Marshall system for aerospace system simulation (MARSYAS), user's manual

The capabilities of the Marshall system for aerospace system simulation (MARSYAS) and how to use it are described. MARSYAS is a software system that allows easy setup and control of the simulation of the dynamics of large physical systems on a digital computer. The physical systems are modeled in the form of block diagrams or equations. The blocks can have multiple inputs and multiple outputs, and they can be nested to form hierarchies. The block diagrams can contain transfer functions, nonlinear and logical functions, equations, analog computer elements and FORTRAN programs. The input format of the equations can be combinations of nonlinear, time-varying differential equations and algebraic equations in their original format. MARSYAS could also serve as a storage and retrieval system for models as a basis for a model configuration control system on a central time-shared computer. The outputs of the simulation system can be not only time-responses but also other analysis data such as frequency response, power spectrum and stability parameters. The MARSYAS translator is written in FORTRAN running on the Univac 1108 computer under the EXEC 8 operating system

An integrated and modular digital modeling approach for the space station electrical power system development

An electrical power system for the Space Station was designed, developed and built. This system provides for electrical power generation, conditioning, storage, and distribution. The initial configuration uses photovoltaic power generation. The power system control is based on a hierarchical architecture to support the requirements of automation. In the preliminary design and technology development phase of the program, various modeling techniques and software tools were evaluated for the purpose of meeting the Space Station power system modeling requirements. Rocketdyne and LeRC jointly selected the EASY5 simulation software, developed by Boeing Computer Services, as a system level modeling tool. The application of the selected analytical modeling approach to represent the entire power system is described. Typical results of model predictions are also summarized. The equipment modeled includes solar arrays, dc to ac converters, resonant inverters, battery storage system, alternator, transmission line, switch gear, and system level microprocessor controls. During the advanced development phase of this program, several models were developed using this approach

Brushless DC Synchro Drive System

A brushless dc synchro drive system for use in teleoperators is investigated. T h e permanent-magnet synchronous machine is described and a mathematical model is presented. A dc-to-ac inverter is described and a current-band control is developed. Using the current-band inverter control system, an electromagnetic torque control scheme is developed. Through computer simulation and analysis, an operating region for this torque control method is determined. A synchro drive teleoperator system, wherein a synchronizing torque is produced electrically between the rotors of two brushless dc machines, is described which implements the previous electromagnetic torque control. A mathematical model for the teleoperator system is described and the system dynamic performance is demonstrated by computer simulation. An alternative synchro drive system configuration is also presented in which the quiescent power losses and risk of rotor demagnetization are reduced. A mathematical model is developed for this alternate configuration and a computer simulation is used to illustrate the system response

Computer-Aided Modeling and Analysis of Power Processing Systems (CAMAPPS), phase 1

The large-signal behaviors of a regulator depend largely on the type of power circuit topology and control. Thus, for maximum flexibility, it is best to develop models for each functional block a independent modules. A regulator can then be configured by collecting appropriate pre-defined modules for each functional block. In order to complete the component model generation for a comprehensive spacecraft power system, the following modules were developed: solar array switching unit and control; shunt regulators; and battery discharger. The capability of each module is demonstrated using a simplified Direct Energy Transfer (DET) system. Large-signal behaviors of solar array power systems were analyzed. Stability of the solar array system operating points with a nonlinear load is analyzed. The state-plane analysis illustrates trajectories of the system operating point under various conditions. Stability and transient responses of the system operating near the solar array's maximum power point are also analyzed. The solar array system mode of operation is described using the DET spacecraft power system. The DET system is simulated for various operating conditions. Transfer of the software program CAMAPPS (Computer Aided Modeling and Analysis of Power Processing Systems) to NASA/GSFC (Goddard Space Flight Center) was accomplished

Incorporating UPFC model into the power system toolbox of theMATLAB for transient stability study

In this paper, power frequency model for unified power flow controller (UPFC) is presented with its DC link capacitor dynamics included. A novel interface of UPFC to AC network for transient stability study is then suggested and realised using Power System Toolbox (PST) of MATLAB. The control strategies for UPFC shunt and series elements are also discussed. Computer results on a 4-generator interconnected test power system show that the convergence and accuracy of the suggested interface are challenging and the suggested interface makes it very easy to incorporate the UPFC model into the conventional transient stability programme. The results also show that the UPFC control strategy had strong impacts on the performance of UPFC.published_or_final_versio

Impact of thermal energy storage properties on solar dynamic space power conversion system mass

A 16 parameter solar concentrator/heat receiver mass model is used in conjunction with Stirling and Brayton Power Conversion System (PCS) performance and mass computer codes to determine the effect of thermal energy storage (TES) material property changes on overall PCS mass as a function of steady state electrical power output. Included in the PCS mass model are component masses as a function of thermal power for: concentrator, heat receiver, heat exchangers (source unless integral with heat receiver, heat sink, regenerator), heat engine units with optional parallel redundancy, power conditioning and control (PC and C), PC and C radiator, main radiator, and structure. Critical TES properties are: melting temperature, heat of fusion, density of the liquid phase, and the ratio of solid-to-liquid density. Preliminary results indicate that even though overalll system efficiency increases with TES melting temperature up to 1400 K for concentrator surface accuracies of 1 mrad or better, reductions in the overall system mass beyond that achievable with lithium fluoride (LiF) can be accomplished only if the heat of fusion is at least 800 kJ/kg and the liquid density is comparable to that of LiF (1880 kg/cu m

Engineering studies related to Skylab program

The relationship between the S-193 Automatic Gain Control data and the magnitude of received signal power was studied in order to characterize performance parameters for Skylab equipment. The r-factor was used for the assessment and is defined to be less than unity, and a function of off-nadir angle, ocean surface roughness, and receiver signal to noise ratio. A digital computer simulation was also used to assess to additive receiver, or white noise. The system model for the digital simulation is described, along with intermediate frequency and video impulse response functions used, details of the input waveforms, and results to date. Specific discussion of the digital computer programs used is also provided

Optimal Operator Training Reference Models for Human-in-the-loop Systems

The human operator is an integral part of a stable and safe power system. While there is increasing attention paid to automation improvements, the importance of understanding and training human operators may be understated. This paper discusses a project to enhance operator training programs by evaluating human performance relative to a reference operator model identified using optimal control theory. Along with establishing a simple computer-based operator workstation for future training purpose, this paper describes the optimal control response design methodology for a human-in-the-loop power system experiment. The overall system model is presented. An optimal controller synthesis methodology is applied to the model system and the optimal controller is designed. The performance of the optimal controller is then compared to human subject performance

PAMPC: Perception-Aware Model Predictive Control for Quadrotors

We present the first perception-aware model predictive control framework for quadrotors that unifies control and planning with respect to action and perception objectives. Our framework leverages numerical optimization to compute trajectories that satisfy the system dynamics and require control inputs within the limits of the platform. Simultaneously, it optimizes perception objectives for robust and reliable sens- ing by maximizing the visibility of a point of interest and minimizing its velocity in the image plane. Considering both perception and action objectives for motion planning and control is challenging due to the possible conflicts arising from their respective requirements. For example, for a quadrotor to track a reference trajectory, it needs to rotate to align its thrust with the direction of the desired acceleration. However, the perception objective might require to minimize such rotation to maximize the visibility of a point of interest. A model-based optimization framework, able to consider both perception and action objectives and couple them through the system dynamics, is therefore necessary. Our perception-aware model predictive control framework works in a receding-horizon fashion by iteratively solving a non-linear optimization problem. It is capable of running in real-time, fully onboard our lightweight, small-scale quadrotor using a low-power ARM computer, to- gether with a visual-inertial odometry pipeline. We validate our approach in experiments demonstrating (I) the contradiction between perception and action objectives, and (II) improved behavior in extremely challenging lighting conditions