In the late 1980’s and early 1990’s smart structures seemed to be the only solution to add enough damping to the kind of lightweight, high performance beam director that was a key component of a Space Based Laser. This drove construction of what may be the world’s largest smart structure with 16-foot-long metering struts with 100’s and 100’s of embedded piezoceramics. The same technology was an excellent choice to make guitars sound better. Some current applications of smart structures at Boeing will also be discussed.
Tuned mass dampers (TMD) are heavily damped resonant devices which add damping to lightly
damped, vibrational modes of a structure by dynamically coupling into the lightly damped modes.
In practice, a TMD is a damped spring/mass resonator that is tuned so that its frequency is close to a
lightly damped mode on the host structure. The TMD is attached to the host structure at a location
of large amplitude motion for the mode to be dampened, and its motion is coupled into the host
structure’s motion. If the TMD is tuned correctly, two damped vibrational modes result, which take
the place of the original lightly damped mode of the host structure and heavily damped mode of the
TMD. Since aerospace structures tend to respond unfavorably at lightly damped modes in the
presence of a dynamic disturbance environment, introduction of one or several TMDs can greatly
reduce the dynamic response of a structure by damping problematic modes. A self-tuning TMD is
described that can perform all the steps necessary to automatically tune itself and minimize the
response of a structure with lightly damped modes and a dynamic excitation. The self-tuning TMD
concept introduced here uses a voice coil / magnet combination as
-an actuator which enables an innovative stiffness adjustment mechanism
-a loss mechanism for the tuned mass damper
-a means of excitation for identifying lightly damped modes of the host structure
Along with an accelerometer and a tethered power supply/computer, the self-tuning TMD can
automatically identify and damp lightly damped modes.
Synthetic jet actuators are of interest for potential applications to active flow control and thermal management. Resonant
piezoelectric-diaphragm-type configurations are commonly considered. Modeling of such actuators remains a challenge
due to complexities associated with both electro-elastic and fluid-structure coupling, as well as potential non-linearities
in both. A key metric for synthetic jet performance is the time-averaged jet momentum. Linear lumped-element
modeling is an approach that has demonstrated the ability to predict jet momentum in terms of input frequency and
voltage; however, it neglects nonlinearity and increasing losses at high amplitude. Full electro-elastic-fluidic finite
element modeling makes the most accurate prediction but is computationally expensive for design and optimization
purposes. The assumed-modes method provides an energy-based low-order model which captures electro-elastic and
acoustic-structure couplings with adequate accuracy. Tri-laminar circular plates under clamped boundary conditions
were modeled using the assumed-modes method. Maximization of jet momentum is considered via the maximization of
surrogate device metrics: free volume displacement, effective blocking pressure, strain energy, and device coupling
coefficient. The driving frequency of the actuator is treated as a constraint in the optimization which nominally matches
the fundamental acoustic natural frequency of the cylindrical cavity. Device configurations were obtained for various
polycrystalline and single crystal piezoelectric materials, driven at 10% of their coercive fields in the model. The optimal
configurations approximate a simply-supported circular plate with complete piezo coverage. The relative merits of
individual materials were also discerned from the optimization results. The low mechanical loss factor of PZT8 enables
high output at resonance, while high loss factor and low stiffness limit the utility of PVDF in this application. Due to a
combination of lower loss factor and higher coupling, single crystal materials modestly outperform PZT5A.
The planets telescope structure is a hybrid off-axis design that uses a carbon truss to support the secondary mirror and an aluminum base to support the primary mirror and provide an interface to the declination rotation axis. This paper describes the development of the optical support structure of the telescope, which required an integrated model to predict closed-loop optical metrics in the presence of wind loading. The integrated model combined a finite element model, the optical prescription, a control model and measured wind loading.
Synthetic ynthetic jet actuators are attractive devices for active flow control because, in contrast to many other actuators,
they do not require a pressurized air source. Instead, they cyclically ingest and expel air from the external flow
that is being controlled. To accomplish this, a piston or diaphragm is used compress and expand the volume of the
actuator cavity. Various approaches to compress and expand the volume of the cavity have been explored including:
speaker drivers,1 mechanical pistons2 and piezoelectric diaphragms.
The Segmented Mirror Telescope (SMT) at the Naval Postgraduate School (NPS) in Monterey is a next-generation
deployable telescope, featuring a 3-meter 6-segment primary mirror and advanced wavefront sensing and correction
capabilities. In its stowed configuration, the SMT primary mirror segments collapse into a small volume; once on
location, these segments open to the full 3-meter diameter. The segments must be very accurately aligned after
deployment and the segment surfaces are actively controlled using numerous small, embedded actuators.
The SMT employs a passive damping system to complement the actuators and mitigate the effects of low-frequency
(<40 Hz) vibration modes of the primary mirror segments. Each of the six segments has three or more modes in this
bandwidth, and resonant vibration excited by acoustics or small disturbances on the structure can result in phase
mismatches between adjacent segments thereby degrading image quality. The damping system consists of two tuned
mass dampers (TMDs) for each of the mirror segments. An adjustable TMD with passive magnetic damping was
selected to minimize sensitivity to changes in temperature; both frequency and damping characteristics can be tuned for
optimal vibration mitigation.
Modal testing was performed with a laser vibrometry system to characterize the SMT segments with and without the
TMDs. Objectives of this test were to determine operating deflection shapes of the mirror and to quantify segment edge
displacements; relative alignment of λ/4 or better was desired. The TMDs attenuated the vibration amplitudes by 80%
and reduced adjacent segment phase mismatches to acceptable levels.
KEYWORDS: Mirrors, Systems modeling, Motion models, Space mirrors, Control systems, Optical components, Sensors, Finite element methods, Performance modeling, Matrices
Optical systems may contain mechanical structure, optics, sensors, and active control to improve image quality or to
point and stabilize the line-of-sight. A single model that includes structural, optical, and active control elements is
beneficial for trade studies and defining hardware requirements. The process and benefits of representing structural and
optical elements as a state space model are discussed. A state space model is derived for a reaction-less steering mirror.
Steering mirror control and performance are discussed. A method for creating state space models directly from finite
element normal modes is also described. A single closed loop model that represents both structural and optical effects
in the state space form can be used to quickly evaluate system performance.
The cost of performing any mission on orbit is a strong function of the cost of getting the mass into orbit and the mass of a spacecraft is driven by the launch loads that the components must be deigned to survive. Additionally, these design loads vary between launch vehicles so if circumstances arise that require a change in launch vehicle significant time and money can be spent in modifying and testing to meet different requirements. Technologies that reduce both the vibration and acoustic environments during launch have the potential to both reduce the design load levels, and eventually equalize them between boosters. To this end the Air Force Research Laboratory, Space Vehicles Directorate in cooperation with the Space Test Program, Boeing SVS, CSA Engineering, and Delta Velocity have been investigating methods to decrease the acoustic and vibration loads induced on payloads by the launch environment and demonstrating them on a sounding rocket launch. The Vibro-Acoustic Launch Protection Experiment (VALPE) mission included an acoustically designed Chamber-Core skin, two passive/active vibration isolation experiments, a passive/active acoustic damping experiment, and an energy recovery experiment integrated onto a Terrier-Improved Orion sounding rocket and launched from NASA Wallops Island. A description of the overall mission, experiments, and general results from the flight test are discussed.
This paper presents an overview of the development and capabilities of a space-traceable testbed developed for investigation of research issues related to deployable space telescopes. The Air Force Research Laboratory (AFRL) is developing the Deployable Optical Telescope (DOT), which upon completion will be a fully-deployable, sub-scale, space-traceable ground testbed for development and demonstration of critical technologies for the next-generation of space-optics systems. The paper begins with an overview of the DOT project’s technology goals, including the specific performance objectives of the various technologies that are being incorporated into the DOT testbed. The paper presents an overview of the DOT design, including the central integrating structure, deployable primary mirror petals, deployable secondary tower, deployment mechanisms, lightweight mirror segments, metrology, and control systems. The paper concludes with a report on the current status of DOT activities as well as a view of the future research that is planned for the project.
This paper presents experimental results relating to the Air Force Research Laboratory Precision Deployable Optics System (PDOS) ground demonstration. The PDOS experiment represents a sub-scale experimental test-bed for the demonstration of science and technology related to a large-aperture deployable space-based telescope systems. A description of the experimental test-bed is included. A description of microdynamic phenomena, referred to as `events' or `microlurches', observed during the test phase of the ground demonstration is presented. The performance of a three input, three output, high bandwidth structural controller operating in the presence of these events is presented and compared to the performance of the uncontrolled system.
KEYWORDS: Optical isolators, Satellites, Actuators, Space operations, Signal attenuation, Passive isolation, Active isolation, Titanium, Control systems, Sensors
An innovative new hybrid isolation system has been developed to significantly increase the performance over a passive whole-spacecraft isolation design. The design builds upon the passive design and incorporates active components in parallel to the passive design. This means that if the active system fails, the passive system would be able to handle the isolation requirements. Preliminary results show that significant attenuation can occur using the hybrid isolation system over the passive isolation system. Also, it has been determined that the performance gained by the hybrid isolation system will be dependent on the stiffness of the launch vehicle. As this stiffness now becomes an important design parameter when developing a whole- spacecraft launch isolation system.
KEYWORDS: Mirrors, Sensors, Control systems, Actuators, Control systems design, Device simulation, Electronic test equipment, Data modeling, Ferroelectric materials, Space operations
A control technology testbed for the Ultra-Lightweight Imaging Technology Experiment (UltraLITE) program at the U.S. Air Force Research Laboratory is described. The goal of the testbed is to demonstrate technology readiness for controlling boom-mounted, rigid body mirror positioning while rejecting spacecraft disturbances and overshoot oscillations due to rigid body retargeting. This paper describes the three main phases of the testbed: concept definition, mirror initial simulator bench top experiments and the boom/mirror control experiments. Emphasis on recent results from the bench top and boom/mirror experiment will be presented. To date, designs of several different types of disturbance rejection controllers for meeting the nanometer positioning requirements have been shown for the mirror inertial simulator mounted to an optical bench. Control methodologies for designing these systems included ARMA and LQG/LQR methods augmented with control logic for coarse control correction also included. Brief explanations of the experiment's traceability to the UltraLITE space imager concept and an explanation of the boom/mirror hardware setup are also included.
The optical support boom and related facilities for the Ultra- Lightweight Imaging Technology Experiment (UltraLITE) program at the U.S. Air Force Research Laboratory are described in this paper as well as the implementation of a local feedback loop to control the boom's first bending mode. The primary goal of the efforts described in this paper are to provide a relatively quiet vibration environment for optical active control experiments to be performed on the deployable optical support boom. The optical active control experiments to date are described in a companion paper.
The US Air Force Research Lab (AFRL) has integrated several technology development efforts together to form a cohesive approach for enabling deployable optical systems in the future. Aperture size dominates the cost/architecture trades for space based laser systems for missile defense and tactical imaging system pursuing broad area coverage with local access. Larger apertures allow both systems to consider higher orbits, offering greater fields of regard. However, large monolithic apertures quickly run into launch vehicle faring volumetric and throw mass constraints. Several technologies may enable space deployable of optical segments to form a large primary mirror at a reduced mass, circumventing the launch vehicle constraints. However, to produce an optically phased wavefront, a combination of technologies, deployment mechanisms, lightweight structures and mirrors, mirror mount isolators and actuators, adaptive optics, and processing techniques, must be applied in concert. While this paper concentrates on the hardware development activities under the UltraLITE program, namely the Precision Deployable Optical Structure ground demonstration and the brassboard Deployable Space Telescope, it will also briefly cover and provide references to related technology programs on-going at the AFRL.
During launch, spacecraft experience severe acoustic and vibration loads. Acoustic loads are primarily transmitted through the shroud or payload fairing of the launch vehicle. In recent years, there has been a trend towards using lighter weight and extremely stiff structures such as sandwich construction and grid-stiffened composites in the manufacturing of payload fairings. While substantial weight savings can be achieved using these materials, the problem of acoustic transmission is exacerbated. For this reason, the Air Force Research Laboratory has been actively engaged in vibroacoustic research aimed at reducing the acoustic and vibration levels seen by payloads during launch. This paper presents experimental results for the simultaneous structural and acoustic cavity mode control of a sub-scale composite isogrid payload fairing structure. In this experiment, actuation is performed through the use of both an internal speaker as well as piezoceramic strain actuators located on the outer skin of the composite structure. Sensing is accomplished using a microphone as well as a piezoelectric strain sensor. The control approach presented in this paper is a decentralized frequency domain approach which makes use of a series of independent control loops. One loop uses the microphone and speaker, while additional loops use the piezoelectric sensors and actuators. The control algorithm consists of independent second-order Positive Position Feedback (PPF) controllers tuned to reduce the magnitude of each cavity mode. A PPF filter in conjunction with an extremely sharp bandpass filter is used on the structural mode of limit spillover. This approach leads to a substantial reduction in the acoustic transmission in the range of 0 - 800 Hz. Transmission coincident with the primary cavity modes of the system are reduced in magnitude by 26 and 9 dB respectively while the structural model that is responsible for the majority of transmission is reduced by approximately 7 dB.
An adaptive filtering technique is developed for the control of structures with lightly damped modes. The technique is based on a feedback control strategy that uses tuned second- order filters to add damping to structural resonances. A single-mode system is analyzed to determine the effect of the filter parameters on the closed-loop structural damping. The analysis demonstrates that the closed-loop damping is linearly related to the filter damping for gain margins greater than two and that the closed-loop damping is highly sensitive to changes in the filter frequency. The sensitivity of the closed-damping to errors in the filter frequency motivates the use of a phase-lock loop to identify the structural frequency during transient vibration. The feedback compensator is implemented on a digitally- programmable analog filter whose parameters are set by a microcontroller. The adaptive algorithm is demonstrated on a flexible composite beam with a variable tip mass. Adding or subtracting mass to the tip of the beam varies the first structural mode from 24 Hz to 11 Hz. Control experiments demonstrate that the closed-loop damping is reduced from 21% to 4% critical when the filter parameters are not adapted to the structural frequency. In contrast, the adaptive filter is able to maintain between 14% and 21% critical damping in the structural mode as the frequency varies from 24 Hz to 11 Hz.
In choosing positions for sensors and actuators for structural control, the first step is usually to develop a model that describes the motion of the structure in response to an excitation. The next step depends on the type of sensors and actuators used. If displacement or acceleration sensors and shakers are used, the model serves as a guide to find locations on the structure where displacement is large for a given disturbance. If in-plane strain-based smart sensors and actuators are used, the model is used to identify locations with large in-plane strain. If the structure is relatively complex, there is a good chance that the initial model will not predict motion that agrees completely with the measured motion of the structure. This initial model is then typically adjusted so that the behavior it predicts agrees with a measured modal analysis of the structure. This process can be extremely time consuming, and while the reconciled modes often agree well with a modal analysis, there can be large errors with respect to in-plane strain. Prediction of in-plane is necessary for accurate location of smart sensors and actuators like piezoceramics. In this paper an experimental method is introduced which uses in-plane sensors to find good smart sensor and actuator locations to control acoustic excitation of a complex structure. Experimental results are also presented which demonstrate the proposed technique.
Integral control surfaces in rear sections of airfoils can be used to actively control camber. This has potential applications in individual blade cyclic control of helicopters and in aeroelastic control of fixed-wing aircraft. When analyzed as actuators, integral control surfaces will have a characteristically misbehaved frequency response function (FRF). Taking tip displacement as a result of a force input, one would expect either highly peaked resonances characteristic of such a substructure or large areas of very low response depending on what part of the frequency domain the observation is made. In this paper, active control is used locally to convert the FRF of a proposed integral actuator into a more favorable flat-gain FRF in a frequency range of interest. This is accomplished while still exploiting at least some of the gain of the open loop first structural resonance. Both experiment and analysis are presented.
The performance of the Advanced Composites with Embedded Sensors and Actuators (ACESA) vibration control system is described. The system consists of: three tubular active members sixteen feet long and five inches in diameter, with embedded piezoceramics (PZTs) allowing control of deformation axially and in two bending planes; a 9-channel digitally programmable analog local vibration control electronics unit; and 400 Volt drive electronics for each strut. The system is installed on a space based laser structural simulator at the AF Phillips Lab's Advanced Space Structure Research Experiments (ASTREX) facility at Edwards Air Force Base. The system has demonstrated ability to settle vibrations after a thruster induced slew in 0.2 seconds.
The development status of the USAF Astronautics Laboratory's contractual and in-house investigations into 'smart' aerospace structures and skins is evaluated. Plans have been drawn up for the incorporation of smart-structures technologies into future satellite vibration active control systems capable of sensing, evaluating, and damping-out any natural and spurious vibrations. In addition, health monitoring to sense any major degradation of the structure will be incorporated. Attention is given to the major role played by fiber-optics.
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