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NASA NTRS1988

Effect of joint damping and joint nonlinearity on the dynamics of space structures

Analyses of the effect of linear joint characteristics on the vibrations of a free-free, three-joint beam model show that increasing joint damping increases resonant frequencies and increases modal damping but only to the point where the joint gets 'locked up' by damping. This behavior is different from that predicted by modeling joint damping as proportional damping. Nonlinear analyses of the three-joint model with cubic springs at the joints show all the classical single DOF nonlinear response behavior at each resonance of the multiple DOF system: nondoubling of response for a doubling of forcing amplitude, multiple solutions, jump behavior, and resonant frequency shifts. These properties can be concisely quantified by characteristic backbone curves, which show the locus of resonant peaks for increasing forcing amplitude.

Bowden, Mary↗

NASA NTRS1983

On the dynamic response and collapse of slender guyed booms for space application

A procedure is developed for the analysis of the nonlinear transient response of an initially imperfect slender guyed boom having a concentrated mass at the tip. The analysis is compared with laboratory experiments, and the validated procedure is employed to study the transient response of a boom to suddenly applied step loads and prescribed initial velocities. Both cases approximate the transient conditions associated with commencing and terminating a slewing maneuver in space. Two nonlinear effects are examined, namely cable slackening and beam column behavior. It is shown that dynamic buckling of the boom may occur with excitations which result in slackening of a cable. It is also shown that transverse boom tip deflections are sensitive only to initial eccentricities when certain threshold values are exceeded. Design guidelines are established for combinations of pulse level and duration which meet performance requirements for allowable deflections.

Housner, J. M.↗

NASA NTRS1987

Inverse problems in the modeling of vibrations of flexible beams

The formulation and solution of inverse problems for the estimation of parameters which describe damping and other dynamic properties in distributed models for the vibration of flexible structures is considered. Motivated by a slewing beam experiment, the identification of a nonlinear velocity dependent term which models air drag damping in the Euler-Bernoulli equation is investigated. Galerkin techniques are used to generate finite dimensional approximations. Convergence estimates and numerical results are given. The modeling of, and related inverse problems for the dynamics of a high pressure hose line feeding a gas thruster actuator at the tip of a cantilevered beam are then considered. Approximation and convergence are discussed and numerical results involving experimental data are presented.

Banks, H. T.↗

NASA NTRS1992

Slew maneuvers of Spacecraft Control Laboratory Experiment (SCOLE)

This is the final report on the dynamics and control of slew maneuvers of the Spacecraft Control Laboratory Experiment (SCOLE) test facility. The report documents the basic dynamical equation derivations for an arbitrary large angle slew maneuver as well as the basic decentralized slew maneuver control algorithm. The set of dynamical equations incorporate rigid body slew maneuver and three dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interactions between the rigid shuttle and the flexible appendage. The equations are simplified and evaluated numerically to include the first ten flexible modes to yield a model for designing control systems to perform slew maneuvers. The control problem incorporates the nonlinear dynamical equations and is expressed in terms of a two point boundary value problem.

Kakad, Yogendra P.↗

NASA NTRS1987

Dynamics of spacecraft control laboratory experiment (SCOLE) slew maneuvers

This is the first of two reports on the dynamics and control of slewing maneuvers of the NASA Spacecraft Control Laboratory Experiment (SCOLE). In this report, the dynamics of slewing maneuvers of SCOLE are developed in terms of an arbitrary maneuver about any given axis. The set of dynamical equations incorporate rigid-body slew maneuver and three-dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interaction between the rigid shuttle and the flexible appendage. The final set of dynamical equations obtained for slewing maneuvers is highly nonlinear and coupled in terms of the flexible modes and the rigid-body modes. The equations are further simplified and evaluated numerically to include the first ten flexible modes and the SCOLE data to yield a model for designing control systems to perform slew maneuvers.

Kakad, Y. P.↗

NASA NTRS1990

General Rotorcraft Aeromechanical Stability Program (GRASP): Theory manual

The general rotorcraft aeromechanical stability program (GRASP) was developed to calculate aeroelastic stability for rotorcraft in hovering flight, vertical flight, and ground contact conditions. GRASP is described in terms of its capabilities and its philosophy of modeling. The equations of motion that govern the physical system are described, as well as the analytical approximations used to derive them. The equations include the kinematical equation, the element equations, and the constraint equations. In addition, the solution procedures used by GRASP are described. GRASP is capable of treating the nonlinear static and linearized dynamic behavior of structures represented by arbitrary collections of rigid-body and beam elements. These elements may be connected in an arbitrary fashion, and are permitted to have large relative motions. The main limitation of this analysis is that periodic coefficient effects are not treated, restricting rotorcraft flight conditions to hover, axial flight, and ground contact. Instead of following the methods employed in other rotorcraft programs. GRASP is designed to be a hybrid of the finite-element method and the multibody methods used in spacecraft analysis. GRASP differs from traditional finite-element programs by allowing multiple levels of substructure in which the substructures can move and/or rotate relative to others with no small-angle approximations. This capability facilitates the modeling of rotorcraft structures, including the rotating/nonrotating interface and the details of the blade/root kinematics for various types. GRASP differs from traditional multibody programs by considering aeroelastic effects, including inflow dynamics (simple unsteady aerodynamics) and nonlinear aerodynamic coefficients.

Hodges, Dewey H.↗

NASA NTRS1986

The role of computerized symbolic manipulation in rotorcraft dynamics analysis

The potential role of symbolic manipulation programs in development and solution of the governing equations for rotorcraft dynamics problems is discussed and illustrated. Nonlinear equations of motion for a helicopter rotor blade represented by a rotating beam are developed making use of the computerized symbolic manipulation program MACSYMA. The use of computerized symbolic manipulation allows the analyst to concentrate on more meaningful tasks, such as establishment of physical assumptions, without being sidetracked by the tedious and trivial details of the algebraic manipulations. Furthermore, the resulting equations can be produced, if necessary, in a format suitable for numerical solution. A perturbation-type solution for the resulting dynamical equations is shown to be possible with a combination of symbolic manipulation and standard numerical techniques. This should ultimately lead to a greater physical understanding of the behavior of the solution than is possible with purely numerical techniques. The perturbation analysis of the flapping motion of a rigid rotor blade in forward flight is presented, for illustrative purposes, via computerized symbolic manipulation with a method that bypasses Floquet theory.

Crespo Da Silva, Marcelo R. M.↗

NASA NTRS2004

Analysis of SMA Hybrid Composite Structures using Commercial Codes

A thermomechanical model for shape memory alloy (SMA) actuators and SMA hybrid composite (SMAHC) structures has been recently implemented in the commercial finite element codes MSC.Nastran and ABAQUS. The model may be easily implemented in any code that has the capability for analysis of laminated composite structures with temperature dependent material properties. The model is also relatively easy to use and requires input of only fundamental engineering properties. A brief description of the model is presented, followed by discussion of implementation and usage in the commercial codes. Results are presented from static and dynamic analysis of SMAHC beams of two types; a beam clamped at each end and a cantilevered beam. Nonlinear static (post-buckling) and random response analyses are demonstrated for the first specimen. Static deflection (shape) control is demonstrated for the cantilevered beam. Approaches for modeling SMAHC material systems with embedded SMA in ribbon and small round wire product forms are demonstrated and compared. The results from the commercial codes are compared to those from a research code as validation of the commercial implementations; excellent correlation is achieved in all cases.

Turner, Travis L.↗

NASA NTRS2005

Analysis of SMA Hybrid Composite Structures in MSC.Nastran and ABAQUS

A thermoelastic constitutive model for shape memory alloy (SMA) actuators and SMA hybrid composite (SMAHC) structures was recently implemented in the commercial finite element codes MSC.Nastran and ABAQUS. The model may be easily implemented in any code that has the capability for analysis of laminated composite structures with temperature dependent material properties. The model is also relatively easy to use and requires input of only fundamental engineering properties. A brief description of the model is presented, followed by discussion of implementation and usage in the commercial codes. Results are presented from static and dynamic analysis of SMAHC beams of two types; a beam clamped at each end and a cantilever beam. Nonlinear static (post-buckling) and random response analyses are demonstrated for the first specimen. Static deflection (shape) control is demonstrated for the cantilever beam. Approaches for modeling SMAHC material systems with embedded SMA in ribbon and small round wire product forms are demonstrated and compared. The results from the commercial codes are compared to those from a research code as validation of the commercial implementations; excellent correlation is achieved in all cases.

Turner, Travis L.↗

NASA NTRS2001

Panel Flutter and Sonic Fatigue Analysis for RLV

A methodology is presented for the flutter analysis of the seal of thermal protection system (TPS) panel of X-33 Advanced Technology Demonstrator test vehicle. The seal is simulated as a two-dimensional cantilevered panel with an elastic stopper, which is modeled as an equivalent spring. This cantilever beam-spring model under the aerodynamic pressure at supersonic speeds turns out to be an impact nonlinear dynamic system. The flutter analysis of the seal is thus carried out using, time domain numerical simulation with a displacement stability criterion. The flutter boundary of the seal is further verified with a family of three traditional and one nontraditional panel flutter models. The frequency domain method that applies eigenanalysis on the traditional panel flutter problem was used. The results showed that the critical dynamic pressure could be more than doubled with properly chosen material for the base stopper. The proposed methodology can be easily extended to three-dimensional panel seals with flow angularity.

Mei, Chuh↗

NASA NTRS2006

Low-Velocity Impact Response of Sandwich Beams with Functionally Graded Core

The problem of low-speed impact of a one-dimensional sandwich panel by a rigid cylindrical projectile is considered. The core of the sandwich panel is functionally graded such that the density, and hence its stiffness, vary through the thickness. The problem is a combination of static contact problem and dynamic response of the sandwich panel obtained via a simple nonlinear spring-mass model (quasi-static approximation). The variation of core Young's modulus is represented by a polynomial in the thickness coordinate, but the Poisson's ratio is kept constant. The two-dimensional elasticity equations for the plane sandwich structure are solved using a combination of Fourier series and Galerkin method. The contact problem is solved using the assumed contact stress distribution method. For the impact problem we used a simple dynamic model based on quasi-static behavior of the panel - the sandwich beam was modeled as a combination of two springs, a linear spring to account for the global deflection and a nonlinear spring to represent the local indentation effects. Results indicate that the contact stiffness of thc beam with graded core Increases causing the contact stresses and other stress components in the vicinity of contact to increase. However, the values of maximum strains corresponding to the maximum impact load arc reduced considerably due to grading of thc core properties. For a better comparison, the thickness of the functionally graded cores was chosen such that the flexural stiffness was equal to that of a beam with homogeneous core. The results indicate that functionally graded cores can be used effectively to mitigate or completely prevent impact damage in sandwich composites.

Apetre, N. A.↗

NASA NTRS2002

Structural Modeling of a Five-Meter Thin Film Inflatable Antenna/Concentrator

Inflatable structures have been the subject of renewed interest in recent years for space applications such as communications antennas, solar thermal propulsion, and space solar power. A major advantage of using inflatable structures in space is their extremely light weight. An obvious second advantage is on-orbit deployability and related space savings in the launch configuration. A recent technology demonstrator flight for inflatable structures was the Inflatable Antenna Experiment (IAE) that was deployed on orbit from the Shuttle Orbiter. Although difficulty was encountered in the inflation/deployment phase, the flight was successful overall and provided valuable experience in the use of such structures. Several papers on static structural analysis of inflated cylinders have been written, describing different techniques such as linear shell theory, and nonlinear and variational methods, but very little work had been done in dynamics of inflatable structures until recent years. In 1988 Leonard indicated that elastic beam bending modes could be utilized in approximating lower-order frequencies of inflatable beams. Main, et al. wrote a very significant 1995 paper describing results of modal tests of inflated cantilever beams and the determination of effective material properties. Changes in material properties for different pressures were also discussed, and the beam model was used in a more complex structure. The paper demonstrated that conventional finite element analysis packages could be very useful in the analysis of complex inflatable structures. The purposes of this paper are to discuss the methodology for dynamically characterizing a large 5-meter thin film inflatable reflector, and to discuss the test arrangement and results. Nonlinear finite element modal results are compared to modal test data. The work is significant and of considerable interest to researchers because of 1) the large size of the structure, making it useful for scaling studies, and 2) application of commercially available finite element software for modeling pressurized thin-film structures.

Smalley, Kurt B.↗

NASA NTRS1992

Dynamics of spacecraft with deploying flexible appendages

A computational formulation for the dynamic analysis of spacecraft with deploying appendages is presented. The appendage model is based on a geometrically nonlinear beam formulation which accurately accounts for large rotational and large deformation motions. A moving finite element reference grid is incorporated within the nonlinear beam formulation to model the deployment motion. Hamilton's Law is used to formulate the general equations of motion, and a transient integration solution procedure is derived from a space-time finite element discretization of the Hamiltonian variational statement. Computational results of the methodology are presented for a classical gravity gradient stabilized satellite configuration.

Downer, Janice D.↗

NASA NTRS1977

Nonlinear flap-lag axial equations of a rotating beam

It is possible to identify essentially four approaches by which analysts have established either the linear or nonlinear governing equations of motion for a particular problem related to the dynamics of rotating elastic bodies. The approaches include the effective applied load artifice in combination with a variational principle and the use of Newton's second law, written as D'Alembert's principle, applied to the deformed configuration. A third approach is a variational method in which nonlinear strain-displacement relations and a first-degree displacement field are used. The method introduced by Vigneron (1975) for deriving the linear flap-lag equations of a rotating beam constitutes the fourth approach. The reported investigation shows that all four approaches make use of the geometric nonlinear theory of elasticity. An alternative method for deriving the nonlinear coupled flap-lag-axial equations of motion is also discussed.

Kaza, K. R. V.↗

NASA NTRS1988

Rotorcraft aeroelastic stability

Theoretical and experimental developments in the aeroelastic and aeromechanical stability of helicopters and tilt-rotor aircraft are addressed. Included are the underlying nonlinear structural mechanics of slender rotating beams, necessary for accurate modeling of elastic cantilever rotor blades, and the development of dynamic inflow, an unsteady aerodynamic theory for low-frequency aeroelastic stability applications. Analytical treatment of isolated rotor stability in hover and forward flight, coupled rotor-fuselage stability in hover and forward flight, and analysis of tilt-rotor dynamic stability are considered. Results of parametric investigations of system behavior are presented, and correlation between theoretical results and experimental data from small and large scale wind tunnel and flight testing are discussed.

Ormiston, Robert A.↗

NASA NTRS1988

Survey of Army/NASA rotorcraft aeroelastic stability research

Theoretical and experimental developments in the aeroelastic and aeromechanical stability of helicopters and tilt-rotor aircraft are addressed. Included are the underlying nonlinear structural mechanics of slender rotating beams, necessary for accurate modeling of elastic cantilever rotor blades, and the development of dynamic inflow, an unsteady aerodynamic theory for low frequency aeroelastic stability applications. Analytical treatment of isolated rotor stability in hover and forward flight, coupled rotor-fuselage stability are considered. Results of parametric investigations of system behavior are presented, and correlations between theoretical results and experimental data from small- and large-scale wind tunnel and flight testing are discussed.

Ormiston, Robert A.↗

NASA NTRS1997

Sliding Mode Control of a Slewing Flexible Beam

An output feedback sliding mode controller (SMC) is proposed to minimize the effects of vibrations of slewing flexible manipulators. A spline trajectory is used to generate ideal position and velocity commands. Constrained nonlinear optimization techniques are used to both calibrate nonlinear models and determine optimized gains to produce a rest-to-rest, residual vibration-free maneuver. Vibration-free maneuvers are important for current and future NASA space missions. This study required the development of the nonlinear dynamic system equations of motion; robust control law design; numerical implementation; system identification; and verification using the Sandia National Laboratories flexible robot testbed. Results are shown for a slewing flexible beam.

Wilson, David G.↗

NASA NTRS1990

A computational procedure for multibody systems including flexible beam dynamics

A computational procedure suitable for the solution of equations of motions for flexible multibody systems has been developed. The flexible beams are modeled using a fully nonlinear theory which accounts for both finite rotations and large deformations. The present formulation incorporates physical measures of conjugate Cauchy stress and covariant strain increments. As a consequence, the beam model can easily be interfaced with real-time strain measurements and feedback control systems. A distinct feature of the present work is the computational preservation of total energy for undamped systems; this is obtained via an objective strain increment/stress update procedure combined with an energy-conserving time integration algorithm which contains an accurate update of angular orientations. The procedure is demonstrated via several example problems.

Downer, J. D.↗