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At least 343 records · Page 19

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NASA NTRS1988

Reduced-dynamic technique for precise orbit determination of low earth satellites

A reduced-dynamic technique for precise orbit determination of low earth satellites is described. This technique optimally combines the conventional dynamic technique with the nondynamic technique which uses differential GPS continuous carrier phase to define the state transition. A Kalman filter formulation for this reduced-dynamic technique is given. A covariance analysis shows that when neither the dynamic nor the nondynamic technique is clearly superior, the reduced-dynamic technique appreciably improves the orbit accuracy. Guidelines for selecting a near-optimum weighting for the combination are given. Sensitivity to suboptimal weighting is assessed.

Wu, Sien-Chong↗

NASA NTRS1989

Flow visualization studies of the Mach number effects on the dynamic stall of an oscillating airfoil

Compressibility effects on the dynamic stall of a NACA 0012 airfoil undergoing sinusoidal oscillatory motion were studied using a stroboscopic schlieren system. Schlieren pictures and some quantitative data derived from them are presented and show the influence of free-stream Mach number and reduced frequency on the dynamic-stall vortex. This study shows that a dynamic stall vortex always forms near the leading edge and convects on the airfoil upper surface at approximately 0.3 times the free stream velocity for all cases studied. The results also demonstrate that initiation of the dynamic stall vortex is delayed to higher angles of attack with increased reduced frequency, but that dynamic stall occurs at lower angles of incidence with increasing Mach numbers.

Chandrasekhara, M. S.↗

NASA NTRS1989

Design and development of a compressible dynamic stall facility

A dynamic stall facility offering a unique new capability for studies of compressibility effects on dynamic stall is described. This facility features complete visual access by mounting the test airfoil between optical-quality glass windows which are rotated in unison to produce the oscillating airfoil motion associated with helicopter rotor dynamic stall. By using the density gradients associated with the rapidly changing dynamic stall flow field, this facility permits simultaneous detailed investigation of the flow on the surface as well as in the flow field surrounding airfoils experiencing dynamic stall.

Carr, L. W.↗

NASA NTRS1989

Distribution of dynamic loads for multiple cooperating robot manipulators

For the situation of multiple cooperating manipulators handling a single object, a formulation is presented which allows load distribution of the combined system to be made while taking manipulator dynamics into account. First, object dynamics are used to transform the motion task. An integrated procedure for modeling arm dynamics are used to transform the motion task. An integrated procedure for modeling arm dynamics is detailed. Then, a method is introduced which transforms the object load to the joint level. At this level, various methods of load distribution that allow subtask performance are proposed. These methods allow desired object motion while selecting loads desirable to alleviate manipulator dynamic loads.

Walker, Ian D.↗

NASA NTRS1989

Dynamic delamination buckling in composite laminates under impact loading - Computational simulation

A unique dynamic delamination buckling and delamination propagation analysis capability has been developed and incorporated into a finite element computer program. This capability consists of the following: (1) a modification of the direct time integration solution sequence which provides a new analysis algorithm that can be used to predict delamination buckling in a laminate subjected to dynamic loading, and (2) a new method of modeling the composite laminate using plate bending elements and multipoint constraints. This computer program is used to predict both impact induced buckling in composite laminates with initial delaminations and the strain energy release rate due to extension of the delamination. It is shown that delaminations near the outer surface of a laminate are susceptible to local buckling and buckling-induced delamination propagation when the laminate is subjected to transverse impact loading. The capability now exists to predict the time at which the onset of dynamic delamination buckling occurs, the dynamic buckling mode shape, and the dynamic delamination strain energy release rate.

Grady, Joseph E.↗

NASA NTRS1989

Experimental verification of dynamic simulation

The dynamics model here is a backhoe, which is a four degree of freedom manipulator from the dynamics standpoint. Two types of experiment are chosen that can also be simulated by a multibody dynamics simulation program. In the experiment, recorded were the configuration and force histories; that is, velocity and position, and force output and differential pressure change from the hydraulic cylinder, in the time domain. When the experimental force history is used as driving force in the simulation model, the forward dynamics simulation produces a corresponding configuration history. Then, the experimental configuration history is used in the inverse dynamics analysis to generate a corresponding force history. Therefore, two sets of configuration and force histories--one set from experiment, and the other from the simulation that is driven forward and backward with the experimental data--are compared in the time domain. More comparisons are made in regard to the effects of initial conditions, friction, and viscous damping.

Yae, K. Harold↗

NASA NTRS1989

Space station dynamics, attitude control and momentum management

The Space Station Attitude Control System software test-bed provides a rigorous environment for the design, development and functional verification of GN and C algorithms and software. The approach taken for the simulation of the vehicle dynamics and environmental models using a computationally efficient algorithm is discussed. The simulation includes capabilities for docking/berthing dynamics, prescribed motion dynamics associated with the Mobile Remote Manipulator System (MRMS) and microgravity disturbances. The vehicle dynamics module interfaces with the test-bed through the central Communicator facility which is in turn driven by the Station Control Simulator (SCS) Executive. The Communicator addresses issues such as the interface between the discrete flight software and the continuous vehicle dynamics, and multi-programming aspects such as the complex flow of control in real-time programs. Combined with the flight software and redundancy management modules, the facility provides a flexible, user-oriented simulation platform.

Sunkel, John W.↗

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 NTRS1989

Profile modification to minimize spur gear dynamic loading

An analytical computer simulation program for dynamic modeling of low-contact-ratio spur gear systems is presented. The procedure computes the static transmission error of the gears operating under load and uses a fast Fourier transform to generate the frequency spectrum of the static transmission error at various tooth profile modifications. The dynamic loading response of an unmodified (perfect involute) gear pair was compared with that of gears with various profile modifications. Correlations were found between various profile modifications and the resulting dynamic loads. An effective error, obtained from frequency domain analysis of the static transmission error of the gears, gave a very good indication of the optimum profile modification to reduce gear dynamic loading. Design curves generated by dynamic simulation at various profile modifications are given for gear systems operated at various loads. Optimum profile modifications can be determined from these design curves for improved gear design.

Lin, H. H.↗

NASA NTRS1990

Applicability and evaluation of an implicit self-starting unconditionally stable methodology for the dynamics of structures

The applicability and evaluation of a new self-starting, unconditionally stable, implicit methodology of computation for the dynamics of structures is described. The methodology offers different perspectives and architecture for structural dynamics compared with the traditional (widely advocated and commonly used) time integration methods. It is based on velocity representations and architecture and uses finite elements as the principal analysis tool for structural dynamic modeling/analysis. In particular, the dynamics of beam-type flexural models are considered, and comparative results validate and support the proposed use of the self-starting methodology of computation for the dynamics of linear/nonlinear structures. The overall effectiveness and elegance strongly support its use in most existing commercial codes.

Tamma, Kumar K.↗

NASA NTRS1989

Dynamic stress intensity factors of brittle materials

A new hybrid experimental-numerical procedure was used to characterize dynamic fracture response of structural ceramics at elevated temperature. The dynamic stress intensity factor (SIF) versus crack velocity relations of glass and reaction bonded silicon nitride (RBSN), are reviewed. The dynamic SIF versus crack velocity relations of alumina, TiB2-particulate/SiC-matrix composite and SiCw/Alumina-matrix composite are also presented. Available data indicated that dynamic arrest SIF was not observed in glass and monolithic ceramics, and suggested that further studies be conducted to resolve the existence or lack of existence of a dynamic arrest SIF in ceramic matrix composites.

Kobayashi, Albert S.↗

NASA NTRS1990

Dynamic sea surface topography, gravity, and improved orbit accuracies from the direct evaluation of Seasat altimeter data

A gravitational model incorporating Seasat altimetry, surface gravimetry, and satellite tracking data has been determined in terms of global spherical harmonics complete to degree and order 50. This model, PGS-3337, uses altimeter data as a dynamic observation of the satellite's height above the sea surface. A solution for the ocean's dynamic topography is recovered simultaneously with the orbit parameters, gravity, and ocean tidal terms. The recovered dynamic topography reveals the global long wavelength circulation of the oceans with a resolution of 2000 km and is very similar to the mean upper ocean dynamic height derived from historical ship observations. The PGS-3337 geoid has an uncertainty of 60 cm rms globally but 25 cm rms over the ocean because of the altimeter measurements. Seasat orbits determined in this solution have an estimated accuracy for the radial position of 20 cm rms. The difference between the altimeter observed sea height and the geoid plus dynamic topography model is 30 cm rms. Contained in these residuals are the sea height variability, as well as errors from the geoid, orbits, tidal models, and altimeter range measurement. This performance level is 2 to 3 times better than that achieved with previous Goddard gravitational models.

Marsh, J. G.↗

NASA NTRS1990

On dynamics and control of multi-link flexible space manipulators

In this paper dynamics, inverse dynamics, and control problems for multi-link flexible space manipulators are presented. In deriving the flexible manipulator dynamics the following are assumed: flexible deformations are relatively small; angular rates of the links are much smaller than their fundamental frequencies; nonlinear terms (centrifugal and Coriolis forces) in the flexible manipulator model are the same as those in the rigid body model. These assumptions are reasonable for large space manipulators, such as the space crane. Flexible displacements are measured with respect to the rigid body configuration, for which a linear time-varying system is obtained. The inverse dynamics problem consists of determination of joint torques, given tip trajectory, such that joint angles in flexible configuration are equal to the angles in the rigid body configuration. The manipulator control system consists of the feedforward compensation and feedback control loops. Simulation results of a two-link space crane with large payload show that the performance of this linearized dynamics and control approach is reasonable and robust subject to parameter variations during slew operations.

Gawronski, W.↗

NASA NTRS1990

A computational procedure for the dynamics of flexible beams within multibody systems

The dynamic analysis of three dimensional elastic beams which experience large rotational and large deformational motions are examined. The beam motion is modeled using an inertial reference for the translational displacements and a body-fixed reference for the rotational quantities. Finite strain rod theories are then defined in conjunction with the beam kinematic description which accounts for the effects of stretching, bending, torsion, and transverse shear deformations. A convected coordinate representation of the Cauchy stress tensor and a conjugate strain definition is introduced to model the beam deformation. To treat the beam dynamics, a two-stage modification of the central difference algorithm is presented to integrate the translational coordinates and the angular velocity vector. The angular orientation is then obtained from the application of an implicit integration algorithm to the Euler parameter/angular velocity kinematical relation. The combined developments of the objective internal force computation with the dynamic solution procedures result in the computational preservation of total energy for undamped systems. The present methodology is also extended to model the dynamics of deployment/retrieval of the flexible members. A moving spatial grid corresponding to the configuration of a deployed rigid beam is employed as a reference for the dynamic variables. A transient integration scheme which accurately accounts for the deforming spatial grid is derived from a space-time finite element discretization of a Hamiltonian variational statement. The computational results of this general deforming finite element beam formulation are compared to reported results for a planar inverse-spaghetti problem.

Downer, Janice Diane↗

NASA NTRS1990

Nonlinear dynamics of global atmospheric and Earth-system processes

Researchers are continuing their studies of the nonlinear dynamics of global weather systems. Sensitivity analyses of large-scale dynamical models of the atmosphere (i.e., general circulation models i.e., GCM's) were performed to establish the role of satellite-signatures of soil moisture, sea surface temperature, snow cover, and sea ice as crucial boundary conditions determining global weather variability. To complete their study of the bimodality of the planetary wave states, they are using the dynamical systems approach to construct a low-order theoretical explanation of this phenomenon. This work should have important implications for extended range forecasting of low-frequency oscillations, elucidating the mechanisms for the transitions between the two wave modes. Researchers are using the methods of jump analysis and attractor dimension analysis to examine the long-term satellite records of significant variables (e.g., long wave radiation, and cloud amount), to explore the nature of mode transitions in the atmosphere, and to determine the minimum number of equations needed to describe the main weather variations with a low-order dynamical system. Where feasible they will continue to explore the applicability of the methods of complex dynamical systems analysis to the study of the global earth-system from an integrative viewpoint involving the roles of geochemical cycling and the interactive behavior of the atmosphere, hydrosphere, and biosphere.

Saltzman, Barry↗

NASA NTRS1990

The accuracy of dynamic attitude propagation

Propagating attitude by integrating Euler's equation for rigid body motion has long been suggested for the Earth Radiation Budget Satellite (ERBS) but until now has not been implemented. Because of limited Sun visibility, propagation is necessary for yaw determination. With the deterioration of the gyros, dynamic propagation has become more attractive. Angular rates are derived from integrating Euler's equation with a stepsize of 1 second, using torques computed from telemetered control system data. The environmental torque model was quite basic. It included gravity gradient and unshadowed aerodynamic torques. Knowledge of control torques is critical to the accuracy of dynamic modeling. Due to their coarseness and sparsity, control actuator telemetry were smoothed before integration. The dynamic model was incorporated into existing ERBS attitude determination software. Modeled rates were then used for attitude propagation in the standard ERBS fine-attitude algorithm. In spite of the simplicity of the approach, the dynamically propagated attitude matched the attitude propagated with good gyros well for roll and yaw but diverged up to 3 degrees for pitch because of the very low resolution in pitch momentum wheel telemetry. When control anomalies significantly perturb the nominal attitude, the effect of telemetry granularity is reduced and the dynamically propagated attitudes are accurate on all three axes.

Harvie, E.↗

NASA NTRS1991

Methods of applied dynamics

The monograph was prepared to give the practicing engineer a clear understanding of dynamics with special consideration given to the dynamic analysis of aerospace systems. It is conceived to be both a desk-top reference and a refresher for aerospace engineers in government and industry. It could also be used as a supplement to standard texts for in-house training courses on the subject. Beginning with the basic concepts of kinematics and dynamics, the discussion proceeds to treat the dynamics of a system of particles. Both classical and modern formulations of the Lagrange equations, including constraints, are discussed and applied to the dynamic modeling of aerospace structures using the modal synthesis technique.

Rheinfurth, M. H.↗

NASA NTRS1992

CSM solutions of rotating blade dynamics using integrating matrices

The dynamic behavior of flexible rotating beams continues to receive considerable research attention as it constitutes a fundamental problem in applied mechanics. Further, beams comprise parts of many rotating structures of engineering significance. A topic of particular interest at the present time involves the development of techniques for obtaining the behavior in both space and time of a rotor acted upon by a simple airload loading. Most current work on problems of this type use solution techniques based on normal modes. It is certainly true that normal modes cannot be disregarded, as knowledge of natural blade frequencies is always important. However, the present work has considered a computational structural mechanics (CSM) approach to rotor blade dynamics problems in which the physical properties of the rotor blade provide input for a direct numerical solution of the relevant boundary-and-initial-value problem. Analysis of the dynamics of a given rotor system may require solution of the governing equations over a long time interval corresponding to many revolutions of the loaded flexible blade. For this reason, most of the common techniques in computational mechanics, which treat the space-time behavior concurrently, cannot be applied to the rotor dynamics problem without a large expenditure of computational resources. By contrast, the integrating matrix technique of computational mechanics has the ability to consistently incorporate boundary conditions and 'remove' dependence on a space variable. For problems involving both space and time, this feature of the integrating matrix approach thus can generate a 'splitting' which forms the basis of an efficient CSM method for numerical solution of rotor dynamics problems.

Lakin, William D.↗