Precise control of flexible manipulators

Experimental apparatus were developed for physically testing control systems for pointing flexible structures, such as limber spacecraft, for the case that control actuators cannot be collocated with sensors. Structural damping ratios are less than 0.003, each basic configuration of sensor/actuator noncollocation is available, and inertias can be halved or doubled abruptly during control maneuvers, thereby imposing, in particular, a sudden reversal in the plant's pole-zero sequence. First experimental results are presented, including stable control with both collocation and noncollocation

Control of a free-flying robot manipulator system

The goal of the research is to develop and test control strategies for a self-contained, free flying space robot. Such a robot would perform operations in space similar to those currently handled by astronauts during extravehicular activity (EVA). The focus of the work is to develop and carry out a program of research with a series of physical Satellite Robot Simulator Vehicles (SRSV's), two-dimensionally freely mobile laboratory models of autonomous free-flying space robots such as might perform extravehicular functions associated with operation of a space station or repair of orbiting satellites. The development of the SRSV and of some of the controller subsystems are discribed. The two-link arm was fitted to the SRSV base, and researchers explored the open-loop characteristics of the arm and thruster actuators. Work began on building the software foundation necessary for use of the on-board computer, as well as hardware and software for a local vision system for target identification and tracking

Space robot simulator vehicle

A Space Robot Simulator Vehicle (SRSV) was constructed to model a free-flying robot capable of doing construction, manipulation and repair work in space. The SRSV is intended as a test bed for development of dynamic and static control methods for space robots. The vehicle is built around a two-foot-diameter air-cushion vehicle that carries batteries, power supplies, gas tanks, computer, reaction jets and radio equipment. It is fitted with one or two two-link manipulators, which may be of many possible designs, including flexible-link versions. Both the vehicle body and its first arm are nearly complete. Inverse dynamic control of the robot's manipulator has been successfully simulated using equations generated by the dynamic simulation package SDEXACT. In this mode, the position of the manipulator tip is controlled not by fixing the vehicle base through thruster operation, but by controlling the manipulator joint torques to achieve the desired tip motion, while allowing for the free motion of the vehicle base. One of the primary goals is to minimize use of the thrusters in favor of intelligent control of the manipulator. Ways to reduce the computational burden of control are described

Self-Tuning Adaptive-Controller Using Online Frequency Identification

A real time adaptive controller was designed and tested successfully on a fourth order laboratory dynamic system which features very low structural damping and a noncolocated actuator sensor pair. The controller, implemented in a digital minicomputer, consists of a state estimator, a set of state feedback gains, and a frequency locked loop (FLL) for real time parameter identification. The FLL can detect the closed loop natural frequency of the system being controlled, calculate the mismatch between a plant parameter and its counterpart in the state estimator, and correct the estimator parameter in real time. The adaptation algorithm can correct the controller error and stabilize the system for more than 50% variation in the plant natural frequency, compared with a 10% stability margin in frequency variation for a fixed gain controller having the same performance at the nominal plant condition. After it has locked to the correct plant frequency, the adaptive controller works as well as the fixed gain controller does when there is no parameter mismatch. The very rapid convergence of this adaptive system is demonstrated experimentally, and can also be proven with simple root locus methods

High temperature compounds for turbine vanes

Fabrication and microstructure control studies were conducted on SiC, Si3N and composites based on Si3N. Charpy mode impact testing to 2400 F established that Si3N4/Mo composites have excellent potential. Attempts to fabricate composites of Si3N4 with superalloys, both by hot pressing and infiltration were largely unsuccessful in comparison to using Mo, Re, and Ta which are less reactive. Modest improvements in impact strength were realized for monolithic Si3N4; however, SiC strengths increased by a factor of six and now equal values achieved for Si3N4. Correlations of impact strength with material properties are discussed. Reduced MgO densification aid additions to Si3N4 were found to decrease densification kinetics, increase final porosity, decrease room temperature bend strength, increase high temperature bend strength, and decrease bend stress rupture properties. The decrease in bend strength at high temperature for fine grain size SiC suggested that a slightly larger grain size material with a nearly constant strength-temperature relation may prove desirable in the creep and stress rupture mode

Basic studies in space vehicle attitude control Ninth semiannual status report

Space vehicle attitude control systems - manned space station, satellite in elliptic orbit, and solar perturbation of Mars Orbite

Basic studies in space vehicle attitude control Semiannual status report, Dec. 1966 - Dec. 1967

Nonlinear optimal attitude control of planet pointing space vehicles, and optimal control of satellite trajectorie

On the engineering portion of a research program to develop a zero-g, drag-free satellite and to perform a gyro test of general relativity in a satellite Fourth semiannual status report

Zero gravity satellite concept feasibility and control system design evaluation using air cushion vehicl

Develop a zero-G drag-free satellite and perform a gyro test of general relativity in a satellite Semiannual status report, Nov. 1965 - Apr. 1966

Aeronomy experiment satellite polar orbit, control analysis, and control simulatio

Basic Studies in Space Vehicle Attitude Control Tenth Semiannual Status Report, Period Ending Jun. 1966

Nonlinear optimal control of planet-pointing space vehicle, basic methods for attitude control, and satellite orbit theorie