Pterodactyl: Control System Demonstrator Development for Integrated Control Design of a Mechanically Deployed Entry Vehicle

The NASA-funded Pterodactyl project is a design, test, and build capability to (i) advance the current state of the art for Deployable Entry Vehicle (DEV) guidance and control (G&C), and (ii) determine the feasibility of control system integration for various entry vehicle types including those without aeroshells. This capability is currently being used to develop control systems for one such unconventional entry vehicle, the Lifting Nano-ADEPT (LNA) vehicle. ADEPT offers the possibility of integrating control systems directly onto the mechanically deployed structure and building hardware demonstrators will help assess integration and design challenges. Control systems based on aerodynamic control surfaces, mass movement, and reaction control systems (RCS) are currently being investigated for a down-select to the most suitable control architecture for the LNA.To that effect, in this submission, we detail the efforts of the Pterodactyl project to develop a series of hardware demonstrators for the different LNA control systems. Rapid prototypes, for a set of quarter- model or eighth-model vehicle segments, will be developed for all three architectures to validate mechanical design assumptions, and hardware-in-the-loop (HIWL) control approaches. A ground test control system demonstrator will be designed and built after the trade study is complete. The industrial-grade demonstrator will be designed so that it can be incorporated into a HWIL simulation to further validate the findings of the initial trade study. The HWIL simulation will leverage the iPAS environment developed at NASA's Johnson Space Center which facilitates integration testing to support technology maturation and risk reduction, necessary elements for the hardware demonstration development detailed in this paper

Pterodactyl: Control Architectures Development for Integrated Control Design of a Mechanically Deployed Entry Vehicle

The need to return high mass payloads is driving the development of a new class of vehicles, Deployable Entry Vehicles (DEV) for which feasible and optimized control architectures have not been developed. The Pterodactyl project, seeks to advance the current state-of-the-art for entry vehicles by developing a design, test, and build capability for DEVs that can be applied to various entry vehicle configurations. This paper details the efforts on the NASA-funded Pterodactyl project to investigate multiple control techniques for the Lifting Nano-ADEPT (LNA) DEV. We design and implement multiple control architectures on the LNA and evaluate their performance in achieving varying guidance commands during entry.First we present an overview of DEVs and the Lifting Nano-ADEPT (LNA), along with the physical LNA configuration that influences the different control designs. Existing state-of-the-art for entry vehicle control is primarily propulsive as reaction control systems (RCS) are widely employed. In this work, we analyze the feasibility of using both propulsive control systems such as RCS to generate moments, and non-propulsive control systems such as aerodynamic control surfaces and internal moving mass actuations to shift the LNA center of gravity and generate moments. For these diverse control systems, we design different multi-input multi-output (MIMO) state-feedback integral controllers based on linear quadratic regulator (LQR) optimal control methods. The control variables calculated by the controllers vary, depending on the control system being utilized and the outputs to track for the controller are either the (i) bank angle or the (ii) angle of attack and sideslip angle as determined by the desired guidance trajectory. The LQR control design technique allows the relative allocation of the control variables through the choice of the weighting matrices in the cost index. Thus, it is easy to (i) specify which and how much of a control variable to use, and (ii) utilize one control design for different control architectures by simply modifying the choice of the weighting matrices.By providing a comparative analysis of multiple control systems, configurations, and performance, this paper and the Pterodactyl project as a whole will help entry vehicle system designers and control systems engineers determine suitable control architectures for integration with DEVs and other entry vehicle types

Pterodactyl: Development and Comparison of Control Architectures for a Mechanically Deployed Entry Vehicle

The Pterodactyl project, seeks to advance the current state-of-the-art for entry vehicles by developing novel guidance and control technologies for Deployable Entry Vehicles (DEVs) that can be applied to various entry vehicle configurations. This paper details the efforts on the NASA-funded Pterodactyl project to investigate and implement multiple control techniques for an asymmetric mechanical DEV. We design multiple control architectures for a Pterodactyl Baseline Vehicle (PBV) and evaluate their performance in achieving varying guidance commands during entry. The control architectures studied are (i) propulsive control systems such as reaction control systems and (ii) non-propulsive control systems such as aerodynamic control surfaces and internal moving masses. For each system, state-feedback integral controllers based on linear quadratic regulator (LQR) optimal control methods are designed to track guidance commands of either (i) bank angle or (ii) angle of attack and sideslip angle as determined by the desired guidance trajectory. All control systems are compared for a lunar return reference mission and by providing a comparative analysis of these systems, configurations, and performance, the efforts detailed in this paper and the Pterodactyl project as a whole will help entry vehicle system designers determine suitable control architectures for integration with DEVs and other entry vehicle types

Key Lessons from Small UAS Operations and Performance Research and Future Work

This presentation examines the UTMs second mantra, a risk-based approach where geographical needs and use cases determine the airspace performance requirements and draws lessons from geofence buffer sizing research and trajectory conformance requirement research

Pterodactyl: The Development and Performance of Guidance Algorithms for a Mechanically Deployed Entry Vehicle

Pterodactyl is a NASA Space Technology Mission Directorate (STMD) project focused on developing a design capability for optimal, scalable, Guidance and Control (G&C) solutions that enable precision targeting for Deployable Entry Vehicles (DEVs). This feasibility study is unique in that it focuses on the rapid integration of targeting performance analysis with structural & packaging analysis, which is especially challenging for new vehicle and mission designs. This paper will detail the guidance development and trajectory design process for a lunar return mission, selected to stress the vehicle designs and encourage future scalability. For the five G&C configurations considered, the Fully Numerical Predictor-Corrector Entry Guidance (FNPEG) was selected for configurations requiring bank angle guidance and FNPEG with Uncoupled Range Control (URC) was developed for configurations requiring angle of attack and sideslip angle guidance. Successful G&C configurations are defined as those that can deliver payloads to the intended descent and landing initiation point, while abiding by trajectory constraints for nominal and dispersed trajectories

Potential for Integrating Entry Guidance into the Multi-Disciplinary Entry Vehicle Optimization Environment

The state-of-the-art in vehicle design decouples flight feasible trajectory generation from the optimization process of an entry spacecraft shape. The disadvantage to this decoupled process is seen when a particular aeroshell does not meet in-flight requirements when integrated into Guidance, Navigation, and Control simulations. It is postulated that the integration of a guidance algorithm into the design process will provide a real-time, rapid trajectory generation technique to enhance the robustness of vehicle design solutions. The potential benefit of this integration is a reduction in design cycles (possible cost savings) and increased accuracy in the aerothermal environment (possible mass savings). This work examines two aspects: 1) the performance of a reference tracking guidance algorithm for five different geometries with the same reference trajectory and 2) the potential of mass savings from improved aerothermal predictions. An Apollo Derived Guidance (ADG) algorithm is used in this study. The baseline geometry and five test case geometries were flown using the same baseline trajectory. The guided trajectory results are compared to separate trajectories determined in a vehicle optimization study conducted for NASA's Mars Entry, Descent, and Landing System Analysis. This study revealed several aspects regarding the potential gains and required developments for integrating a guidance algorithm into the vehicle optimization environment. First, the generation of flight feasible trajectories is only as good as the robustness of the guidance algorithm. The set of dispersed geometries modelled aerodynamic dispersions that ranged from +/-1% to +/-17% and a single extreme case was modelled where the aerodynamics were approximately 80% less than the baseline geometry. The ADG, as expected, was able to guide the vehicle into the aeroshell separation box at the target location for dispersions up to 17%, but failed for the 80% dispersion cases. Finally, the results revealed that including flight feasible trajectories for a set of dispersed geometries has the potential to save mass up to 430 kg

Pterodactyl: Thermal Protection System for Integrated Control Design of a Mechanically Deployed Entry Vehicle

The need for precision landing of high mass payloads on Mars and the return of sensitive samples from other planetary bodies to specific locations on Earth is driving the development of an innovative NASA technology referred to as the Deployable Entry Vehicle (DEV). A DEV has the potential to deliver an equivalent science payload with a stowed diameter 3 to 4 times smaller than a traditional rigid capsule configuration. However, the DEV design does not easily lend itself to traditional methods of directional control. The NASA Space Technology Mission Directorate (STMD)s Pterodactyl project is currently investigating the effectiveness of three different Guidance and Control (G&C) systems actuated flaps, Center of Gravity (CG) or mass movement, and Reaction Control System (RCS) for use with a DEV using the Adaptable, Deployable, Entry, and Placement Technology (ADEPT) design. This paper details the Thermal Protection System (TPS) design and associated mass estimation efforts for each of the G&C systems. TPS is needed for the nose cap of the DEV and the flaps of the actuated flap control system. The development of a TPS selection, sizing, and mass estimation method designed to deal with the varying requirements for the G&C options throughout the trajectory is presented. The paper discusses the methods used to i) obtain heating environments throughout the trajectory with respect to the chosen control system and resulting geometry; ii) determine a suitable TPS material; iii) produce TPS thickness estimations; and, iv) determine the final TPS mass estimation based on TPS thickness, vehicle control system, vehicle structure, and vehicle payload

Control and Simulation of a Deployable Entry Vehicle with Aerodynamic Control Surfaces

In this paper, we investigate the static stability of a deployable entry vehicle called the Lifting Nano-ADEPT and design a control system to follow bank angle, angle-of-attack, and sideslip guidance commands. The control design, based on linear quadratic regulator optimal techniques, utilizes aerodynamic control surfaces to track angle-of-attack, sideslip angle, and bank angle commands. We demonstrate, using a nonlinear simulation environment, that the controller is able to accurately track step commands that may come from a guidance algorithm

Pterodactyl: Trade Study for an Integrated Control System Design of a Mechanically Deployable Entry Vehicle

This paper presents the trade study method used to evaluate and downselect from a set of guidance and control (G&C) system designs for a mechanically Deployable Entry Vehicle (DEV). The Pterodactyl project was prompted by the challenge to develop an effective G&C system for a vehicle without a backshell, which is the case for DEVs. For the DEV, the project assumed a specific aeroshell geometry pertaining to an Adaptable, Deployable Entry and Placement Technology (ADEPT) vehicle, which was successfully developed by NASAs Space Technology Mission Directorate (STMD) prior to this study. The Pterodactyl project designed three different entry G&C systems for precision targeting. This paper details the Figures of Merit (FOMs) and metrics used during the course of the projects G&C system assessment. The relative importance of the FOMs was determined from the Analytic Hierarchy Process (AHP), which was used to develop weights that were combined with quantitative design metrics and engineering judgement to rank the G&C systems against one another. This systematic method takes into consideration the projects input while simultaneously reducing unintentional judgement bias and ultimately was used to select a single G&C design for the project to pursue in the next design phase

Pterodactyl: Trade Study for an Integrated Control System Design of a Mechanically Deployed Entry Vehicle

This paper presents a trade study method used to evaluate and down-select from a set of guidance and control (G&C) system designs for a mechanically deployable entry vehicle (DEV). The Pterodactyl project, funded by NASA's Space Technology Mission Directorate (STMD), was prompted by the challenge to develop an effective G&C system for a vehicle without a backshell, which is the case for DEVs. For the DEV, the project assumed a specific aeroshell geometry pertaining to an Adaptable, Deployable, Entry Placement Technology (ADEPT) vehicle, which was successfully developed by STMD prior to this study. The Pterodactyl project designed three different G&C systems for the vehicle's precise entry, which this paper briefly discusses. This paper details the Figures of Merit (FOMs) and metrics used during the course of the project's G&C system assessment. Each G&C configuration was traded against the three FOMs categories: G&C system performance, affordability and life cycle costs, and safety and mission success. The relative importance of the FOMs was determined from the Analytical Hierarchy Process (AHP), which was used to develop weights that were combined with quantitative design metrics and engineering judgement to rank the G&C systems against one another. This systematic method takes into consideration the project's input while simultaneously reducing unintentional judgement bias and ultimately was used to select a single G&C design for the project to continue pursuing in the next prototyping and testing phase