A modern control theory based algorithm for control of the NASA/JPL 70-meter antenna axis servos

A digital computer-based state variable controller was designed and applied to the 70-m antenna axis servos. The general equations and structure of the algorithm and provisions for alternate position error feedback modes to accommodate intertarget slew, encoder referenced tracking, and precision tracking modes are descibed. Development of the discrete time domain control model and computation of estimator and control gain parameters based on closed loop pole placement criteria are discussed. The new algorithm was successfully implemented and tested in the 70-m antenna at Deep Space Network station 63 in Spain

Disturbance torque rejection properties of the NASA/JPL 70-meter antenna axis servos

Analytic methods for evaluating pointing errors caused by external disturbance torques are developed and applied to determine the effects of representative values of wind and friction torque. The expressions relating pointing errors to disturbance torques are shown to be strongly dependent upon the state estimator parameters, as well as upon the state feedback gain and the flow versus pressure characteristics of the hydraulic system. Under certain conditions, when control is derived from an uncorrected estimate of integral position error, the desired type 2 servo properties are not realized and finite steady-state position errors result. Methods for reducing these errors to negligible proportions through the proper selection of control gain and estimator correction parameters are demonstrated. The steady-state error produced by a disturbance torque is found to be directly proportional to the hydraulic internal leakage. This property can be exploited to provide a convenient method of determining system leakage from field measurements of estimator error, axis rate, and hydraulic differential pressure

A new algorithm for modeling friction in dynamic mechanical systems

A method of modeling friction forces that impede the motion of parts of dynamic mechanical systems is described. Conventional methods in which the friction effect is assumed a constant force, or torque, in a direction opposite to the relative motion, are applicable only to those cases where applied forces are large in comparison to the friction, and where there is little interest in system behavior close to the times of transitions through zero velocity. An algorithm is described that provides accurate determination of friction forces over a wide range of applied force and velocity conditions. The method avoids the simulation errors resulting from a finite integration interval used in connection with a conventional friction model, as is the case in many digital computer-based simulations. The algorithm incorporates a predictive calculation based on initial conditions of motion, externally applied forces, inertia, and integration step size. The predictive calculation in connection with an external integration process provides an accurate determination of both static and Coulomb friction forces and resulting motions in dynamic simulations. Accuracy of the results is improved over that obtained with conventional methods and a relatively large integration step size is permitted. A function block for incorporation in a specific simulation program is described. The general form of the algorithm facilitates implementation with various programming languages such as FORTRAN or C, as well as with other simulation programs

A new method for analysis of limit cycle behavior of the NASA/JPL 70-meter antenna axis servos

A piecewise linear method of analyzing the effects of discontinuous nonlinearities on control system performance is described. The limit cycle oscillatory behavior of the system resulting from the nonlinearities is described in terms of a sequence of linear system transient responses. The equations are derived which relate the initial and the terminal conditions of successive transients and the boundary conditions imposed by the non-linearities. The method leads to a convenient computation algorithm for prediction of limit cycle characteristics resulting from discontinuous nonlinearities such as friction, deadzones, and hysteresis

A new state space model for the NASA/JPL 70-meter antenna servo controls

A control axis referenced model of the NASA/JPL 70-m antenna structure is combined with the dynamic equations of servo components to produce a comprehansive state variable (matrix) model of the coupled system. An interactive Fortran program for generating the linear system model and computing its salient parameters is described. Results are produced in a state variable, block diagram, and in factored transfer function forms to facilitate design and analysis by classical as well as modern control methods

Dynamic models for simulation of the 70-M antenna axis servos

Dynamic models for the various functional elements of the 70 m antenna axis servos are described. The model representing the digital position controller, the linear and nonlinear properties of the physical hardware, and the dynamics of the flexible antenna structure are encoded in six major function blocks. The general modular structure of the function blocks facilitates their adaptation to a variety of dynamic simulation studies. Model parameter values were calculated from component specifications and design data. A simulation using the models to predict limit cycle behavior produced results in excellent agreement with field test data from the DSS 14 70-m antenna

Enhanced sharing analysis techniques: a comprehensive evaluation

Sharing, an abstract domain developed by D. Jacobs and A. Langen for the analysis of logic programs, derives useful aliasing information. It is well-known that a commonly used core of techniques, such as the integration of Sharing with freeness and linearity information, can significantly improve the precision of the analysis. However, a number of other proposals for refined domain combinations have been circulating for years. One feature that is common to these proposals is that they do not seem to have undergone a thorough experimental evaluation even with respect to the expected precision gains. In this paper we experimentally evaluate: helping Sharing with the definitely ground variables found using Pos, the domain of positive Boolean formulas; the incorporation of explicit structural information; a full implementation of the reduced product of Sharing and Pos; the issue of reordering the bindings in the computation of the abstract mgu; an original proposal for the addition of a new mode recording the set of variables that are deemed to be ground or free; a refined way of using linearity to improve the analysis; the recovery of hidden information in the combination of Sharing with freeness information. Finally, we discuss the issue of whether tracking compoundness allows the computation of more sharing information

L-band, 1.2 m parabolic antenna-noise temperature measurement

Extensive antenna-noise temperature measurements at 1.6 GHz (L-band) were made using a 1.2 m (4 ft. diameter) parabolic dish antenna mounted on the flying bridge of a modern 15,690-ton, commercial-container ship. Both in-harbor and at-sea radiometer measurements were made that indicated a steady background, antenna-noise temperature value slightly less than 70 degrees Kelvin (K) at elevation angles of 5 percent, and greater, at 1.6 GHz. A comparison of theoretical and measured values indicate excellent agreement within about 5K for at-sea data. These measurements are helpful to RF equipment designers of maritime, L-band shipboard terminals for operation with the two, geostationary, maritime satellites, Marisat-A and -B

A correct, precise and efficient integration of set-sharing, freeness and linearity for the analysis of finite and rational tree languages

It is well known that freeness and linearity information positively interact with aliasing information, allowing both the precision and the efficiency of the sharing analysis of logic programs to be improved. In this paper, we present a novel combination of set-sharing with freeness and linearity information, which is characterized by an improved abstract unification operator. We provide a new abstraction function and prove the correctness of the analysis for both the finite tree and the rational tree cases. Moreover, we show that the same notion of redundant information as identified in Bagnara et al. (2000) and Zaffanella et al. (2002) also applies to this abstract domain combination: this allows for the implementation of an abstract unification operator running in polynomial time and achieving the same precision on all the considered observable properties

Soundness, idempotence and commutativity of set-sharing

It is important that practical data-flow analyzers are backed by reliably proven theoretical results. Abstract interpretation provides a sound mathematical framework and necessary generic properties for an abstract domain to be well-defined and sound with respect to the concrete semantics. In logic programming, the abstract domain Sharing is a standard choice for sharing analysis for both practical work and further theoretical study. In spite of this, we found that there were no satisfactory proofs for the key properties of commutativity and idempotence that are essential for Sharing to be well-defined and that published statements of the soundness of Sharing assume the occurs-check. This paper provides a generalization of the abstraction function for Sharing that can be applied to any language, with or without the occurs-check. Results for soundness, idempotence and commutativity for abstract unification using this abstraction function are proven