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At least 253 records · Page 14

Performance of a 100 kW class applied field MPD thruster

The performance of a 100 kW class, applied field MPD thruster was evaluated and sensitivities of discharge characteristics to arc current, mass flow rate, and applied magnetic field were investigated. Thermal efficiencies as high as 60 percent , thrust efficiencies up to 21 percent, and specific impulses of up to 1150 s were attained with argon propellant. Thrust levels up to 2.5 N were directly measured with an inverted pendulum thrust stand at discharge input powers up to 57 kW. It was observed that thrust increased monotonically with the product of arc current and magnet current.

Mantenieks, M. A.↗

Design of a thrust stand for high power electric propulsion devices

A thrust stand for use with high power electric propulsion devices has been designed and tested. The thrust stand was specifically tailored to the needs of a 0.1 to 0.25 MW magnetoplasmadynamic (MPD) thruster program currently in progress at the NASA Lewis Research Center. The thrust stand structure was built as an inverted pendulum arrangement, supported at the base by water-cooled electrical power flexures. Thrust stand tares due to thruster discharge current were demonstrated to be negligible. Tares due to an applied field magnet current, after considerable effort, were reduced to less than 3.0 percent of measured thrust. These tares, however, could be determined independently and subtracted from the indicated thrust measurement. The paper gives a detailed description of the thrust stand design and operation with a 0.1 MW class MPD device. Other thrust stand tares due to vibration and thermal effects are discussed, along with issues of accuracy and repeatability.

Haag, Thomas W.↗

Design of a thrust stand for high power electric propulsion devices

A thrust stand for use with high power electric propulsion devices was designed and tested. The thrust stand was specifically tailored to the needs of a 100 to 250 kW magnetoplasmadynamic (MPD) thruster program currently in progress at the NASA Lewis Research Center. The thrust stand structure was built as an inverted pendulum arrangement, supported at the base by water-cooled electrical power flexures. Thrust stand tares due to thruster discharge current were demonstrated to be negligible. Tares due to an applied field magnet current, after considerable effort, were reduced to less than 3.0 percent of measured thrust. These tares, however, could be determined independently and subtracted from the indicated thrust measurement. A detailed description is given for the thrust stand design and operation with a 100 kW class MPD device. Other thrust stand tares due to vibration and thermal effects are discussed, along with issues of accuracy and repeatability.

Haag, Thomas W.↗

Terrestrial gravity instrumentation in the 20th Century: A brief review

At the turn of the century, only pendulum apparatuses and torsion balances were available for general exploration work. Both of these early techniques were cumbersome and time-consuming. It was no wonder that the development of the gravity meter was welcomed with a universal sigh of relief. By 1935 potential field measurements with gravity meters supplanted gradient measurements with torsion balances. Potential field measurements are generally characterized by three types: absolute - measurements are made in fundamental units, traceable to national standards of length and time at each observation site; relative with absolute scale - differences in gravity are measured in fundamental units traceable to national standards of length and time; and relative - differences in gravity are measured with arbitrary scale. Improvements in the design of gravity meters since their introduction has led to a significant reduction in size and greatly increased precision. As the precision increased, applications expanded to include the measurement of crustal motion, the search for non-Newtonian forces, archeology, and civil engineering. Apart from enhancements to the astatic gravity meter, few developments in hardware were achieved. One of these was the vibrating string gravity meter which was developed in the 1950s and was employed briefly for marine and borehole applications. Another is the cryogenic gravity meter which utilizes the stability of superconducting current to achieve a relative instrument with extremely low drift suitable for tidal and secular gravity measurements. An advance in performing measurements from a moving platform was achieved with the development of the straight-line gravity meter. The latter part of the century also saw the rebirth of gradient measurements which offers advantages for observations from a moving platform. Definitive testing of the Bell gradiometer was recently reported.

Valliant, H. D.↗

Computational dynamics for robotics systems using a non-strict computational approach

A Non-Strict computational approach for real-time robotics control computations is proposed. In contrast to the traditional approach to scheduling such computations, based strictly on task dependence relations, the proposed approach relaxes precedence constraints and scheduling is guided instead by the relative sensitivity of the outputs with respect to the various paths in the task graph. An example of the computation of the Inverse Dynamics of a simple inverted pendulum is used to demonstrate the reduction in effective computational latency through use of the Non-Strict approach. A speedup of 5 has been obtained when the processes of the task graph are scheduled to reduce the latency along the crucial path of the computation. While error is introduced by the relaxation of precedence constraints, the Non-Strict approach has a smaller error than the conventional Strict approach for a wide range of input conditions.

Orin, David E.↗

Model based manipulator control

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Petrosky, Lyman J.↗

The role of secondary resonances in the orbital history of Miranda

A simple 'perturbed pendulum' model is developed in order to ascertain the origin and dynamics of the secondary resonances in the tidal evolution of Miranda and Umbriel through the 1:3 mean motion commensurability. Long-term evolution is addressed on the basis of the computation-accelerating method of algebraic mappings. It is found that the present 4.34-deg value of Miranda's orbital inclination is probably a result of capture into the primary resonance, as well as subsequent capture into the 3/1 secondary resonance. The damping of an eccentricity as high as 0.035 by tidal dissipation in the satellite may account for the surface features of Miranda.

Malhotra, Renu↗

Four experimental demonstrations of active vibration control for flexible structures

Laboratory experiments designed to test prototype active-vibration-control systems under development for future flexible space structures are described, summarizing previously reported results. The control-synthesis technique employed for all four experiments was the maximum-entropy optimal-projection (MEOP) method (Bernstein and Hyland, 1988). Consideration is given to: (1) a pendulum experiment on large-amplitude LF dynamics; (2) a plate experiment on broadband vibration suppression in a two-dimensional structure; (3) a multiple-hexagon experiment combining the factors studied in (1) and (2) to simulate the complexity of a large space structure; and (4) the NASA Marshall ACES experiment on a lightweight deployable 45-foot beam. Extensive diagrams, drawings, graphs, and photographs are included. The results are shown to validate the MEOP design approach, demonstrating that good performance is achievable using relatively simple low-order decentralized controllers.

Phillips, Doug↗

Expert system training and control based on the fuzzy relation matrix

Fuzzy knowledge, that for which the terms of reference are not crisp but overlapped, seems to characterize human expertise. This can be shown from the fact that an experienced human operator can control some complex plants better than a computer can. Proposed here is fuzzy theory to build a fuzzy expert relation matrix (FERM) from given rules or/and examples, either in linguistic terms or in numerical values to mimic human processes of perception and decision making. The knowledge base is codified in terms of many implicit fuzzy rules. Fuzzy knowledge thus codified may also be compared with explicit rules specified by a human expert. It can also provide a basis for modeling the human operator and allow comparison of what a human operator says to what he does in practice. Two experiments were performed. In the first, control of liquid in a tank, demonstrates how the FERM knowledge base is elicited and trained. The other shows how to use a FERM, build up from linguistic rules, and to control an inverted pendulum without a dynamic model.

Ren, Jie↗

Capture probabilities for secondary resonances

A perturbed pendulum model is used to analyze secondary resonances, and it is shown that a self-similarity between secondary and primary resonances exists. Henrard's (1982) theory is used to obtain formulas for the capture probability into secondary resonances. The tidal evolution of Miranda and Umbriel is considered as an example, and significant probabilities of capture into secondary resonances are found.

Malhotra, Renu↗

Nonlinear modal resonances in low-gravity slosh-spacecraft systems

Nonlinear models of low gravity slosh, when coupled to spacecraft vibrations, predict intense nonlinear eigenfrequency shifts at zero gravity. These nonlinear frequency shifts are due to internal quadratic and cubic resonances between fluid slosh modes and spacecraft vibration modes. Their existence has been verified experimentally, and they cannot be correctly modeled by approximate, uncoupled nonlinear models, such as pendulum mechanical analogs. These predictions mean that linear slosh assumptions for spacecraft vibration models can be invalid, and may lead to degraded control system stability and performance. However, a complete nonlinear modal analysis will predict the correct dynamic behavior. This paper presents the analytical basis for these results, and discusses the effect of internal resonances on the nonlinear coupled response at zero gravity.

Peterson, Lee D.↗

Thrust stand for high-power electric propulsion devices

This paper describes a new high-power thrust stand developed for use with high-power (up to 250 kW) magnetoplasmadynamic (MPD) thrusters, which is installed in a high-vacuum MPD facility at Lewis Research Center. The design of the stand is based on inverted pendulum configuration, with the result of large displacements and high resolution. Calibration results showed that thrust measurements were linear and repeatable to within a fraction of 1 percent. The thrust stand was used for testing water-cooled MPD thrusters at power levels up to 125 kW. The thruster, however, is quite well suited for testing other types of electric propulsion devices.

Haag, T. W.↗

Experimental investigation of a unique airbreathing pulsed laser propulsion concept

Investigations were conducted into unique methods of converting pulsed laser energy into propulsive thrust across a flat impulse surface under atmospheric conditions. The propulsion experiments were performed with a 1-micron neodymium-glass laser at the Space Plasma Branch of the Naval Research Laboratory. Laser-induced impulse was measured dynamically by ballistic pendulums and statically using piezoelectric pressure transducers on a stationary impulse surface. The principal goal was to explore methods for increasing the impulse coupling performance of airbreathing laser-propulsion engines. A magnetohydrodynamic thrust augmentation effect was discovered when a tesla-level magnetic field was applied perpendicular to the impulse surface. The impulse coupling coefficient performance doubled and continued to improve with increasing laser-pulse energies. The resultant performance of 180 to 200 N-s/MJ was found to be comparable to that of the earliest afterburning turbojets.

Myrabo, L. N.↗

Resonant frequency calculations using a hybrid perturbation-Galerkin technique

A two-step hybrid perturbation Galerkin technique is applied to the problem of determining the resonant frequencies of one or several degree of freedom nonlinear systems involving a parameter. In one step, the Lindstedt-Poincare method is used to determine perturbation solutions which are formally valid about one or more special values of the parameter (e.g., for large or small values of the parameter). In step two, a subset of the perturbation coordinate functions determined in step one is used in Galerkin type approximation. The technique is illustrated for several one degree of freedom systems, including the Duffing and van der Pol oscillators, as well as for the compound pendulum. For all of the examples considered, it is shown that the frequencies obtained by the hybrid technique using only a few terms from the perturbation solutions are significantly more accurate than the perturbation results on which they are based, and they compare very well with frequencies obtained by purely numerical methods.

Geer, James F.↗

Fluid management technology: Liquid slosh dynamics and control

Flight experiments were defined for the Cryogenic On-Orbit Liquid Depot Storage, Acquisition and Transfer Satellite (COLD-SAT) test bed satellite and the Shuttle middeck to help establish the influence of the gravitational environment on liquid slosh dynamics and control. Several analytical and experimental studies were also conducted to support the experiments and to help understand the anticipated results. Both FLOW-3D and NASA-VOF3D computer codes were utilized to simulate low Bond number, small amplitude sloshing, for which the motions are dominated by surface forces; it was found that neither code provided a satisfactory simulation. Thus, a new analysis of low Bond number sloshing was formulated, using an integral minimization technique that will allow the assumptions made about surface physics phenomena to be modified easily when better knowledge becomes available from flight experiments. Several examples were computed by the innovative use of a finite-element structural code. An existing spherical-pendulum analogy of nonlinear, rotary sloshing was also modified for easier use and extended to low-gravity conditions. Laboratory experiments were conducted to determine the requirements for liquid-vapor interface sensors as a method of resolving liquid surface motions in flight experiments. The feasibility of measuring the small slosh forces anticipated in flight experiments was also investigated.

Dodge, Franklin T.↗

Mechanism synthesis and 2-D control designs of an active three cable crane

A Lunar Crane with a suspension system based on a three cable mechanism is investigated to provide a stable end-effector for hoisting, positioning, and assembling large components during construction and servicing of a Lunar Base. The three cable suspension mechanism consists of a structural framework of three cables pointing to a common point that closely coincides with the suspended payload's center of gravity. The vibrational characteristics of this three cable suspension system are investigated by comparing a simple 2-D symmetric suspension model and a swinging pendulum in terms of their analytical natural frequency equations. A study is also made of actively controlling the dynamics of the crane using two different actuator concepts. Also, Lyapunov-based control algorithms are developed to determine two regulator-type control laws performing the system vibrational suppression for both system dynamics. Simulations including initial-valued dynamic responses as well as control performances for two different system dynamics are also presented.

Yang, Li-Farn↗

Resonant frequency calculations using a hybrid perturbation-Galerkin technique

A two-step hybrid perturbation Galerkin technique is applied to the problem of determining the resonant frequencies of one or several degrees of freedom nonlinear systems involving a parameter. In one step, the Lindstedt-Poincare method is used to determine perturbation solutions which are formally valid about one or more special values of the parameter (e.g., for large or small values of the parameter). In step two, a subset of the perturbation coordinate functions determined in step one is used in Galerkin type approximation. The technique is illustrated for several one degree of freedom systems, including the Duffing and van der Pol oscillators, as well as for the compound pendulum. For all of the examples considered, it is shown that the frequencies obtained by the hybrid technique using only a few terms from the perturbation solutions are significantly more accurate than the perturbation results on which they are based, and they compare very well with frequencies obtained by purely numerical methods.

Geer, James F.↗

A general purpose nonlinear rigid body mass finite element for application to rotary wing dynamics

The Second Generation Comprehensive Helicopter Analysis System employs the present formulation of the general-purpose nonlinear rigid body mass finite element, which represents the hub masses, blade tip masses, and pendulum vibration absorbers. The rigid body mass element has six degrees of freedom, and accounts for gravitational as well as dynamic effects. A consequence of deriving the element's equations from various physical principles is that, prior to the transformation which couples the rigid body mass element to the rotor blade finite element, the forces obtained for each element are fundamentally different; this is true notwithstanding the degrees-of-freedom of each element are parameterized using the same coordinates.

Hamilton, B. K.↗