Section 18 Survey of Microgravity Vibration Isolation Systems · Microgravity vibration isolation systems are required to provide an environment conducive to world-class science research
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March 2-4, 2004 MEIT-2004 / Section 18 / Page 1
Survey of Microgravity Vibration Isolation Systems
Section 18Survey of Microgravity Vibration Isolation Systems
Dr. Mark WhortonPrincipal Investigator for g-LIMIT
NASA Marshall Space Flight Center
March 2-4, 2004 MEIT-2004 / Section 18 / Page 2
Survey of Microgravity Vibration Isolation Systems
Outline:• Review of Vibration Isolation Technology• Survey of Flight Systems• Future Trends• Flight System Availability on ISS
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Survey of Microgravity Vibration Isolation Systems
Nomenclature
• COTS – commercial off-the-shelf• MVIS – Microgravity Vibration Isolation System• ISPR – International Standard Payload Rack• MSG – Microgravity Science Glovebox• DOF – Degree of Freedom
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Survey of Microgravity Vibration Isolation Systems
The ISS will provide a world-class research facility for microgravity science
Microgravity vibration isolation systems are required to provide an environment conducive to world-class science research
The acceleration environment is expected to significantly exceed acceptable levels
0.1
1
10
100
1000
104
105
0.01 0.1 1 10
D AC-8 (non-iso lated )D AC-8 (w ith SM erg .frequency var ia tion )System R equirement
RM
S A
ccel
erat
ion
(µg)
Frequency (Hz)50
SM Ergomtr
Crew Induc ed
Lab System
Vents S PP
RS
TRRJ
SSP-MG99-074A March 30, 2000
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Survey of Microgravity Vibration Isolation Systems
Why is Vibration Isolation Necessary for ISS?
Transmissibility
0.01Frequency (Hz)
0.1 1 10 100
1
0.1
0.01
0.001
0.1
1
10
100
1000
104
105
0.01 0.1 1 10
DAC-8 (non-iso lated )DAC-8 (w ith SM erg .frequency var ia tion )System Requirement
RM
S A
ccel
erat
ion
(µg)
Frequency (Hz)50
SM Ergomtr
Crew Induc ed
Lab System
Vents S PP
RS
TRRJ
0.1
1
10
100
1000
104
105
0.01 0.1 1 10
DAC8 (withot ARIS)DAC8 (with ARIS)System Requirement
RM
S A
ccel
erat
ion
(µg)
Frequency (Hz)50
SM ErgomtrLab Ergomtr
Crew Induced
Lab System
Vents SPP
RS
TRRJ
March 2-4, 2004 MEIT-2004 / Section 18 / Page 6
Survey of Microgravity Vibration Isolation Systems
PositionControl Law
ReferencePositionCommand
+-
• Low Frequency Position Control Loop:• Maintains Centering• Allows quasi-steady accel estimation
AccelerationControl Law
ReferenceAccelerationCommand
-
• High Frequency Acceleration Control Loop:• Cancels Inertial Motion of the Platform• Allows “Good Vibrations”
QA-3000Accelerometers
accelerations
Isolation SystemPosition Sensor
relativepositionsVibration
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Survey of Microgravity Vibration Isolation Systems
•Low Cost•Low Maintenance•Reliable•No Power
•Isolate only higher freq ( > 1-10 Hz)•Typically requires large volume•Cannot mitigate payload induced vibrations•Resonance vs attenuation trade
Comparison of ApproachesType Advantages Disadvantages
Passive
Active Rack Level
(ARIS)
Active Sub-Rack Level
(g-LIMIT, STABLE, MIM)
•Low freq attenuation via large mass•Least power & volume (mult. payloads/single unit)•standard user interface
•Cannot mitigate payload induced vibrations•requires payloads to be “good neighbors”•highly sensitive to crew contact•Potential high maintenance
•Low freq attenuation via highgain feedback•Mitigates payload induced vibration•can be optimized for individual user
•More power & volume than rack-level (single payload/single unit)
March 2-4, 2004 MEIT-2004 / Section 18 / Page 8
Survey of Microgravity Vibration Isolation Systems
• To date, three microgravity vibration isolation systems have been flight tested in orbit:
• STABLE (Suppression of Transient Accelerations By LEvitation)
• ARIS (Active Rack Isolation System)
• MIM (Microgravity Vibration Isolation Mount)
• Each system will be surveyed using data provided by each investigation team
Introduction
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Survey of Microgravity Vibration Isolation Systems
• Payload-level Isolation System• Developed jointly by NASA MSFC and Boeing (formerly MDAC)
• Flown on STS-73/USML-02, October 1995
• A Faster/Better/Cheaper approach• 4.5 months from ATP to delivery
• Utilized COTS components
• Necessitated robust control design
• Supported a fluid physics experiment
The STABLE Vibration Isolation System
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Survey of Microgravity Vibration Isolation Systems
Integration of Payload into STABLE Locker
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Survey of Microgravity Vibration Isolation Systems
STABLE Flight Unit
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Survey of Microgravity Vibration Isolation Systems
Payload Specialist Dr. Fred Leslie operating STABLE
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Survey of Microgravity Vibration Isolation Systems
UmbilicalDynamics
IsolatedPlatformActuator
AccelerationController
AccelerometerElectronics
PositionSensors
PositionController
-
BaseAcceleration
AccelerometerBias + Noise
STABLE Control System Block Diagram
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Survey of Microgravity Vibration Isolation Systems
STABLE: Typical Active Isolation Time Response
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Survey of Microgravity Vibration Isolation Systems
STABLE: Typical Active Isolation Frequency Response
Frequency (Hz)0.01 0.1 1 10 100
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Survey of Microgravity Vibration Isolation Systems
STABLE: Typical Active Isolation Attenuation
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Survey of Microgravity Vibration Isolation Systems
MIM Background
• The Microgravity Vibration Isolation Mount (MIM) has been developed over the past 10 years by CSA under the direction of Bjarni Tryggvason
• 2 MIM versions have been produced to date:
• First version of MIM is known as MIM-1:
- In operation for two years onboard Russian Mir space station since May 1996;
- accumulating over 3000 hours.
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Survey of Microgravity Vibration Isolation Systems
MIM Background• Second version of MIM is known as
MIM-2:- Flown onboard the Space Shuttle during mission
STS-85 with Canadian Astronaut Bjarni Tryggvason;- MIM-2 acquired a total of 100 hours of operations.
March 2-4, 2004 MEIT-2004 / Section 18 / Page 19
Survey of Microgravity Vibration Isolation Systems
MIM-2 Description:• 8 wide gap Lorentz force actuators(magnets on flotor & coils on stator);• 3 light emitting diodes imaged on 3 position sensitive devices (PSD);• 6 accelerometers for monitoring stator & flotor acceleration
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Survey of Microgravity Vibration Isolation Systems
MIM-2 Summary for STS-85
0 5 10 15 20 25 303000
2000
1000
0
1000
2000
3000
T im e (seconds)
Acc
eler
atio
n (µ
g)A cceleration L evels of the Space Shuttle and M IM ’s Isolated P latform
Space shuttle (stator), non-iso lated
M IM iso lated platform (flo tor) X A xis2 H ertz C utoff
Data filtered by a 100 Hz low-pass filter and sampled at 1000 samples per second
F lo to r X A c c e le r a t io n
0 5 1 0 1 5 2 0 2 5 3 0
0
2 5
5 0
T im e (S e c o n d s )
Acc
eler
atio
n (µ
g)
2 H e r tz C u to ffM e a n R e m o v e d
-2 5
-5 0
Scale=60 times
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Survey of Microgravity Vibration Isolation Systems
MIM-2 Summary for STS-85
Data filtered by a 100 Hz low-pass filter and sampled at 1000 samples per second
0.1 1 10 100 1 .1031.10 4
1 .10 30.010.1
110
1001 .1031 .1041 .1051 .1061 .107
Frequency (Hz)
psd
(µg2
/Hz)
Power Spectral Densities for Stator and Flotor Z Accelerations
Stator
Flotor 0.3 Hertz Cutoff
0.1 1 10 100 1 .10350
40
30
20
10
0
10
Frequency (Hz)
Gai
n (d
B)
Transfer Function Between Stator and Flotor Z Accelerations
Model
Actual
0.3 Hertz Cutoff
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Survey of Microgravity Vibration Isolation Systems
MIM-2 summary for STS-85
• MIM has shown the capability to isolate down to 0.3 Hertz with that limit related to the PSD case material
• Models indicate that with current umbilical and replacement of PSDs, isolation cutoff frequencies of approximately 0.04 Hertz can be achieved
• To reach 0.01 Hertz, improvements to the umbilical are required
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Survey of Microgravity Vibration Isolation Systems
Fluid Core Element (FCE) MVIS Electronic Unit
FCE / ISPR Mounted Items
MVIS EU Box
MVIS: MicrogravityVibration Isolation System
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Survey of Microgravity Vibration Isolation Systems
MVIS Hardware
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Survey of Microgravity Vibration Isolation Systems
0.01 0.1 1 10 100 1 .103100
90
80
70
60
50
40
30
20
10
0
10
Simulation ResultsTheoretical
Frequency [Hz]
Isol
atio
n Tr
ansf
er F
unct
ion
Gai
nPredicted Isolation Transfer Function
March 2-4, 2004 MEIT-2004 / Section 18 / Page 26
Survey of Microgravity Vibration Isolation Systems
0.01 0.1 1 10 100 1 .1030.01
0.1
1
10
100
1 .1031 .1041 .1051 .106
1 .1071 .1081 .109
DAC6 Predicted Acceleration for Non-Isolated RackISS Acceleration Specification - Achieved Only With IsolationFCE Acceleration with MVIS
FSL Acceleration Environment
Frequency (Hz)
Pow
er S
pect
ral D
ensi
ty (m
icro
g^2/
Hz)
Isolation Performance Predicted for MVIS
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Survey of Microgravity Vibration Isolation Systems
MIM Base Unit Configuration
Water Cooled Shroud
MIMBU
51.59 cm(20.312”) 4
6.04 c
m
(18.12
5”)
55.5 cm(21.882”)
The water Quick Disconnect(QD), though not shown on this drawing, is part of the shroudand will be located at the lowerright or left front corner of the shroud (see 6.2.3.5).
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Survey of Microgravity Vibration Isolation Systems
MIM Base Unit: Two Stage Isolation to Allow Investigation of G-Jitter Effects
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Survey of Microgravity Vibration Isolation Systems
MIM Base Unit
Intermediate Flotor
Top Flotor
Base
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Survey of Microgravity Vibration Isolation Systems
MIM Base Unit Isolation Performance
1 .10 3 0.01 0.1 1 10 100100
50
0
One StageTwo Stage-3 dB Natural Isolation one-stageNatural Isolation two-stage
Isolation TF
Frequency [Hz]
TF G
ain
[dB
]
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Survey of Microgravity Vibration Isolation Systems
MIM Base Unit:Driven Accelerations on Top Flotor
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Survey of Microgravity Vibration Isolation Systems
Reaction Force to ISS in Driven Mode Operation
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Survey of Microgravity Vibration Isolation Systems
Schedule
MVIS is currently being manufactured• FCE mounted component were delivery to ESA in early
November for vibration testing
• Flight harness will be delivered to ESA in December
• Remaining flight hardware to be delivered to ESA by mid 2003
MIMBU configuration is complete• Work is on hold until MVIS is completed
• Launch is expected in 2005
March 2-4, 2004 MEIT-2004 / Section 18 / Page 34
Survey of Microgravity Vibration Isolation Systems
• Rack-level Isolation System• Developed by Boeing• Flown on RME 1313 / MIR Spacehab STS-79, August 1996
• Over 1700 test runs for Isolation Characterization Experiment completed since June 2001
• Planned Utilization:• EXPRESS Racks• Fluid Combustion Facility• Materials Science Research Facility
The Active Rack Isolation System (ARIS)
March 2-4, 2004 MEIT-2004 / Section 18 / Page 35
Survey of Microgravity Vibration Isolation Systems
• Dua l P roce s s or : De couplingimple me nte d in controlle r a llowsfre e dom to pla ce a ctua tors a nds e ns ors . P a yloa ds ha ve e xte ns ivecomma nd, da ta a cquis ition, a ndcontrol options .
• 3 S e ns or Ele ctronic Units :P rogra mma ble a na log filte rs & ga ins& 16 bit a na log-to-digita l conve rte rs .
• Acce le rome te r He a ds : Built s ma ll tofit in ra ck corne rs . 2 Tri-a xia l(Bottom), 1 Bi-a xia l (Top)
• 8 Actua tor Drive rs : P uls e widthmodula tion us e d to re duce powe rcons umption
• 8 Actua tors : Voice coil rota rya ctua tor us e d to re duce profile a ndpowe r cons umption.
• 8 P os ition S e ns ors : In te gra te d witha ctua tors .
• Ha rd s top Bumpe rs STATION UMBILICALSTANDOFF STRUCTURE
1
2
3
4
5
22
2
1
3
3
3
4
5
5
5
5
5
5
6
CM
6
6
6
6
X
YZ
5
Boeing Active Rack Isolation System (ARIS)
March 2-4, 2004 MEIT-2004 / Section 18 / Page 36
Survey of Microgravity Vibration Isolation Systems
ARIS-ICE Express Configuration
ICE-POP
SAMS ICU
S4
March 2-4, 2004 MEIT-2004 / Section 18 / Page 37
Survey of Microgravity Vibration Isolation Systems
ARIS ICE 1/3-Octave Band Acceleration Measurements
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Survey of Microgravity Vibration Isolation Systems
ARIS ICE Isolation Performance
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Survey of Microgravity Vibration Isolation Systems
ARIS EXPRESS Predicted Performance at Assembly Complete
March 2-4, 2004 MEIT-2004 / Section 18 / Page 40
Survey of Microgravity Vibration Isolation Systems
g-LIMIT A Vibration Isolation System for the Microgravity Science Glovebox
• Designed & built in-house by MSFC• Characterized as a MSG Glovebox
Investigation• Manifested for launch: LF1 Mission • 15 Days Characterization testing • Payload support operations after
characterization
March 2-4, 2004 MEIT-2004 / Section 18 / Page 41
Survey of Microgravity Vibration Isolation Systems
g-LIMIT Flight Unit
Dimensions:~ 14” x 16” footprint~ 10” tall
March 2-4, 2004 MEIT-2004 / Section 18 / Page 42
Survey of Microgravity Vibration Isolation Systems
Bumpers (3)
Power & InformationProcessor (PIP)
Isolator Module (IM)•Platform subsystem (TASC*)•Base subsystem (Base)•3 units
UmbilicalInterfacePlate (UIP)
Payload MountingStructure (PMS)
g-LIMIT System Assembly
March 2-4, 2004 MEIT-2004 / Section 18 / Page 43
Survey of Microgravity Vibration Isolation Systems
g-LIMIT in MSG
March 2-4, 2004 MEIT-2004 / Section 18 / Page 44
Survey of Microgravity Vibration Isolation Systems
Isolation Module (IM)
Electronics Boards(3)
2-AxisAccelerometer
Block
BackironActuatorPaddle
Magnets (2)
March 2-4, 2004 MEIT-2004 / Section 18 / Page 45
Survey of Microgravity Vibration Isolation Systems
Isolator Module (IM):2 Accels
2 Posn Sensors2 Actuators
IM IM
IMInertially Isolated
PIP
Power & Information Processor (PIP):
266 MHz Pentium IIPC104 Architecture1 GB Data Storage2 PCMCIA Slots2 RS 232 slots2 RS 422 slotsVideo/Keyboard/MouseEthernet
Station Fixed
CrewLaptop
GroundStation
March 2-4, 2004 MEIT-2004 / Section 18 / Page 46
Survey of Microgravity Vibration Isolation Systems
March 2-4, 2004 MEIT-2004 / Section 18 / Page 47
Survey of Microgravity Vibration Isolation Systems
g-LIMIT 6DOF, Acceleration Time Response (X-axis)
March 2-4, 2004 MEIT-2004 / Section 18 / Page 48
Survey of Microgravity Vibration Isolation Systems
• Baseline classical controllers (Jackson, Kim, Whorton)
• Fixed Order H2 / µ designs (Whorton)
• H∞ designs (Whorton)
• H2 designs (Hampton, Calhoun, Whorton)
• Interval Model Controller (Tantaris, Keel)
• Student classical designs
• Adaptive controllers (pending software update)
Controllers Technologies to be Testedusing g-LIMIT
March 2-4, 2004 MEIT-2004 / Section 18 / Page 49
Survey of Microgravity Vibration Isolation Systems
Summary of Flight Systems Availability:
STABLE:• No current plans to fly on ISS
MIM-2, et.al.: • Use on ISS coordinated through CSA
ARIS:• In operation on ISS
g-LIMIT:• To be utilized in MSG
March 2-4, 2004 MEIT-2004 / Section 18 / Page 50
Survey of Microgravity Vibration Isolation Systems
Further Reading:1. Grodsinsky C. and Whorton, M., “Survey of Active Vibration Isolation Systems
for Microgravity Applications,” Journal of Spacecraft and Rockets, Vol. 37, No. 5, Sept. – Oct. 2000.
2. Bushnell, G. S., and Becraft, M. D., “Microgravity Flight Characterization of an International Space Station Active Rack Isolation System,” AIAA Paper # TBD, Presented at the 2002 World Space Congress...
3. Nurre, G. S., Whorton, M. S., Kim, Y., Edberg, D. L., and Boucher, R., “Performance Assessment of the STABLE Microgravity Vibration Isolation Flight Demonstration,” submitted for publication to Journal of Spacecraft and Rockets.
4. Tryggvason, B. V., Stewart, B. Y., DeCarufel, J., and Vezina, L., "Acceleration Levels and Operation of the Microgravity Vibration Isolation Mount (MIM) on the Shuttle and Mir Space Station", AIAA Paper No. AIAA-99-0578, presented at the 37th AIAA Aerospace Sciences Meeting and Exhibit, Reno, Nevada, January 11-14, 1999.
5. Jackson, Kim, Whorton, “Design and Analysis of the g-LIMIT Baseline Vibration Isolation Control System,” AIAA Paper No. 2002-5019, Presented at the 2002 AIAA Guidance, Navigation, and Control Conference, Monterey, CA, August 5-8, 2002.
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