and the associated system operations. These efforts included testing of a full end-to-end system at National Aeronautics and Space Administration (NASA)-Marshall Space Flight Center (MSFC) in which oxygen and hydrogen were generated from water by electrolysis at 6.89 MPa (1,000 psia), stored and fired through the prototype thruster. Recent end-to-end system tests which generate the oxygen/hydrogen propellants by electrolysis of water at 20.67 MPa (3,000 psia) were completed on the Integrated Propulsion Test Article (IPTA) at NASA-Johnson Space Center (JSC). Resistojet testing has included 10,000 hours of life testing, plume characterization, and electromagnetic interference (EMI) testing. Extensive 25-lbf thruster testing was performed defining operating performance characteristics across the required mixture ratio and thrust level ranges. Life testing has accumulated 27 hours of operation on the prototype thruster. A total of seven injectors and five thrust chambers were fabricated to the same basic design. Five injectors and three thrust chambers designed to incorporate improved life, performance, and producibility characteristics are ready for testing. Five resistojets were fabricated and tested, with modifications made to improve producibility. The lessons learned in the area of producibility for both the O2/H2 thrusters and for the resistojet have resolved critical fabrication issues. The test results indicate that all major technology issues for long life and reliability for space station application were resolved.

Beschreibung: Space Station and satellite reservicing will require the ability to vent gas on orbit from liquid supply or storage tanks and to gage liquid quantity under microgravity conditions. In zero gravity, (zero-g) the vortex vent is capable of venting gas from a tank of liquid containing gas randomly distributed as bubbles. The concept uses a spinning impeller to create centrifugal force inside a vortex tube within a tank. This creates a gas pocket and forces the liquid through a venturi and back into the tank. Gas is then vented from the gas pocket through a liquid detector and then out through an exhaust port. If the liquid detector senses liquid in the vent line, the fluid is directed to the low-pressure port on the venturi and is returned to the tank. The advantages of this system is that it has no rotating seals and is compatible with most corrosive and cryogenic fluids. A prototype was designed and built at the NASA Johnson Space Center and flown on the KC-135 zero-g aircraft. During these test flights, where microgravity conditions are obtained for up to 30 sec, the prototype demonstrated that less than 0.10 percent of the volume of fluid vented was liquid when the tank was half full of liquid. The pressure volume temperature (PVT) gaging system is used in conjunction with the vortex vent to calculate the amount of liquid remaining in a tank under microgravity conditions. The PVT gaging system is used in conjunction with the vortex vent to gage liquid quantity in zero or low gravity. The system consists of a gas compressor, accumulator, and temperature and pressure instrumentation. To measure the liquid in a tank a small amount of gas is vented from the tank to the compressor and compressed into the accumulator. Pressure and temperature in the tank and accumulator are measured before and after the gas transfer occurs. Knowing the total volume of the tank, the volume of the accumulator, the volume of the intermediate lines, and initial and final pressures and temperatures, the mass of the gas leaving the tank is equated to the mass of the gas entering the accumulator. The volume of liquid remaining in the tank is calculated using the ideal gas law.

Beschreibung: Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Beschreibung: An overview is given of work in progress aimed at developing computational algorithms addressing two important aspects in the control of large flexible space structures; namely, the selection and placement of sensors and actuators, and the resulting multivariable control law design problem. The issue of sensor/actuator set selection is particularly crucial to obtaining a satisfactory control design, as clearly a poor choice will inherently limit the degree to which good control can be achieved. With regard to control law design, the researchers are driven by concerns stemming from the practical issues associated with eventual implementation of multivariable control laws, such as reliability, limit protection, multimode operation, sampling rate selection, processor throughput, etc. Naturally, the burden imposed by dealing with these aspects of the problem can be reduced by ensuring that the complexity of the compensator is minimized. Our approach to these problems is based on extensions to input/output oriented techniques that have proven useful in the design of multivariable control systems for aircraft engines. In particular, researchers are exploring the use of relative gain analysis and the condition number as a means of quantifying the process of sensor/actuator selection and placement for shape control of a large space platform.

Beschreibung: Information is given in viewgraph form on the modeling of nonlinear damping in distributed parameter systems.

Beschreibung: Asymptotic formulas for the characteristic root errors as well as transfer function gain and phase errors are presented for a number of traditional and new integration methods. Normalized stability regions in the lambda h plane are compared for the various methods. In particular, it is shown that a modified form of Euler integration with root matching is an especially efficient method for simulating lightly-damped structural modes. The method has been used successfully for structural bending modes in the real-time simulation of missiles. Performance of this algorithm is compared with other special algorithms, including the state-transition method. A predictor-corrector version of the modified Euler algorithm permits it to be extended to the simulation of nonlinear models of the type likely to be obtained when using the discretized structure approach. Performance of the different integration methods is also compared for integration step sizes larger than those for which the asymptotic formulas are valid. It is concluded that many traditional integration methods, such as RD-4, are not competitive in the simulation of lightly damped structures.

Beschreibung: Simulation efficiency and capability go hand in hand. The more capability you have the lower the efficiency will be. The efficiency and capabilities are discussed. The lesson learned about generic simulation is: Don't rule out any capabilities at the beginning, but keep each one on a switch so it can be bypassed when warranted by a specific application.

Beschreibung: Two important aspects of concurrent processing under development at TRW are discussed. These are: (1) the derivation of explicit mathematical models of multibody dynamic systems, and (2) a balanced computational load distribution (BCLD) among loosely coupled computational units (processors) of a concurrent processing system. The developed methodologies are demonstrated by way of an application to the Phase 1 of the Space Station - a task being performed by TRW under NASA/JSC contract NAS9-17778. The mathematical model of the Space Station consists of three interconnected flexible bodies capable of undergoing large, rigid-body motion with respect to each other. Body 1 is the main central body and contains the pressurized modules inboard of the two Alpha gimbals. Bodies 2 and 3 are the starboard and port bodies connected to Body 1 at the Alpha gimbals and include all components on the transverse booms outboard of the Alpha gimbals (including the solar arrays). The control systems in the model maintain Body 1 in a prescribed 3-axis attitude control mode, while producing large-angle rotations of the flexible solar arrays to position them normal to the sun-line.

Beschreibung: The efforts of Mechanical Dynamics, Inc. in obtaining a general formulation for flexible bodies in a multibody setting are discussed. The efforts being supported by MDI, both in house and externally are summarized. The feasibility of using lumped mass approaches to modeling flexibility in a multibody dynamics context is examined. The kinematics and kinetics for a simple system consisting of two rigid bodies connected together by an elastic beam are developed in detail. Accuracy, efficiency and ease of use using this approach are some of the issues that are then looked at. The formulation is then generalized to a superelement containing several nodes and connecting several bodies. Superelement kinematics and kinetics equations are developed. The feasibility and effectiveness of the method is illustrated by the use of some examples illustrating phenomena common in the context of spacecraft motions.

Beschreibung: An Optimal Integral Controller that readily accommodates Sensor Failure - without resorting to (Kalman) filter or observer generation - has been designed. The system is based on Navy-sponsored research for the control of high performance aircraft. In conjunction with a NASA developed Numerical Optimization Code, the Integral Feedback Controller will provide optimal system response even in the case of incomplete state feedback. Hence, the need for costly replication of plant sensors is avoided since failure accommodation is effected by system software reconfiguration. The control design has been applied to a particularly ill-behaved, third-order system. Dominant-root design in the classical sense produced an almost 100 percent overshoot for the third-order system response. An application of the newly-developed Optimal Integral Controller - assuming all state information available - produces a response with no overshoot. A further application of the controller design - assuming a one-third sensor failure scenario - produced a slight overshoot response that still preserved the steady state time-point of the full-state feedback response. The control design should have wide application in space systems.

Beschreibung: Most of the presently available control system design techniques applicable to flexible structure problems were developed to design controllers for rigid body systems. Although many of these design methods can be applied to flexible dynamics problems, recently developed techniques may be more suitable for flexible structure controller design. The purpose of this presentation is to examine briefly the peculiarities of the dynamics of flexible structures and to stimulate discussion about top level controller design approaches when designing controllers for flexible structures. Presented here is a suggestion of a set of categories of design methods for designing controllers for flexible structures as well as a discussion of the advantages and disadvantages of each category. No attempt has been made herein to select one category of design techniques as the best for flexible structure controller design. Instead, it is hoped that the structure suggested by these categories will facilitate further discussion on the merits of particular methods that will eventually point to those design techniques suitable for further development.

Beschreibung: A researcher proposes a cooperative effort among specialists who use or develop software for simulating and analyzing the control of flexible aerospace systems. A comparison of existing software for modeling control systems and flexible structures, applied to several example problems would be quite valuable. The comparison would indicate computational efficiency and capabilities with respect to handling nonlinearities and graphical output. Because of the diversity of applications of such software, the researcher believes that the proposed cooperative effort can transcend projects involving specific applications. Comparisons of software capability and efficiency can be made and gaps can be identified. In this way the results of the cooperative effort can provide guidance for individual projects. Several charts which outline the objectives and approach of the proposed cooperative effort are given here.

Beschreibung: Development of a responsive, high-bandwidth missile autopilot for airframes which have structural modes of unusually low frequency presents a challenging design task. Such systems are viable candidates for modern, state-space control design methods. The PC-MATLAB interactive software package provides an environment well-suited to the development of candidate linear control laws for flexible missile autopilots. The strengths of MATLAB include: (1) exceptionally high speed (MATLAB's version for 80386-based PC's offers benchmarks approaching minicomputer and mainframe performance); (2) ability to handle large design models of several hundred degrees of freedom, if necessary; and (3) broad extensibility through user-defined functions. To characterize MATLAB capabilities, a simplified design example is presented. This involves interactive definition of an observer-based state-space compensator for a flexible missile autopilot design task. MATLAB capabilities and limitations, in the context of this design task, are then summarized.

Beschreibung: The TSIM software is described. This is a package which uses an interactive FORTRAN-like simulation language for the simulation on nonlinear dynamic systems and offers facilities which include: mixed continuous and discrete time systems, time response calculations, numerical optimization, automatic trimming of nonlinear aircraft systems, and linearization of nonlinear equations for eigenvalues, frequency responses and power spectral response evaluation. Details are given of the application of TSIM to the analysis of aeroelastic systems under the RAE Farborough extension FLEX-SIM. The aerodynamic and structural data for the equations of motion of a flexible aircraft are prepared by a preprocessor program for incorporation in TSIM simulations. Within the simulation, the flexible aircraft model may then be selected interactively for different flight conditions and modal reduction techniques applied. The use of FLEX-SIM is demonstrated by an example of the flutter prediction for a simple aeroelastic model. By utilizing the numerical optimization facility of TSIM, it is possible to undertake identification of required parameters in the TSIM model within the simulation.

Beschreibung: Existing modeling and control software packages are either inadequate or inefficient for applications to flexible space structures. Some additional software developments are wanted for effective design and evaluation of the control systems. The following are discussed: (1) linear-quadratic optimal regulators as usual can be designed using various modern control design software packages, (2) modal dashpots are very effective output-feedback vibration controllers for flexible structures, not only effective for augmenting a small amount of active damping to a large number of vibration modes (like the so-called low-authority structural controllers), but also effective for quick suppression of large vibrations (like high-authority structural controllers), and (3) the actual performance of any control design needs to be evaluated against a faithful model of the flexible structure to be controlled. The potential of destabilization or serious performance degradation needs to be detected by numerical simulation of the structure with the control loops being closed.

Beschreibung: Several radiation models for low density nonequilibrium hypersonic flow are studied. It is proposed that these models should be tested by the 3-D VRFL code developed at NASA/JSC. A modified and optimized radiation model may be obtained from the testing. Then, the current VRFL code could be expanded to solve hypersonic flow problems with nonequilibrium thermal radiation.

Beschreibung: The magnitude, variance and directionality of the velocity perturbations of the fragments of a satellite can shed valuable information regarding the nature and intensity of the fragmentation. Up until now, the only method used to calculate the three orthogonal components of the velocity change consisted of inverting the process of evaluating the changes in the orbital elements of the fragments due to velocity perturbing forces. But the traditional method failed in five different cases: (1) when the parent satellite's orbit was circular; (2) and (3) when the true anomaly of the parent was either 0 deg or 180 deg; and (4) and (5) when the argument of latitude of the parent was 90 deg or 270 deg. Described here is a new method of calculating the velocity perturbations which is free from the shortcomings of the traditional method and could be used in all occasions, provided the fragmentation data and the orbital elements data are consistent with one another.

Beschreibung: Load and stress recovery from transient dynamic studies are improved upon using an extended acceleration vector in the modal acceleration technique applied to structural analysis. Extension of the normal LTM (load transformation matrices) stress recovery to automatically compute margins of safety is presented with an application to the Hubble space telescope.

Beschreibung: The objectives of modal tests for large complex spacecraft structural systems are outlined. The comparison criteria for the modal test methods, namely, the broadband excitation and the sine dwell methods, are established. Using the Galileo spacecraft modal test and the Centaur G Prime upper stage vehicle modal test as examples, the relative advantage or disadvantage of each method is examined. The usefulness or shortcomings of the methods are given from a practical engineering viewpoint.

Beschreibung: Payload development and design load requirements for the U.S. National Space Transportation System (STS) are discussed. The STS requires that all payloads be compatible with STS verification loads which are calculated approximately one year prior to launch. Payload design and all verification testing are completed prior to this final load cycle. Various approaches to preliminary design loads, load updates, and test load definitions and also to STS model and forcing functions revisions are presented.

Beschreibung: The packaging of avionics and mechanisms in containers, called orbital replacement units, which permits in-orbit repair and replacement is the key to man's expanded ventures into space with increasingly costly assets. In designing ORUs, the designer must accommodate the environments of launch and space. The subjects of ORU attachment, thermal, electrical connectors, and size and configuration, are addressed.

Beschreibung: A program to accomplish a technical interdisciplinary approach to international standards development is described. Working groups include: remote sensing spacecraft, sensing system, operations, and communication and data systems. Additionally, the software reliability and international liaison working groups are discussed.

Beschreibung: The Orbital Maneuvering Vehicle (OMV) and concepts of teleoperation and video data compression as applied to OMV design and operation are described. The OMV provides spacecraft delivery, retrieval, reboost, deboost and viewing services, with ground-control or Space Station operation, through autonomous navigation and pilot controlled maneuvers. Communications systems are comprised of S-band RF command, telemetry, and compressed video data links through the TDRSS and GSTDN networks. The control console video monitors display a monochrome image at an update rate of five frames per second. Depending upon the mode of operation selected by the pilot, the video resolution is either 255 x 244 pixels, or 510 x 244 pixels. Since practically all video image redundancy is removed by the compression process, the video reconstruction is particularly sensitive to data transmission bit errors. Concatenated Reed-Solomon and convolution coding are used with helical data interleaving for error detection and correction, and an error-containment process minimizes the propagation of error effects throughout the video image. Video sub-frame replacement is used, in the case of a non-correctable error or error burst, to minimize the visual impact to the pilot.

Beschreibung: The history of American space flight indicates that a space station is the next logical step in the scientific pursuit of greater knowledge of the universe. The Space Station and its complement of space vehicles, developed by NASA, will add new dimensions to an already extensive space program in the United States. The Space Station offers extraordinary benefits for a comparatively modest investment (currently estimated at one-ninth the cost of the Apollo Program). The station will provide a permanent multipurpose facility in orbit necessary for the expansion of space science and technology. It will enable significant advancements in life sciences research, satellite communications, astronomy, and materials processing. Eventually, the station will function in support of the commercialization and industrialization of space. Also, as a prerequisite to manned interplanetary exploration, the long-duration space flights typical of Space Station missions will provide the essential life sciences research to allow progressively longer human staytime in space.

Beschreibung: The purpose was to investigate a new simultaneous expansion/orthogonalization method in comparison with two previously published expansion methods and a widely used orthogonalization technique. Each expansion method uses data from an analytical model of the structure to complete the estimate of the mode shape vectors. Berman and Nagy used Guyan expansion in their work with improving analytical models. In this method, modes are expanded one at a time, producing a set not orthogonal with respect to the mass matrix. Baruch and Bar Itzhack's optimal orthogonalization procedure was used to subsequently adjust the expanded modes. A second expansion technique was presented by O'Callahan, Avitabile, and Reimer and separately by Kammer. Again, modes are expanded individually and orthogonalized after expansion with the same optimal technique as above. Finally, a simultaneous expansion/orthogonalization method was developed from the orthogonal Procrustes problem of computational mathematics. In this method modes are optimally expanded as a set and orthogonal with respect to the mass matrix as a result. Two demonstation problems were selected for the comparison of the methods described. The first problem is an 8 degree of freedom spring-mass problem first presented by Kabe. Several conditions were examined for expansion method including the presence of errors in the measured data and in the analysis models. As a second demonstration problem, data from tests of laboratory scale model truss structures was expanded for system identification. Tests with a complete structure produced a correlated analysis model and the stiffness and mass matrices. Tests of various damaged configurations produced measured data for 6 modes at 14 dof locations.

Beschreibung: A mass and cost estimating computerized methology for predicting advanced manned space vehicle weights and costs was developed. The user friendly methology designated MERCER (Mass Estimating Relationship/Cost Estimating Relationship) organizes the predictive process according to major vehicle subsystem levels. Design, development, test, evaluation, and flight hardware cost forecasting is treated by the study. This methodology consists of a complete set of mass estimating relationships (MERs) which serve as the control components for the model and cost estimating relationships (CERs) which use MER output as input. To develop this model, numerous MER and CER studies were surveyed and modified where required. Additionally, relationships were regressed from raw data to accommodate the methology. The models and formulations which estimated the cost of historical vehicles to within 20 percent of the actual cost were selected. The result of the research, along with components of the MERCER Program, are reported. On the basis of the analysis, the following conclusions were established: (1) The cost of a spacecraft is best estimated by summing the cost of individual subsystems; (2) No one cost equation can be used for forecasting the cost of all spacecraft; (3) Spacecraft cost is highly correlated with its mass; (4) No study surveyed contained sufficient formulations to autonomously forecast the cost and weight of the entire advanced manned vehicle spacecraft program; (5) No user friendly program was found that linked MERs with CERs to produce spacecraft cost; and (6) The group accumulation weight estimation method (summing the estimated weights of the various subsystems) proved to be a useful method for finding total weight and cost of a spacecraft.

Beschreibung: Moire patterns are investigated as possible docking aids for use between the National Space Transportations System (Space Shuttle Orbiter) and the Space Station Freedom. A sight reticle placed in optical conjunction with a docking target can generate moire fringes from which position and alignment can be inferred. Design specifications and a mathematical development to meet those specifications are discussed. A motion based simulator and experimental hardware have been constructed.

Beschreibung: Large orbiting space structures are expected to experience mechanical vibrations arising from several disturbing forces such as those induced by shuttle takeoff or docking and crew movements. The problem is considered of modeling and control of large space structures subject to these and other disturbing forces. The system consists of a (rigid) massive body, which may play the role of experimental modules located at the center of the space station and flexible configurations, consisting of several beams, forming the space structure. A complete dynamic model of the system was developed using Hamilton's principle. This model consists of radial equations describing the translational motion of the central body, rotational equations describing the attitude motions of the body and several beam equations governing the vibration of the flexible members (platform) including appropriate boundary conditions. In summary, the dynamics of the space structure is governed by a complex system of interconnected partial and ordinary differential equations. Using Lyapunov's approach the asymptotic stability of the space structure is investigated. For asymptotic stability of the rest state (nominal trajectory), feedback controls are suggested. In the investigation, stability of the slewing maneuvers is also considered. Several numerical results are presented for illustration of the impact of coupling and the effectiveness of the stabilizing controls. Some insight is provided into the complexity of modeling, analysis and stabilization of actual space structures.

Beschreibung: A simple formulation for designing fixed order dynamic compensators which are robust to both uncertainty at the plant input and structured uncertainty in the plant dynamics is presented. The emphasis is on designing low order compensators for systems of high order. The formulation is done in an output feedback setting which exploits an observer canonical form to represent the compensator dynamics. The formulation also precludes the use of direct feedback of the plant output. The main contribution lies in defining a method for penalizing the states of the plant and of the compensator, and for choosing the distribution on initial conditions so that the loop transfer matrix approximates that of a full state design. To improve robustness to parameter uncertainty, the formulation avoids the introduction of sensitivity states, which has led to complex formulations in earlier studies where only structured uncertainty has been considered.

Beschreibung: The Flight Dynamics Laboratory is committed to an in-house, experimental investigation of several technical areas critical to the dynamic performance of future Air Force large space structures. The advanced beam experiment was successfully completed and provided much experience in the implementation of active control approaches on real hardware. A series of experiments is under way in evaluating ground test methods on the 12 meter trusses with significant passive damping. Ground simulated zero-g response data from the undamped truss will be compared directly with true zero-g flight test data. The performance of several leading active control approaches will be measured and compared on one of the trusses in the presence of significant passive damping. In the future, the PACOSS dynamic test article will be set up as a test bed for the evaluation of system identification and control techniques on a complex, representative structure with high modal density and significant passive damping.

Beschreibung: Future DOD, NASA, and SDI space systems will be larger than any spacecraft flown before. The economics of placing these large space systems (LSS) into orbit dictates that they be as low in mass as possible. The combination of very large size and relatively low mass produces systems which possess little structural rigidity. This flexibility causes severe technical problems when combined with the precise shape and pointing requirements associated with many future LSS missions. Development of new control technologies which can solve these problems and enable future LSS missions is under way, but a test bed is needed for demonstration and evaluation of the emerging control hardware (sensors and actuators) and methodologies. In particular, the need exists for a facility which enables both large angle slewing and subsequent pointing/shape control of a variety of flexible bodies. The Air Force Astronautics Laboratory (AFAL) has conceived the Advanced Space Structures Technology Research Experiments (ASTREX) facility to fill this need. An overview of the ASTREX facility is given.

Beschreibung: The Structural Dynamics Branch of the Air Force Flight Dynamics Laboratory in cooperation with the Reduced Gravity Office of the NASA Lyndon B. Johnson Space Center (JSC) plans to perform zero-gravity dynamic tests of a 12-meter truss structure. This presentation describes the program and presents all results obtained to date.

Beschreibung: The Department of Astronautics at the United States Air Force Academy is currently planning to fly an experiment in a NASA Get-Away-Special (GAS) canister. The experiment was named the flex beam experiment. The primary technical objective of the flex beam experiment is to measure the damping of a thin beam in the vacuum and zero G environment of space. By measuring the damping in space, it is hoped to determine the amount of damping the beam normally experiences due to the gravitational forces present on Earth. This will allow validation of models which predict the dynamics of thin beams in the space environment. The experiment will also allow the Academy to develop and improve its ability to perform experiments within the confines of a NASA GAS canister. Several experiments, of limited technical difficulty, were flown by the Academy. More complex experiments are currently planned and it is hoped to learn techniques with each space shuttle flight.

Beschreibung: The Low Power Atmospheric Compensation Experiment (LACE) is scheduled for launch in late 1989 into a 556 km altitude circular orbit of 43 deg inclination. The LACE flight dynamics experiment is an experiment secondary to the primary LACE mission. The purpose of the experiment is to provide on-orbit systems identification of the LACE spacecraft. The structure of the LACE spacecraft is of special interest to the CSI community. It incorporates 3 deployable/retractable booms of maximum length 45.72 m (150 ft) mounted on a rectangular parallelepiped bus of mass 1,200 kg. The zenith directed gravity gradient boom is mounted on the top of the bus; the retroreflector boom is mounted forward and deployed along the velocity vector, the balance boom is mounted and pointed aft. Attitude stabilization is accomplished by means of gravity gradient torques and by a momentum wheel. The LACE flight dynamics experiment is designed to measure modal frequencies, damping ratios, and oscillation amplitudes of the LACE spacecraft, as well as the vibration intensity generated by boom deployments and retractions. It is anticipated that this experiment will provide an opportunity for improvements in the accuracy of computer simulations of flexible structures and multibody dynamics.

Beschreibung: As the size and performance requirements of future NASA and DOD spacecrafts and payloads tend to increase, the associated control systems that must effect these requirements tend to interact with the vehicle's structural dynamics. Some of the Control Structure Interaction (CSI) issues are being addressed in a flight experiment which is entitled CASES (Controls, Astrophysics and Structures Experiment in Space). As one of the first CSI flight experiments, the main emphasis for CASES is to provide a test bed for validating CSI developments and simultaneously, to pave the way for subsequent CSI experiments and science missions by establishing precedents for flight qualifying Large Space Structures (LSS)-class spacecraft. In addition, CASES provides an opportunity to obtain data bases for in-space controls and structures experiments and, at the same time, to gather hard x ray data from pertinent galactic sources.

Beschreibung: The results of closed loop experiments that use piezoelectric active-members to control the flexible motion of a precision truss structure are described. These experiments are directed toward the development of high-performance structural systems as part of the Control/Structure Interaction (CSI) program at JPL. The focus of CSI activity at JPL is to develop the technology necessary to accurately control both the shape and vibration levels in the precision structures from which proposed large space-based observatories will be built. Structural error budgets for these types of structures will likely be in the sub-micron regime; optical tolerances will be even tighter. In order to achieve system level stability and local positioning at this level, it is generally expected that some form of active control will be required.

Beschreibung: Recent work on structural identification and large-angle maneuvers with vibration suppression was presented. The recent work has sought to balance structural and controls analysis activities by involving the analysts directly in the validation and experimental aspects of the research. Some new sensing, actuation, system identification, and control concepts were successfully implemented. An overview of these results is given.

Beschreibung: The capability and use of the Gravity Offload Facility (GOF) are discussed. Briefly explained are the: truss and base casting; carriage assembly; carriage weldment; vertical lift axis control; lifting cylinder; payload gimbal; motion base layout; and control processor.

Beschreibung: A brief survey of large space structure control related experiments and facilities was presented. This survey covered experiments performed before and up to 1982, and those of the present period (1982-...). Finally, the future planned experiments and facilities in support of the control-structure interaction (CSI) program were reported. It was stated that new, improved ground test facilities are needed to verify the new CSI design techniques that will allow future space structures to perform planned NASA missions.

Beschreibung: New suspension techniques will be necesary for ground testing the flexible spacecraft anticipated in NASA's future space activity. The most complex spacecraft involve nonlinear maneuvering (i.e., large angle slewing) with articulating substructures such as remote manipulating systems. The NASA control-structure interaction (CSI) ground test method team has begun researching and developing methodology to suspend the future class of spacecraft. This overview describes the work completed thus far. The research objective and technical approach will be presented first. Second, will be a suspension device overview followed by an assessment of existing hardware. Two different mechanical zero-spring-rate mechanisms will be compared for optimal performance. Next, will be a description of how existing hardware can be evolved to meet more general suspension requirements. A comparison of suspending articulating structures overhead vs underneath will follow. After a few experimental results from the zero-spring-rate mechanism/air suspension cart will be concluding remarks and future work.

Beschreibung: To show the feasibility of simultaneous optimization as design procedure, low order problems were used in conjunction with simple control formulations. The numerical results indicate that simultaneous optimization is not only feasible, but also advantageous. Such advantages come at the expense of introducing complexities beyond those encountered in structure optimization alone, or control optimization alone. Examples include: larger design parameter space, optimization may combine continuous and combinatoric variables, and the combined objective function may be nonconvex. Future extensions to include large order problems, more complex objective functions and constraints, and more sophisticated control formulations will require further research to ensure that the additional complexities do not outweigh the advantages of simultaneous optimization. Some areas requiring more efficient tools than currently available include: multiobjective criteria and nonconvex optimization. Efficient techniques to deal with optimization over combinatoric and continuous variables, and with truncation issues for structure and control parameters of both the model space as well as the design space need to be developed.

Beschreibung: Control problems of large aerospace structures are intrinsically interdisciplinary and require strategies which address the complete interaction between flexible structures, electromechanical actuators and sensors, and feedback control algorithms. Current research and future directions which will require an interdisciplinary team effort in dynamics, control and optimization of such structures are being surveyed. It is generally agreed that the dynamics of space structures require large scale discrete modeling, resulting in thousands of discrete unknowns. Proven control strategies, on the other hand, employ a low order controller that is based on a reduced order model of structures. Integration of such low order controllers and large scale dynamics models often leads to serious deterioration of the closed loop stability margin and even instability. To alleviate this stability deterioration while low order controllers remain effective, the following approach was investigated: (1) retain low order controllers based on reduced order models of structures as the basic control strategy; (2) introduce a compensator that will directly account for the deterioration of stability margin due to controller-structure integration; and (3) assess overall performance of the integrated control structure system by developing measures of suboptimality in the combination of (1) and (2). The benefits include: simplicity in the design of basic controllers, thus facilitating the optimization of structure control interactions; increased understanding of the roles of the compensator so as to modify the structure as well as the basic controller, if necessary, for improved performance; and adaptability to localize controllers by viewing the compensator as a systems integration filter.

Beschreibung: To facilitate the development of control structure interaction (CSI) design methodology, a computational architecture for interdisciplinary design of active structures is presented. The emphasis of the computational procedure is to exploit existing sparse matrix structural analysis techniques, in-core data transfer with control synthesis programs, and versatility in the optimization methodology to avoid unnecessary structural or control calculations. The architecture is designed such that all required structure, control and optimization analyses are performed within one program. Hence, the optimization strategy is not unduly constrained by cold starts of existing structural analysis and control synthesis packages.

Beschreibung: The objective is the simultaneous design of the structural and control system for space structures. The minimum weight of the structure is the objective function, and the constraints are placed on the closed loop distribution of the frequencies and the damping parameters. The controls approach used is linear quadratic regulator with constant feedback. A reduced-order control system is used. The effect of uncontrolled modes is taken into consideration by the model error sensitivity suppression (MESS) technique which modified the weighting parameters for the control forces. For illustration, an ACOSS-FOUR structure is designed for a different number of controlled modes with specified values for the closed loop damping parameters and frequencies. The dynamic response of the optimum designs for an initial disturbance is compared.

Beschreibung: The NASA Lewis Research Center is concerned with the potential of interaction between space station controllers and the solar PV array structures. The models required to handle this problem are very large, and automated methods were developed for the transfer of data between structural dynamic and control system analysis software. These methods emphasize the need to achieve accurate coupled analysis results while using as small a model as possible. Specific tools which help the analyst in this regard include modal order techniques, the use of mode acceleration to calculate internal loads and stresses and the transfer of Craig-Bampton components to reduce problems associated with modal sufficiency. These techniques were applied to a space station model with 366 modes below 1 Hz. Attitude control, and alpha and beta joint control were simulated. The inclusion of alpha and beta joint controllers is important when examining overall space station dynamics. An initial choice of control parameters does indicate a potential for control/structure interaction during reboost. As expected this is exacerbated by increasing the rate gain and decreasing the hysteresis of the reaction control system (RCS) in order to improve rigid body performance.

Beschreibung: The successful control of dynamic systems such as space stations, or launch vehicles, requires a controller design methodology that acknowledges and addresses the disruptive effects caused by external and internal disturbances that inevitably act on such systems. These disturbances, technically defined as uncontrollable inputs, typically vary with time in an uncertain manner and usually cannot be directly measured in real time. A relatively new non-statistical technique for modeling, and (on-line) identification, of those complex uncertain disturbances that are not as erratic and capricious as random noise is described. This technique applies to multi-input cases and to many of the practical disturbances associated with the control of space stations, or launch vehicles. Then, a collection of smart controller design techniques that allow controlled dynamic systems, with possible multi-input controls, to accommodate (cope with) such disturbances with extraordinary effectiveness are associated. These new smart controllers are designed by non-statistical techniques and typically turn out to be unconventional forms of dynamic linear controllers (compensators) with constant coefficients. The simplicity and reliability of linear, constant coefficient controllers is well-known in the aerospace field.

Beschreibung: An unconventional framework is described for the design of decentralized controllers for large flexible structures. In contrast to conventional control system design practice which begins with a model of the open loop plant, the controlled plant is assembled from controlled components in which the modeling phase and the control design phase are integrated at the component level. The developed framework is called controlled component synthesis (CCS) to reflect that it is motivated by the well developed Component Mode Synthesis (CMS) methods which were demonstrated to be effective for solving large complex structural analysis problems for almost three decades. The design philosophy behind CCS is also closely related to that of the subsystem decomposition approach in decentralized control.

Beschreibung: The first steps in developing a methodology for spacecraft control-structure interaction (CSI) optimization are identification and classification of anticipated missions, and the development of tractable mathematical models in each mission class. A mathematical model of a generic large flexible space platform (LFSP) with multiple independently pointed rigid payloads is considered. The objective is not to develop a general purpose numerical simulation, but rather to develop an analytically tractable mathematical model of such composite systems. The equations of motion for a single payload case are derived, and are linearized about zero steady-state. The resulting model is then extended to include multiple rigid payloads, yielding the desired analytical form. The mathematical models developed clearly show the internal inertial/elastic couplings, and are therefore suitable for analytical and numerical studies. A simple decentralized control law is proposed for fine pointing the payloads and LFSP attitude control, and simulation results are presented for an example problem. The decentralized controller is shown to be adequate for the example problem chosen, but does not, in general, guarantee stability. A centralized dissipative controller is then proposed, requiring a symmetric form of the composite system equations. Such a controller guarantees robust closed loop stability despite unmodeled elastic dynamics and parameter uncertainties.

Beschreibung: Measurement of Earth observation parameters from geosynchronous satellites; severe local storm observational guidelines; major instrument requirements; rapid convective cell growth; geosynchronous satellite requirements; and major technological challenges for the next 25 years are discussed.

Beschreibung: Large spacecraft such as Space Station Freedom employ large trusses in their construction. The structural dynamics of such trusses often exhibit nonlinear behavior and little damping which can impact significantly the performance of control systems. The Mini-MAST truss was constructed to research such structural dynamics and control systems. The Mini-MAST truss is an object of study for the guest investigator program as part of NASA's controls-structures interaction program. The Mini-MAST truss is deployable and about 65 ft long. Although the bending characteristics of the Mini-MAST truss are essentially linear, the angular deflection under torsional loading has exhibited significant hysteresis and nonlinear stiffness. It is the purpose to develop nonlinear and distributed parameter models of the truss and to compare the model dynamics with actual measurements. Distributed parameter models have the advantage of requiring fewer model parameters. A tangent function is used to describe the nonlinear stiffness in torsion, partly because of the convenience of its easily expressed inverse. Hysteretic slip elements are introduced and extended to a continuum to account for the observed hysteresis in torsion. The contribution of slipping to the structural damping is analyzed and found to be strongly dependent on the applied loads. Because of the many factors which affect the damping and stiffness in a truss, it is risky to assume linearity.

Beschreibung: Multibody dynamics discipline, and dynamic simulation in control structure interaction (CSI) design are discussed. The use, capabilities, and architecture of the Large Angle Transient Dynamics (LATDYN) code as a simulation tool are explained. A generic joint body with various types of hinge connections; finite element and element coordinate systems; results of a flexible beam spin-up on a plane; mini-mast deployment; space crane and robotic slewing manipulations; a potential CSI test article; and multibody benchmark experiments are also described.

Beschreibung: Large dispacement assumed-mode modeling techniques are examined in the context of multibody elastodynamics. The range of both general and element-specific approaches are studied with the aid of examples involving beams, plates, and shells. For systems undergoing primarily structural bending and twisting with little or no membrane distortion, it is found that fully-linear, element-specific, modal formulations provide the most accurate time history solutions at the least expense. When membrane effects become dominant in structural problems due to loading and boundary conditions, one must naturally resort to a formulation involving a nonlinear stress-strain relationship in addition to nonlinear terms associated with large overall system motion. Such nonlinear models were investigated using assumed modes and found to lead to modal convergence difficulties when standard free-free structural modes are employed. A constrained mode formulation aimed at addressing the convergence problem is proposed.

Beschreibung: The Zenith Star Experiment is designed to demonstrate and evaluate the performance of a laser in space to answer critical issues relevant to SDI. The spacecraft design, control system architecture, and vehicle control are discussed.

Beschreibung: Future large space systems (LSS), both civilian and military, will have performance objectives which require stringent pointing accuracies, relatively fast retargeting times, short settling times, accurate dynamic shape requirements, or combinations thereof. Many of these structures will be large but lightweight and will exhibit a dense, low-frequency modal spectrum with significant content within the control bandwidth. Although it is possible in principle to achieve structural vibration control with purely active means, experience with complex structures has shown that the realities of plant model inaccuracies and real sensor and actuator dynamics frequently combine to produce disappointing results. It was shown that a combination of passive and active control will result in a simpler system which can be expected to be more reliable and less expensive than a corresponding system utilizing active control exclusively. The goals of the Passive and Active Control of Space Structures (PACOSS) program consist of a thorough investigation of the relative roles of passive active vibration control, and the development of validated means of vibration control. The program approach, representative system article, dynamic test article, and test status and results are outlined.

Beschreibung: There are many future science instruments with high performance pointing (sub microradian) requirements. To build a separate spacecraft for each payload is prohibitively expensive, especially as not all instruments need to be in space for a long duration. Putting multiple payloads on a single basebody that supplies power, communications, and orbit maintenance is cheaper, easier to service, and allows for the spacecraft bus to be reused as new instruments become available to replace old instruments. Once several payloads are mounted together, the articulation of one may disturb another. The situation is even more extreme when the basebody serves multiple purposes, such as space station which has construction, satellite servicing, and man motion adding to the disturbance environment. The challenge then is to maintain high performance at low cost in a multiple payload environment. The goal is to supply many future science instruments with high performance pointing (sub microradian). The options are independent spacecraft for each payload (expensive); or multiple payloads on a single basebody (cheaper, easier to service, basebody reusable for several short duration payloads). The problems are one payload can disturb another, and other activities create large disturbances (construction, satellite servicing, and man motion).

Beschreibung: CONSOLE employs a recently developed design methodology (International Journal of Control 43:1693-1721) which provides the designer with a congenial environment to express his problem as a multiple ojective constrained optimization problem and allows him to refine his characterization of optimality when a suboptimal design is approached. To this end, in CONSOLE, the designed formulates the design problem using a high-level language and performs design task and explores tradeoff through a few short and clearly defined commands. The range of problems that can be solved efficiently using a CAD tools depends very much on the ability of this tool to be interfaced with user-supplied simulators. For instance, when designing a control system one makes use of the characteristics of the plant, and therefore, a model of the plant under study has to be made available to the CAD tool. CONSOLE allows for an easy interfacing of almost any simulator the user has available. To date CONSOLE has already been used successfully in many applications, including the design of controllers for a flexible arm and for a robotic manipulator and the solution of a parameter selection problem for a neural network.

Beschreibung: The use of the Maximum Principle for the large angle slewing of large space structures (LSS) usually results in the so-called two-point boundary-value problem, in which many requirements (e.g., minimum time, small amplitude, and limited control power, etc.) must be satisfied simultaneously. The successful solution of this problem depends largely on the use of an efficient numerical algorithm. There are many candidate algorithms available for this problem (e.g., quasilinearization, gradient, etc.). Here researchers discuss only the quasilinearization method which has been used for several cases of large angle slewing of LSS. The basic idea of this algorithm is to make a series of successive approximations of the solution from a particular solvable case (linear or nonlinear) to a more general practical case. For the rigid spacecraft slewing problem with no constraints on the controls, the solution procedure can be found in the literature. This procedure needs to be modified if a minimum time for the slewing problem is desired with control limits given. Recently, an indirect method for finding the minimum time was developed to meet all these requirements. For the general mixed (including both rigid and flexible parts) problem, an additional constraint of small vibrational amplitude on the flexible parts is imposed.

Beschreibung: Described here is a model and its use in experimental studies of flexible manipulators. The analytical model uses the equivalent of Rayleigh's method to approximate the displaced shape of a flexible link as the static elastic displacement which would occur under end rotations as applied at the joints. The generalized coordinates are thereby expressly compatible with joint motions and rotations in serial link manipulators, because the amplitude variables are simply the end rotations between the flexible link and the chord connecting the end points. The equations for the system dynamics are quite simple and can readily be formulated for the multi-link, three-dimensional case. When the flexible links possess mass and (polar moment of) inertia which are small compared to the concentrated mass and inertia at the joints, the analytical model is exact and displays the additional advantage of reduction in system dimension for the governing equations. Four series of pilot tests have been completed. Studies on a planar single-link system were conducted at Carnegie-Mellon University, and tests conducted at Toshiba Corporation on a planar two-link system were then incorporated into the study. A single link system under three-dimensional motion, displaying biaxial flexure, was then tested at Carnegie-Mellon.

Beschreibung: In the design of spacecraft structures, fine tuning the structure to achieve minimum weight with natural frequency constraints is a time consuming process. Here, a novel implementation of the method of optimality criterion (OC) is developed. In this new implementation of OC, the free vibration analysis results are used to compute the eigenvalue sensitivity data required for the formulation. Specifically, the modal elemental strain and kinetic energies are used. Additionally, normalized design parameters are introduced as a second level linking that allows design variables of different values to be linked together. With the use of this novel formulation, synthesis of structures with natural frequency constraint can be carried out manually using modal analysis results. Design examples are presented to illustrate this novel implementation of the optimality criterion method.