Upload
others
View
2
Download
0
Embed Size (px)
Citation preview
J.
I I . L_
001':)'If J.f y 1 4'10'1/7
rti-BOEING
The NASA IVHM Technology Experiment for X-37
Mark Schwabacher NASA Ames Research Center
Space Transportation Technology IVHM Session
-- --- ----- ------ ---------""' .. -----
1
~
• Long-term goal: Reduce cost and increase reliability of space transportation
• Demonstrate benefits of in-flight IVHM to the operation of a Reusable Launch Vehicle
• Advance this IVHM technology to Technology Readiness Level ~7 within a flight environment
• Operate IVHM software on the Vehicle Management Computer
Space Transportation Technology IVHM Session
Technology Goals and Objectives
-- ----~ -- ------- ---.--- _ .. -----------
I -
~--------~------------- ---.
• Unpiloted • Reusable • 27.5 feet long • Mission :
• launch from Shuttle's cargo bay
• orbit Earth 21 days • De-orbit and land on
runway autonomously
• First flight in 2002 • Being built by Boeing
for NASA MSFC
Space Transportation Technology IVHM Session
Background: X-37
----- --- ----'-" -----
-
I
• Livingstone automates system-level fault diagnosis • Qualitative, Model-based Reasoning
• Searches system-wide interactions to detect and isolate failures • Eliminates 'hardwiring' pre-defined set of failures • Updating and verifying the model is straightforward • Streamlines development and maximizes code reusability
• Accomplishment: Successfully flown on Deep Space One • Also scheduled to fly on X-34
Space Transportation Technology IVHM Session
Background: Livingstone
~ -- -- -- -- -- -- --- --- ----- -- ----- --.--~~ --. ..J
System model
Vehicle Management Computer
Space Transportation Technology IVHM Session
Experiment Overview
----
----------- -
• Monitor and diagnose: • Electro-Mechanical Actuators (EMA) for control
surfaces • Associated Electrical Power System
components • Real-time fault detection and isolation • Diagnosis, not prognosis • Shadow mode only (no reconfiguration
commands) • Generate advisory recommendations for ground
ops
Space Transportation Technology IVHM Session
X-37 IVHM Scope
----~. -- -- -- - -. --- --------~- "--- -"-- ----- - ------- - - -~ - - - - - ----
r- .... -
f STANLEY -- MOD ~ "
Eile I;.dit lest Iools ~k.unk
',---,--- ----
Hide labels
batte,,\:!150v
• ... .... y •
lCL\150v I " " ~ ... " ... . ./;. ~ I!nl~ ~rH~~~~ ~~~~~~~~~~
.['"'. '"'7 ... ····"" I I '~ .. -
emaContl'oll er2
powerSource
'0-
Next chaIt explodes this module
if, I t h er~qCol'd:.rollerl
~ I " I I ~ ? . 'ii' " 'V ·7
0. !- ;Jl t ~r-j --r.«!,--------' emaCont'f'oller3
I I I I '"' 7 "l '"'
~0
@ W ~i1i
~ I ... J
rJJ~ %
~ ;;0;
if( bod8Fla~ tiihtRuddervator I • I I I I
" '"' "" '"' " '"' '"' '"' cCk cCk · il0 j.:
00' Lk . " " . " " " " " " " "'"
<Mouse-L click>: reset selection; <tv1ouse- L drag>: select nodes
Space Transportation Technology IVHM Session
Stanley Interface to Livingstone Model
I
r
i
0~
brakeln
o
:t:
,-;>::
:Ii.,
~%:
.. -:-:-,~
brake I I
'V 'V
',f.@.<1""~.~.·'.'.'·" '*"*~' ", 'ill
'~,(il,' < jJ '",
'" ~ 'V
;~
AlL
powerln28v powerln150v
D D
Next chart explodes this module
'2
t<
J motor
8
I • 'C 1;1)'," 'V V' '\7 ' .
I~. ~, -.. " J~~ .Q
--- ":+
~f
Space Transportation Technology IVHM Session
Right Ruddervator Actuator Detail
~~~~ - ---------- ~- .---. -- - -'~~- - - ---'-". -----
c ___ _
~
pmoJerln28v
o ...
on
m :%t
#J
motorCurrent @ ...
o :& ~w ~R
io
i L-__ _
powerln150v
o •
,':i$
~"f:
motorTemperature ...
noBraking rnoto 'rCn1dI n
o ...
f ai 1 edHi ghTerrllo
%FailedHighCurrent
iI1 <~
1~'
~
~
motorState ...
:;: ~
~
D ...
unknol..·Jn
,
~ ':~"
V~?)
.~:;;~
~,",'
motorStateAtt
[8] • o ;,{ :.4):· D
'A Space Transportation Technology IVHM Session
Motor state diagram
------ ----
m -0-
%
;i::
,<'ti ,<4';&
if
emaCont \"011 er<3 t. .fr .t. .. ~
-1 I·
Space Transportation Technology IVHM Session
Inferred Nominal State
L
r- --.---- -..-.---~-.
l~ --.- ._------
~*
ta-
emaControll er3 'I I ) ) Q "'" ~ ~
u:::
Space Transportation Technology IVHM Session
Inferred Failure
- - " - ----- "" - --------------------------~---
"
• The IVHM Experiment's outputs will be provided as inputs to the X-37 Informed Maintenance (1M) Experiment
• The 1M software will run in the X-37 ground station, processing IVHM Experiment flight data in real-time
• 1M Experiment is being performed by NASA KSC and Boeing
• The 1M Experiment's goal is to reduce the cost and time needed to maintain the vehicle
Space Transportation Technology IVHM Session
X-37 Informed Maintenance Experiment
'.
L_
• During the second orbital mission, we will use simulated faults to demonstrate the IVHM software's ability to diagnose them
Space Transportation Technology IVHM Session
Simulated Faults
~
L-
• Livingstone ported from LISP to C++ under VxWorks
• Preliminary design of Interface with Boeing software completed
• Knowledge of X-37 subsystems gained from Boeing experts
• First subset of X-37 model completed
Space Transportation Technology IVHM Session
Current Status
l
~
---- ---" ---~
• Limited vehicle resources available to IVHM .CPU • Memory • Telemetry • May need to descope experiment to fit resource
constraints • Rigorous software safety standards
Space Transportation Technology IVHM Session
Challenges
-- ---------------- - -- - ----- --------------
r
I' .
!
. -
• 03/01/01: Deliver IVHM Ver1 Software to Boeing for B-52-based autonomous approach and landing tests
• 03/01/02: Deliver IVHM Ver2 Software to Boeing for orbital flights
Space Transportation Technology IVHM Session
Upcoming Milestones
r.
• Mina Cappuccio: X-37 L3 PM & Expt Programmatic Lead, [email protected], 650-604-1313
• Jeff Samuels: Technical Lead, [email protected], 650-604-4235
• Mark Schwabacher: Software Lead, [email protected], 650-604-4274
• Scott Poll, Kevin Carbajal: X-37 Models & Monitors • Scott Christa, Benoit Hudson: Software Integration & Test • Dan Clancy, Jim Kurien: Consulting
Space Transportation Technology IVHM Session
People and Contact Information