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At least 271 records · Page 15

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NASA NTRS1993

Time-variant analysis of rotorcraft systems dynamics - An exploitation of vector processors

In this paper a generalized algorithmic procedure is presented for handling constraints in mechanical transmissions. The latter are treated as multibody systems of interconnected rigid/flexible bodies. The constraint Jacobian matrices are generated automatically and suitably updated in time, depending on the geometrical and kinematical constraint conditions describing the interconnection between shafts or gears. The type of constraints are classified based on the interconnection of the bodies by assuming that one or more points of contact exist between them. The effects due to elastic deformation of the flexible bodies are included by allowing each body element to undergo small deformations. The procedure is based on recursively formulated Kane's dynamical equations of motion and the finite element method, including the concept of geometrical stiffening effects. The method is implemented on an IBM-3090-600j vector processor with pipe-lining capabilities. A significant increase in the speed of execution is achieved by vectorizing the developed code in computationally intensive areas. An example consisting of two meshing disks rotating at high angular velocity is presented. Applications are intended for the study of the dynamic behavior of helicopter transmissions.

Amirouche, F. M. L.↗

NASA NTRS1987

Spatially random models, estimation theory, and robot arm dynamics

Spatially random models provide an alternative to the more traditional deterministic models used to describe robot arm dynamics. These alternative models can be used to establish a relationship between the methodologies of estimation theory and robot dynamics. A new class of algorithms for many of the fundamental robotics problems of inverse and forward dynamics, inverse kinematics, etc. can be developed that use computations typical in estimation theory. The algorithms make extensive use of the difference equations of Kalman filtering and Bryson-Frazier smoothing to conduct spatial recursions. The spatially random models are very easy to describe and are based on the assumption that all of the inertial (D'Alembert) forces in the system are represented by a spatially distributed white-noise model. The models can also be used to generate numerically the composite multibody system inertia matrix. This is done without resorting to the more common methods of deterministic modeling involving Lagrangian dynamics, Newton-Euler equations, etc. These methods make substantial use of human knowledge in derivation and minipulation of equations of motion for complex mechanical systems.

Rodriguez, G.↗

NASA NTRS2006

Stochastic Representation of Chaos Using Terminal Attractors

A nonlinear version of the Liouville equation based on terminal attractors is part of a mathematical formalism for describing postinstability motions of dynamical systems characterized by exponential divergences of trajectories leading to chaos (including turbulence as a form of chaos). The formalism can be applied to both conservative systems (e.g., multibody systems in celestial mechanics) and dissipative systems (e.g., viscous fluids). The development of the present formalism was undertaken in an effort to remove positive Lyapunov exponents. The means chosen to accomplish this is coupling of the governing dynamical equations with the corresponding Liouville equation that describes the evolution of the flow of error probability. The underlying idea is to suppress the divergences of different trajectories that correspond to different initial conditions, without affecting a target trajectory, which is one that starts with prescribed initial conditions.

Zak, Michail↗

NASA NTRS1991

Time variant analysis of large scale constrained rotorcraft systems dynamics - An exploitation of IBM-3090 vector-processor's pipe-lining feature

A generalized algorithmic procedure is presented for handling the constraints in transmissions, which are treated as a multibody system of interconnected rigid/flexible bodies. The type of constraints are classified based on the interconnection of the bodies, assuming one or more points of contact to exist between them. The method is explained through flow charts and configuration/interaction tables. A significant increase in speed of execution is achieved by vectorizing the developed code in computationally intensive areas. The study of an example consisting of two meshing disks rotating at high angular velocity is carried out. The dynamic behavior of the constraint forces associated with the generalized coordinates of the system are plotted by selecting various modes. Applications are intended for the study of dynamic and subsequent prediction of constraint forces at the gear teeth contacting points in helicopter transmissions with the aim of improving performance dependability.

Amirouche, F. M. L.↗

NASA NTRS1992

CSI design of articulated space structures

Integrated control and structural design of flexible spacecraft with articulated appendages is considered. A procedure is proposed by which the resulting design is optimal with respect to a measure of performance for all possible system articulation conditions. The controller design is of the dynamic dissipative type which provides guaranteed closed-loop stability. The procedure is demonstrated for a simple multibody flexible spacecraft model with an articulated appendage.

Kelkar, Atul G.↗

NASA NTRS1989

Test and validation for robot arm control dynamics simulation

The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Yae, K. Harold↗

NASA NTRS1977

Dynamics and control simulation of the Spacelab Experiment Pointing Mount

Computer simulations were developed to evaluate the performance of four Experiment Pointing Mounts (EPM) being considered for Spacelab experiments in the 1980-1990 time frame. The system modeled compromises a multibody system consisting of the shuttle, a mechanical isolation device, the EPM, celestial and inertial sensors, bearings, gimbal torque motors and associated nonlinearities, the experiment payload, and control and estimator algorithms. Each mount was subjected to a common disturbance (shuttle vernier thruster firing and man push off) and command (stellar pointing or solar raster scan) input. The fundamental limitation common to all mounts was found to be sensor noise. System dynamics and hardware nonlinearities have secondary effects on pointing performance for sufficiently high bandwidth.

Marsh, E. L.↗

NASA NTRS1980

Thermally induced response of flexible structures - A method for analysis

The phenomenon of a thermally induced spacecraft instability became apparent during the flight of the OGO-IV spacecraft in the late 1960s. The paper presents a generalized approach to the problem of obtaining a computationally practical simulation model for a thermally driven structure. The formulation is such that it can be utilized in a stand-along manner or be meshed into a general multibody simulation model such as that reported by Bodley et al. (1978). As presented, the formulation is restricted to the dynamic range for which linearized radiation is a valid assumption.

Frisch, H. P.↗

NASA NTRS1986

Experimental and analytical generic space station dynamic models

A dynamic model used for verification of analytical and experimental methods is documented. The model consists of five substructures to simulate the multibody, low frequency nature of large space structures. Design considerations which led to a fundamental vibration frequency of less than one Hz are described. Finite element analysis used to predict the vibration modes and frequencies of the experimental model is presented. In addition, modeling of cable suspension effects using prestressed vibration analysis is described. Details of the expermental and analytical models are included to permit replication of the study. Results of the modal vibration tests and analysis are presented in a separate document.

Belvin, W. K.↗

NASA NTRS1991

Planning and executing motions for multibody systems in free-fall

The purpose of this research is to develop an end-to-end system that can be applied to a multibody system in free-fall to analyze its possible motions, save those motions in a database, and design a controller that can execute those motions. A goal is for the process to be highly automated and involve little human intervention. Ideally, the output of the system would be data and algorithms that could be put in ROM to control the multibody system in free-fall. The research applies to more than just robots in space. It applies to any multibody system in free-fall. Mathematical techniques from nonlinear control theory were used to study the nature of the system dynamics and its possible motions. Optimization techniques were applied to plan motions. Image compression techniques were proposed to compress the precomputed motion data for storage. A linearized controller was derived to control the system while it executes preplanned trajectories.

Cameron, Jonathan M.↗

NASA NTRS2023

The Digital Astronaut Simulation

The Digital Astronaut Simulation provides a human biomechanics modeling, simulation, and analysis capability that is enabling spaceflight hardware design to incorporate the human dynamic input early in development cycles as well as characterize performance after prototypes are built. The enhanced toolset includes a modified multibody model, updated motion capture marker sets, and refined methods for scaling and inverse kinematics. These provide increased accuracy for applications in exercise and extravehicular tasks in reduced gravity, especially where upper extremity motion is involved. A core capability highlighted is the calculation of ground reaction forces, moments, and center of pressure based on motion capture. Verification and validation efforts include comparison with force platform measurements.

Human Spaceflight↗

NASA NTRS1992

Semiannual report, January 1992

The objective of the Space Engineering Research Center is to develop and disseminate a unified technology of controlled structures, to codify and disseminate this technology, and to train a generation of skilled engineers. The disciplinary research with the Controlled Structures Testbed (CST) is ongoing. The interferometer testbed became operational and is an active vehicle for researchers. The engineering model of the Mid-Deck Active Control Experiment (MACE) multibody test article also was commissioned. It is a pathfinder for control of articulated flexible structures. The Mid-Deck 0-Gravity Dynamics Experiment (MODE) experiment flew on STS-48. Its goals were to examine the dynamics of space structures in zero-gravity.

Source record↗

NASA NTRS2010

Overset Techniques for Hypersonic Multibody Configurations with the DPLR Solver

Three unit problems in shock-shock/shock-boundary layer interactions are considered in the evaluation overset techniques with the Data Parallel Line Relaxation (DPLR) computational fluid dynamics solver, a three dimensional Navier-Stokes solver . The unit problems considered are those of two stacked hemispherical cylinders (of different diameters and lengths, and at various orientations relative to each other or relative to the nozzle axis) tested in a hypersonic wind tunnel. These problems are taken as representative of a Two-Stage-To-Orbit design. The objective of the present presentation would be to discuss the techniques used to develop suitable overset grid systems and then evaluate their respective solutions by comparing to corresponding point matched grid solutions and experimental data. Both successful and unsuccessful techniques would be discussed. All solutions would be calculated using the DPLR solver and SUGGAR will be used to develop the domain connectivity information.

Hyatt, Andrew James↗

NASA NTRSDate not supplied

Parametric Study of the Forward Attachment Geometry for the Space Launch System Next Generation Booster

Launch vehicle transonic buffet environments can generate large dynamic structural loads and vibratory responses. For the Space Launch System (SLS) vehicle, the highest transonic buffet environments have been observed in the multibody region between the core and solid rocket boosters, particularly downstream of the booster forward attachment. The buffet environment is particularly sensitive to the outer mold line (OML) of the forward attachment, and even relatively minor geometry changes can have large impacts on buffet and other aerodynamic environments. The SLS program is redesigning the booster for the Block 2 vehicle to support updated mission goals. This redesign necessitated changes in the forward attachment geometry, which raised concerns about the buffet and vibroacoustic environments. A preliminary study was conducted that developed multiple forward attachment geometries that satisfied the programmatic requirements, but the aerodynamic environment impacts were unclear. In March 2022, a wind-tunnel test was conducted at the NASA Ames 11- by 11-foot Transonic Wind Tunnel to study these environments generated from each of the configurations in order to select the most viable candidate. This paper will discuss this test campaign, the results from the parametric study, as well as general observations regarding OML features that impact the buffet environment. Buffet environments will be presented and compared for each configuration and comparisons presented where applicable.

buffet↗

NASA NTRSDate not supplied

Parametric Study of the Forward Attachment Geometry for the Space Launch System Next Generation Booster

buffet↗

NASA NTRS1989

Structural modeling for control design (articulated multibody component representation)

High gain, high frequency flexible responses in gimbaled multibody systems are discussed. Their origin and physical significance are described in terms of detailed mass and stiffness modeling at actuator/sensor interfaces. Guyan Reduction, Generalized Dynamic Reduction, inadequate mass modeling detail, as well as system mode truncation, are shown to suppress the high gain high frequency response and thereby lose system flexibility important for stability and performance predictions. Model validation by modal survey testing is shown to risk similar loss of accuracy. Difficulties caused by high frequency responses in component mode simulations, such as DISCOS, and also linearized system mode simulations, are described, and approaches for handling these difficulties are discussed.

Haugse, E. D.↗

NASA NTRS2013

Aerodynamic Reconstruction Applied to Parachute Test Vehicle Flight Data Analysis

The aerodynamics, both static and dynamic, of a test vehicle are critical to determining the performance of the parachute cluster in a drop test and for conducting a successful test. The Capsule Parachute Assembly System (CPAS) project is conducting tests of NASA's Orion Multi-Purpose Crew Vehicle (MPCV) parachutes at the Army Yuma Proving Ground utilizing the Parachute Test Vehicle (PTV). The PTV shape is based on the MPCV, but the height has been reduced in order to fit within the C-17 aircraft for extraction. Therefore, the aerodynamics of the PTV are similar, but not the same as, the MPCV. A small series of wind tunnel tests and computational fluid dynamics cases were run to modify the MPCV aerodynamic database for the PTV, but aerodynamic reconstruction of the flights has proven an effective source for further improvements to the database. The acceleration and rotational rates measured during free flight, before parachute inflation but during deployment, were used to con rm vehicle static aerodynamics. A multibody simulation is utilized to reconstruct the parachute portions of the flight. Aerodynamic or parachute parameters are adjusted in the simulation until the prediction reasonably matches the flight trajectory. Knowledge of the static aerodynamics is critical in the CPAS project because the parachute riser load measurements are scaled based on forebody drag. PTV dynamic damping is critical because the vehicle has no reaction control system to maintain attitude - the vehicle dynamics must be understood and modeled correctly before flight. It will be shown here that aerodynamic reconstruction has successfully contributed to the CPAS project.

Cassady, Leonard D.↗

NASA NTRS1989

Constraint elimination in dynamical systems

Large space structures (LSSs) and other dynamical systems of current interest are often extremely complex assemblies of rigid and flexible bodies subjected to kinematical constraints. A formulation is presented for the governing equations of constrained multibody systems via the application of singular value decomposition (SVD). The resulting equations of motion are shown to be of minimum dimension.

Singh, R. P.↗