Jiann-Woei Jang

International Space Station US GN&C Attitude Hold Controller Design for Orbiter Repair Maneuver

This paper describes the design of the International Space Station US Control Moment Gyroscope attitude hold control system and operational mode for use during contingency Orbiter Repair Maneuver operations. For this operation, the attitude control system was designed to maintain stable attitude control of the Station-Orbiter stack while the Shuttle Remote Manipulator System performs the repositioning of the Orbiter. The operational mode was designed to minimize Orbiter motion relative to the Station during attitude maneuvers and rate damping. This paper first reviews the design issues, then presents the design methodology, and concludes with flight data and simulation results, which verify the design.

A CONSTRAINED OPTIMIZATION APPROACH FOR CMG ROBUST FLEX FILTER DESIGN

In this paper, a simple and innovative robust flex filter design procedure is proposed. The proposed method converts the design task to a constrained optimization problem. The robust flex filter generated by this constrained optimization approach meets both flex inputoutput stability and robust margin requirements. Even though the proposed approach is demonstrated for the CMG robust flex filter design, it can be used for any other robust filter design with minor modifications.

Ares-I Bending Filter Design Using A Constrained Optimization Approach

The Ares-I launch vehicle represents a challenging flex-body structural environment for control system design. Software filtering of the inertial sensor output is required to ensure adequate stable response to guidance commands while minimizing trajectory deviations. This paper presents a design methodology employing numerical optimization to develop the Ares-I bending filters. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares-I time-varying dynamics and control system can be frozen over a short period of time, the bending filters are designed to stabilize all the selected frozen-time launch control systems in the presence of parameter uncertainty. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constrains minimizes performance degradation caused by the addition of the bending filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The bending filter designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC MAVERIC 6DOF nonlinear time domain simulation.

Design of Launch Vehicle Flight Control Systems Using Ascent Vehicle Stability Analysis Tool

A launch vehicle represents a complicated flex-body structural environment for flight control system design. The Ascent-vehicle Stability Analysis Tool (ASAT) is developed to address the complicity in design and analysis of a launch vehicle. The design objective for the flight control system of a launch vehicle is to best follow guidance commands while robustly maintaining system stability. A constrained optimization approach takes the advantage of modern computational control techniques to simultaneously design multiple control systems in compliance with required design specs. “Tower Clearance” and “Load Relief” designs have been achieved for liftoff and max dynamic pressure flight regions, respectively, in the presence of large wind disturbances. The robustness of the flight control system designs has been verified in the frequency domain Monte Carlo analysis using ASAT.

Evaluation of Ares-I Control System Robustness to Uncertain Aerodynamics and Flex Dynamics

This paper discusses the application of robust control theory to evaluate robustness of the Ares-I control systems. Three techniques for estimating upper and lower bounds of uncertain parameters which yield stable closed-loop response are used here: (1) Monte Carlo analysis, (2) mu analysis, and (3) characteristic frequency response analysis. All three methods are used to evaluate stability envelopes of the Ares-I control systems with uncertain aerodynamics and flex dynamics. The results show that characteristic frequency response analysis is the most effective of these methods for assessing robustness.

eSim: a software architecture for Web-enabled simulation

eSim was developed by Draper-Houston to provide a distributed analysis and simulation capability. It is a concept and architecture for Web-enabled simulation. It utilizes a Client/Server construct to Web-enable any simulation. First generation eSim is a general purpose simulation server. With eSim, any simulation can be executed, input parameters entered, and results viewed either in text format, graphically or via animation from a standard Web browser. Additional software and modifications to existing simulations are not required. eSimi provides an interactive capability which allows changing input parameters and viewing corresponding results during the simulation. It also provides the capability to run the simulation in real-time mode. Examples are used to illustrate eSim and eSimi capabilities.

Mechanical Slosh Models for Rocket-Propelled Spacecraft

Several analytical mechanical slosh models for a cylindrical tank with flat bottom are reviewed. Even though spacecrafts use cylinder shaped tanks, most of those tanks usually have elliptical domes. To extend the application of the analytical models for a cylindrical tank with elliptical domes, the modified slosh parameter models are proposed in this report by mapping an elliptical dome cylindrical tank to a flat top/bottom cylindrical tank while maintaining the equivalent liquid volume. For the low Bond number case, the low-g slosh models were also studied. Those low-g models can be used for Bond number > 10. The current low-g slosh models were also modified to extend their applications for the case that liquid height is smaller than the tank radius. All modified slosh models are implemented in MATLAB m-functions and are collected in the developed MST (Mechanical Slosh Toolbox).

Linear Covariance Analysis for a Lunar Lander

A next-generation lunar lander Guidance, Navigation, and Control (GNC) system, which includes a state-of-the-art optical sensor suite, is proposed in a concept design cycle. The design goal is to allow the lander to softly land within the prescribed landing precision. The achievement of this precision landing requirement depends on proper selection of the sensor suite. In this paper, a robust sensor selection procedure is demonstrated using a Linear Covariance (LinCov) analysis tool developed by Draper.

Ares I Flight Control System Design

The Ares I launch vehicle represents a challenging flex-body structural environment for flight control system design. This paper presents a design methodology for employing numerical optimization to develop the Ares I flight control system. The design objectives include attitude tracking accuracy and robust stability with respect to rigid body dynamics, propellant slosh, and flex. Under the assumption that the Ares I time-varying dynamics and control system can be frozen over a short period of time, the flight controllers are designed to stabilize all selected frozen-time launch control systems in the presence of parametric uncertainty. Flex filters in the flight control system are designed to minimize the flex components in the error signals before they are sent to the attitude controller. To ensure adequate response to guidance command, step response specifications are introduced as constraints in the optimization problem. Imposing these constraints minimizes performance degradation caused by the addition of the flex filters. The first stage bending filter design achieves stability by adding lag to the first structural frequency to phase stabilize the first flex mode while gain stabilizing the higher modes. The upper stage bending filter design gain stabilizes all the flex bending modes. The flight control system designs provided here have been demonstrated to provide stable first and second stage control systems in both Draper Ares Stability Analysis Tool (ASAT) and the MSFC 6DOF nonlinear time domain simulation.