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NASA NTRS1989

Harmonic analysis of spacecraft power systems using a personal computer

The effects that nonlinear devices such as ac/dc converters, HVDC transmission links, and motor drives have on spacecraft power systems are discussed. The nonsinusoidal currents, along with the corresponding voltages, are calculated by a harmonic power flow which decouples and solves for each harmonic component individually using an iterative Newton-Raphson algorithm. The sparsity of the harmonic equations and the overall Jacobian matrix is used to an advantage in terms of saving computer memory space and in terms of reducing computation time. The algorithm could also be modified to analyze each harmonic separately instead of all at the same time.

Williamson, Frank↗

NASA NTRS1990

Effect of artificial viscosity on three-dimensional flow solutions

Artificial viscosity is added either implicitly or explicitly in practically every numerical scheme for suppressing spurious oscillations in the solution of fluid dynamics equations. In the present central-difference scheme, artificial viscosity is added explicitly for suppressing high frequency oscillations and achieving good convergence properties. The amount of artificial viscosity added is controlled through the use of pre-selected coefficients. In the standard scheme, scalar coefficients based on the spectral radii of the Jacobian of convective fluxes are used. However, this can add too much viscosity to the slower waves. Hence, use the matrix-valued coefficients, which give appropriate viscosity for each wave component is suggested. With the matrix-valued coefficients, the central-difference scheme produces more accurate solutions on a given grid, particularly in the vicinity of shocks, while still maintaining good convergence properties.

Turkel, Eli↗

NASA NTRS1990

A diagonal implicit scheme for computing flows with finite-rate chemistry

A new algorithm for solving steady, finite-rate chemistry, flow problems is presented. The new scheme eliminates the expense of inverting large block matrices that arise when species conservation equations are introduced. The source Jacobian matrix is replaced by a diagonal matrix which is tailored to account for the fastest reactions in the chemical system. A point-implicit procedure is discussed and then the algorithm is included into the LU-SGS scheme. Solutions are presented for hypervelocity reentry and Hydrogen-Oxygen combustion. For the LU-SGS scheme a CFL number in excess of 10,000 has been achieved.

Eberhardt, Scott↗

NASA NTRS1989

Nonlinear control via approximate input-output linearization - The ball and beam example

This paper presents an approach for the approximate input-output linearization of nonlinear systems, particularly those for which relative degree is not well defined. It is shown that there is a great deal of freedom in the selection of an approximation and that, by designing a tracking controller based on the approximating system, tracking of reasonable trajectories can be achieved with small error. The approximating system is itself a nonlinear system, with the difference that it is input-output linearizable by state feedback. Some properties of the accuracy of the approximation are demonstrated and, in the context of the ball and beam example, it is shown to be far superior to the Jacobian approximation. The results are focused on finding regular SISO systems which are close to systems which are not regular and controlling these approximate regular systems.

Hauser, John↗

NASA NTRS1990

Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms

The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

Lee, Jeh Won↗

NASA NTRS1991

Asymptotic integration algorithms for nonhomogeneous, nonlinear, first order, ordinary differential equations

New methods for integrating systems of stiff, nonlinear, first order, ordinary differential equations are developed by casting the differential equations into integral form. Nonlinear recursive relations are obtained that allow the solution to a system of equations at time t plus delta t to be obtained in terms of the solution at time t in explicit and implicit forms. Examples of accuracy obtained with the new technique are given by considering systems of nonlinear, first order equations which arise in the study of unified models of viscoplastic behaviors, the spread of the AIDS virus, and predator-prey populations. In general, the new implicit algorithm is unconditionally stable, and has a Jacobian of smaller dimension than that which is acquired by current implicit methods, such as the Euler backward difference algorithm; yet, it gives superior accuracy. The asymptotic explicit and implicit algorithms are suitable for solutions that are of the growing and decaying exponential kinds, respectively, whilst the implicit Euler-Maclaurin algorithm is superior when the solution oscillates, i.e., when there are regions in which both growing and decaying exponential solutions exist.

Walker, K. P.↗

NASA NTRS1991

Kinematics of the six-degree-of-freedom force-reflecting Kraft Master

Presented here are kinematic equations for a six degree of freedom force-reflecting hand controller. The forward kinematics solution is developed and shown in simplified form. The Jacobian matrix, which uses terms from the forward kinematics solution, is derived. Both of these kinematic solutions require joint angle inputs. A calibration method is presented to determine the hand controller joint angles given the respective potentiometer readings. The kinematic relationship describing the mechanical coupling between the hand and controller shoulder and elbow joints is given. These kinematic equations may be used in an algorithm to control the hand controller as a telerobotic system component. The purpose of the hand controller is two-fold: operator commands to the telerobotic system are entered using the hand controller, and contact forces and moments from the task are reflected to the operator via the hand controller.

Williams, Robert L., II↗

NASA NTRS1991

Finite element implementation of state variable-based viscoplasticity models

The implementation of state variable-based viscoplasticity models is made in a general purpose finite element code for structural applications of metals deformed at elevated temperatures. Two constitutive models, Walker's and Robinson's models, are studied in conjunction with two implicit integration methods: the trapezoidal rule with Newton-Raphson iterations and an asymptotic integration algorithm. A comparison is made between the two integration methods, and the latter method appears to be computationally more appealing in terms of numerical accuracy and CPU time. However, in order to make the asymptotic algorithm robust, it is necessary to include a self adaptive scheme with subincremental step control and error checking of the Jacobian matrix at the integration points. Three examples are given to illustrate the numerical aspects of the integration methods tested.

Iskovitz, I.↗

NASA NTRS1989

A method for exponential propagation of large systems of stiff nonlinear differential equations

A new time integrator for large, stiff systems of linear and nonlinear coupled differential equations is described. For linear systems, the method consists of forming a small (5-15-term) Krylov space using the Jacobian of the system and carrying out exact exponential propagation within this space. Nonlinear corrections are incorporated via a convolution integral formalism; the integral is evaluated via approximate Krylov methods as well. Gains in efficiency ranging from factors of 2 to 30 are demonstrated for several test problems as compared to a forward Euler scheme and to the integration package LSODE.

Friesner, Richard A.↗

NASA NTRS1990

Efficient numerical simulation of electron states in quantum wires

A new algorithm is presented for the numerical simulation of electrons in a quantum wire as described by a two-dimensional eigenvalue problem for Schroedinger's equation coupled with Poisson's equation. Initially, the algorithm employs an underrelaxed fixed point iteration to generate an approximation which is reasonably close to the solution. Subsequently, this approximate solution is employed as an initial guess for a Jacobian-free implementation of an approximate Newton method. In this manner the nonlinearity in the model is dealt with effectively. The effectiveness of this approach is demonstrated in a set of numerical experiments which study the electron states on the cross section of a quantum wire structure based on III-V semiconductors at 4.2 and 77 K.

Kerkhoven, Thomas↗

NASA NTRS1991

An intrinsically n-dimensional generalized flux vector splitting implicit finite element Euler algorithm

A generalized flux-vector splitting implicit Galerkin finite-element algorithm for the Euler equations in curvilinear coordinates for ideal and reacting gases is derived. For an arbitrary equation of state, the curvilinear-coordinate flux vector is split in kinematic and kinetic components, and the associated jacobian matrix eigenvalues explicitly depend on the metric data. After directional semidiscretization, the terminal ordinary differential-equation system is solved via a nonlinearly stable implicit Runge-Kutta scheme in concert with an accurate tensor matrix product factorization. The results for selected two-dimensional supersonic and axisymmetric hypersonic flows validate the algorithm and verify its robustness for curvilinear-coordinate computations. The evolution towards a steady state is achieved for large Courant numbers without indication of numerical instabilities.

Iannelli, G. S.↗

NASA NTRS1991

An efficient solution technique for shockwave-boundary layer interactions with flow separation and slot suction effects

An efficient method for computing two-dimensional compressible Navier-Stokes flow fields is presented. The solution algorithm is a fully-implicit approximate factorization technique based on an unsymmetric line Gauss-Seidel splitting of the equation system Jacobian matrix. Convergence characteristics are improved by the addition of acceleration techniques based on Shamanskii's method for nonlinear equations and Broyden's quasi-Newton update. Characteristic-based differencing of the equations is provided by means of Van Leer's flux vector splitting. In this investigation, emphasis is placed on the fast and accurate computation of shock-wave-boundary layer interactions with and without slot suction effects. In the latter context, a set of numerical boundary conditions for simulating the transpiration flow in an open slot is devised. Both laminar and turbulent cases are considered, with turbulent closure provided by a modified Cebeci-Smith algebraic model. Comparisons with computational and experimental data sets are presented for a variety of interactions, and a fully-coupled simulation of a plenum chamber/inlet flowfield with shock interaction and suction is also shown and discussed.

Edwards, Jack R.↗

NASA NTRS1991

Trajectory optimization for kinematically redundant arms

A review of local optimization methods for resolving joint configurations in underconstrained manipulation tasks is conducted. A new approach is developed for observing joint limits and avoiding obstacles during the trajectory planning. The methodology is used in a four-link arm example to avoid a workspace singularity and is compared with results using the extended Moore-Penrose technique. An alternative measure of arm 'manipulability' based directly on the rank of the Jacobian is also introduced.

Carignan, Craig R.↗

NASA NTRS1991

Newton's method applied to finite-difference approximations for the steady-state compressible Navier-Stokes equations

Finite-difference approximations for steady-state compressible Navier-Stokes equations, whose two spatial dimensions are written in generalized curvilinear coordinates and strong conservation-law form, are presently solved by means of Newton's method in order to obtain a lifting-airfoil flow field under subsonic and transonnic conditions. In addition to ascertaining the computational requirements of an initial guess ensuring convergence and the degree of computational efficiency obtainable via the approximate Newton method's freezing of the Jacobian matrices, attention is given to the need for auxiliary methods assessing the temporal stability of steady-state solutions. It is demonstrated that nonunique solutions of the finite-difference equations are obtainable by Newton's method in conjunction with a continuation method.

Bailey, Harry E.↗

NASA NTRS1991

A natural partitioning scheme for parallel simulation of multibody systems

A parallel partitioning scheme based on physical-coordinate variables is presented to systematically eliminate system constraint forces and yield the equations of motion of multibody dynamics systems in terms of their independent coordinates. Key features of the present scheme include an explicit determination of the independent coordinates, a parallel construction of the null space matrix of the constraint Jacobian matrix, an easy incorporation of the previously developed two-stage staggered solution procedure, and Schur complement based parallel preconditioned conjugate gradient numerical algorithm.

Chiou, J. C.↗

NASA NTRS1991

CFD in the 1980's from one point of view

The present interpretive treatment of the development history of CFD in the 1980s gives attention to advancements in such algorithmic techniques as flux Jacobian-based upwind differencing, total variation-diminishing and essentially nonoscillatory schemes, multigrid methods, unstructured grids, and nonrectangular structured grids. At the same time, computational turbulence research gave attention to turbulence modeling on the bases of increasingly powerful supercomputers and meticulously constructed databases. The major future developments in CFD will encompass such capabilities as structured and unstructured three-dimensional grids.

Lomax, Harvard↗

NASA NTRS1991

Asynchronous, macrotasked relaxation strategies for the solution of viscous, hypersonic flows

A point-implicit, asynchronous macrotasked relaxation of the steady, thin-layer, Navier-Stokes equations is presented. The method employs multidirectional, single-level storage Gauss-Seidel relaxation sweeps, which effectively communicate perturbations across the entire domain in 2n sweeps, where n is the dimension of the domain. In order to enhance convergence the application of relaxation factors to specific components of the Jacobian is examined using a stability analysis of the advection and diffusion equations. Attention is also given to the complications associated with asynchronous multitasking. Solutions are generated for hypersonic flows over blunt bodies in two and three dimensions with chemical reactions, utilizing single-tasked and multitasked relaxation strategies.

Gnoffo, Peter A.↗

NASA NTRS1989

Globally convergent techniques in nonlinear Newton-Krylov

Some convergence theory is presented for nonlinear Krylov subspace methods. The basic idea of these methods is to use variants of Newton's iteration in conjunction with a Krylov subspace method for solving the Jacobian linear systems. These methods are variants of inexact Newton methods where the approximate Newton direction is taken from a subspace of small dimensions. The main focus is to analyze these methods when they are combined with global strategies such as linesearch techniques and model trust region algorithms. Most of the convergence results are formulated for projection onto general subspaces rather than just Krylov subspaces.

Brown, Peter N.↗