12/73-
5m
NASA TECHNICAL
NOTE
NASA
TN
D-7289
OI
00
N
h
APOLLO EXPERIENCE REPORT
-
GUIDANCE AND
CONTROL SYSTEMS
Digital
Autopilot
Design Development
by
Willium
H.
Peters
und
Kenneth
J.
CoxManned
S’ucecm?
Center
Housto~,
Texus
77058
NATIONAL AERONAUTICS AND SPACE ADMINISTRATION WASHINGTON, D.
C.
JUNE
1973
1.
Re
rt
No.
NKSA TN
D-7289
2.
Government Accession
No.
3.
Recipient's Catalog No.
Manned Spacecraft CenterHouston, Texas
77058
4.
Title and Subtitle
APOLLO EXPERIENCE REPORTGUIDANCE
AND
CONTROL SYSTEMS
-
DIGITAL AUTOPILOT DESIGN DEVELOPMENT
11.
Contract or Grant No.
5.
Report Date6.Performing Organization Code
June
1973
13.
Type of Report and Period Covered
Technical Note
. Sponsoring Agency Name and Address
7.
Author(s)
William
H.
Peters and Kenneth
J.
Cox, MSC
~
9.
Performing Organization Name and Address
National Aeronautics and Space AdministrationWashington,
D.
C.
20546
8.
Performing Organization Report No.
MSC
S-331
10.
Work Unit No.
91
4-
0-
0-
2-72
14.
Sponsoring Agency Code
7.
Key
Words (Suggested by Author(s))
'Control Systems (Lunar Module)
*
Control Systems (Command Module)'Apollo Project Spacecraft Guidance'Automatic Pilots Attitude ControlDigital Computers
*
Spacecraft Control
5. Supplementary Notes
The MSC Director has waived the use of the International System of Units (SI) for this ApolloExperience Report, because, in his judgment, the use of SI units would impair the usefulnessof the report
or
result in excessive cost.
6. Abstract
The development of the Apollo digital autopilots (the primary attitude control systems that wereused for
all
phases of the lunar landing mission)
is
summarized. This report includes designrequirements, design constraints, and design philosophy. The development-process functionsand the essential information flow paths are identified. Specific problem areas that existed dur7ing the development are included.
A
discussion
is
also
presented on the benefits inherent inmechanizing attitude-controller logic and dynamic compensation in
a
digital computer.
18.
Distribution Statement
19.
Security Classif. (of
his
eport)
20.
Security Classif. (of this
page)
21.
No. of Pages
None None
47
*
For
sale
by
the
NationalTechnical
Information Service,
Springfield,Virginia
22151
22.
Price
3.00
CONTENTS
I
Section PageSUMMARY
.....................................
1
INTRODUCTION
..................................
2
I
GENERAL
.....................................
2
Development Process
.............................
2
I
Functional Requirements
...........................
3
I
Preflight Testing and Verification
.......................
COMMAND-SERVICE MODULE DIGITAL AUTOPILOT DEVELOPMENT
....
i
I
..........................
Vehicle Design ConstraintsDesign Philosophy
...............................
7
Design Description
...............................
8
Design-Development Problems
........................
10LUNAR MODULE DIGITAL AUTOPILOT DEVELOPMENT
...........
19Vehicle Design Constraints
..........................
20Design Philosophy
...............................
20
Design Description
...............................
21
I
Design Evolution
................................
24FLIGHT TEST RESULTS
.............................
28CONCLUDINGREMARKS.
............................
40
REFERENCES..
.................................
.
42
iii
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NASA Apollo Experience Report on development of the Apollo digital autopilots
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