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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Closed-form solutions for linear regulator design of mechanical systems including optimal weighting matrix selection

Vibration in modern structural and mechanical systems can be reduced in amplitude by increasing stiffness, redistributing stiffness and mass, and/or adding damping if design techniques are available to do so. Linear Quadratic Regulator (LQR) theory in modern multivariable control design, attacks the general dissipative elastic system design problem in a global formulation. The optimal design, however, allows electronic connections and phase relations which are not physically practical or possible in passive structural-mechanical devices. The restriction of LQR solutions (to the Algebraic Riccati Equation) to design spaces which can be implemented as passive structural members and/or dampers is addressed. A general closed-form solution to the optimal free-decay control problem is presented which is tailored for structural-mechanical system. The solution includes, as subsets, special cases such as the Rayleigh Dissipation Function and total energy. Weighting matrix selection is a constrained choice among several parameters to obtain desired physical relationships. The closed-form solution is also applicable to active control design for systems where perfect, collocated actuator-sensor pairs exist.

Hanks, Brantley R.↗
NASA NTRS1992

Drilling and Digging Techniques for the Early Lunar Outpost

The theme of this workshop is lunar resource assessment. Topics include identification, quantification, and location of useful elements on and below the lunar surface. The objective of this paper is to look at another side of the issue--how to remove soil from the stiff lunar-soil matrix once useful deposits are located. The goal of this paper is to cause those who think that digging or excavating on the Moon is a trivial problem to rethink the reasons for their opinions. Another goal is to encourage them to view total reliance upon terrestrial heuristics with suspicion. This paper will focus primarily upon digging.

Boles, Walter W.↗
NASA NTRS1989

Low-order design and high-order simulation of active closed-loop control for aerospace structures under construction

Partially constructed/assembled structures in space are complicated enough but their dynamics will also be operating in closed-loop with feedback controllers. The dynamics of such structures are modeled by large-scale finite element models. The model dimension L is extremely large (approximately 10,000) while the numbers of actuators (M) and sensors (P) are small. The model parameters M(sub m) mass matrix, D(sub o) damping matrix, and K(sub o) stiffness matrix, are all symmetric and sparse (banded). Thus simulation of open-loop structure models of very large dimension can be accomplished by special integration techniques for sparse matrices. The problem of simulation of closed-loop control of such structures is complicated by the addition of controllers. Simulation of closed-loop controlled structures is an essential part of the controller design and evaluation process. Current research in the following areas is presented: high-order simulation of actively controlled aerospace structures; low-order controller design and SCI compensation for unmodeled dynamics; prediction of closed-loop stability using asymptotic eigenvalue series; and flexible robot manipulator control experiment.

Balas, Mark J.↗
NASA NTRS2007

Compatibility Condition in Theory of Solid Mechanics (Elasticity, Structures, and Design Optimization)

The strain formulation in elasticity and the compatibility condition in structural mechanics have neither been understood nor have they been utilized. This shortcoming prevented the formulation of a direct method to calculate stress. We have researched and understood the compatibility condition for linear problems in elasticity and in finite element analysis. This has lead to the completion of the method of force with stress (or stress resultant) as the primary unknown. The method in elasticity is referred to as the completed Beltrami-Michell formulation (CBMF), and it is the integrated force method (IFM) in structures. The dual integrated force method (IFMD) with displacement as the primary unknown has been formulated. IFM and IFMD produce identical responses. The variational derivation of the CBMF yielded the new boundary compatibility conditions. The CBMF can be used to solve stress, displacement, and mixed boundary value problems. The IFM in structures produced high-fidelity response even with a modest finite element model. The IFM has influenced structural design considerably. A fully utilized design method for strength and stiffness limitation has been developed. The singularity condition in optimization has been identified. The CBMF and IFM tensorial approaches are robust formulations because of simultaneous emphasis on the equilibrium equation and the compatibility condition.

Patnaik, Surya N.↗
NASA NTRS1982

Alternative ways for formulation of hybrid stress elements

An element stiffness matrix can be derived by the conventional potential energy principle and, indirectly, also by generalized variational principles, such as the Hu-Washizu principle and the Hellinger-Reissner principle. The present investigation has the objective to show an approach which is concerned with the formulation of incompatible elements for solid continuum and for plate bending problems by the Hellinger-Reissner principle. It is found that the resulting scheme is equivalent to that considered by Tong (1982) for the construction of hybrid stress elements. In Tong's scheme the inversion of a large flexibility matrix can be avoided. It is concluded that the introduction of additional internal displacement modes in mixed finite element formulations by the Hellinger-Reissner principle and the Hu-Washizu principle can lead to element stiffness matrices which are equivalent to the assumed stress hybrid method.

Pian, T. H. H.↗
NASA NTRS1987

Simultaneous structure/control optimization of large flexible spacecraft

This paper presents an approach to the simultaneous optimal design of a structure and control system for large flexible spacecrafts based on realistic objective function and constraints. The weight or total cost of structure and control system is minimized subject to constraints on the magnitude of response to a given disturbance involving both rigid-body and elastic modes. A nested optimization technique is developed to solve the combined problem. As an example, simple beam-like spacecraft under a steady-state white-noise disturbance force is investigated and some results of optimization are presented. In the numerical examples, the stiffness distribution, the location of controller and the control gains are optimized. Direct feedback control and linear quadratic optimal control laws are used with both inertial and non-inertial disturbing force. It is shown that the total cost is sensitive to the overall structural stiffness so that a simultaneous optimization of the structure and control system is indeed useful.

Onoda, Junjiro↗
NASA NTRS1987

An approach to structure/control simultaneous optimization for large flexible spacecraft

This paper presents an approach to the simultaneous optimal design of a structure and control system for large flexible spacecrafts based on realistic objective function and constraints. The weight or total cost of structure and control system is minimized subject to constraints on the magnitude of response to a given disturbance involving both rigid-body and elastic modes. A nested optimization technique is developed to solve the combined problem. As an example, simple beam-like spacecraft under a steady-state white-noise disturbance force is investigated and some results of optimization are presented. In the numerical examples, the stiffness distribution, location of controller, and control gains are optimized. Direct feedback control and linear quadratic optimal controls laws are used with both inertial and noninertial disturbing force. It is shown that the total cost is sensitive to the overall structural stiffness, so that simultaneous optimization of the structure and control system is indeed useful.

Onoda, Junjiro↗
NASA NTRS1998

On Convergence Acceleration Techniques for Unstructured Meshes

A discussion of convergence acceleration techniques as they relate to computational fluid dynamics problems on unstructured meshes is given. Rather than providing a detailed description of particular methods, the various different building blocks of current solution techniques are discussed and examples of solution strategies using one or several of these ideas are given. Issues relating to unstructured grid CFD problems are given additional consideration, including suitability of algorithms to current hardware trends, memory and cpu tradeoffs, treatment of non-linearities, and the development of efficient strategies for handling anisotropy-induced stiffness. The outlook for future potential improvements is also discussed.

Mavriplis, Dimitri J.↗
NASA NTRS2010

Applied Joint-Space Torque and Stiffness Control of Tendon-Driven Fingers

Existing tendon-driven fingers have applied force control through independent tension controllers on each tendon, i.e. in the tendon-space. The coupled kinematics of the tendons, however, cause such controllers to exhibit a transient coupling in their response. This problem can be resolved by alternatively framing the controllers in the joint-space of the manipulator. This work presents a joint-space torque control law that demonstrates both a decoupled and significantly faster response than an equivalent tendon-space formulation. The law also demonstrates greater speed and robustness than comparable PI controllers. In addition, a tension distribution algorithm is presented here to allocate forces from the joints to the tendons. It allocates the tensions so that they satisfy both an upper and lower bound, and it does so without requiring linear programming or open-ended iterations. The control law and tension distribution algorithm are implemented on the robotic hand of Robonaut-2.

Abdallah, Muhammad E.↗
NASA NTRS1993

The Influence of Swirl Brakes and a Tip Discharge Orifice on the Rotordynamic Forces Generated by Discharge-to-Suction Leakage Flows in Shrouded Centrifugal Pumps

Recent experiments conducted in the Rotor Force Test Facility at the California Institute of Technology have examined the effects of a tip leakage restriction and swirl brakes on the rotordynamic forces due to leakage flows on an impeller undergoing a prescribed circular whirl. The experiments simulate the leakage flow conditions and geometry of the Alternate Turbopump Design (ATD) of the Space Shuttle High Pressure Oxygen Turbopump and are critical to evaluating the pump's rotordynamic instability problems. Previous experimental and analytical results have shown that discharge-to-suction leakage flows in the annulus of a shrouded centrifugal pump contribute substantially to the fluid induced rotordynamic forces. Also, previous experiments have shown that leakage inlet (pump discharge) swirl can increase the cross-coupled stiffness coefficient and hence increase the range of positive whirl for which the tangential force is destabilizing. In recent experimental work, the present authors demonstrated that when the swirl velocity within the leakage path is reduced by the introduction of ribs or swirl brakes, then a substantial decrease in both the destabilizing normal and tangential forces could be achieved. Motivation for the present research is that previous experiments have shown that restrictions such as wear rings or orifices at pump inlets affect the leakage forces. Recent pump designs such as the Space Shuttle Alternate Turbopump Design (ATD) utilize tip orifices at discharge for the purpose of establishing axial thrust balance. The ATD has experienced rotordynamic instability problems and one may surmise that these tip discharge orifices may also have an important effect on the normal and tangential forces in the plane of impeller rotation. The present study determines if such tip leakage restrictions contribute to undesirable rotordynamic forces. Additional motivation for the present study is that the widening of the leakage path annular clearance and the installation of swirl brakes in the ATD has been proposed to solve its instability problems. The present study assesses the effect of such a design modification on the rotordynamic forces. The experimental apparatus consists of a solid or dummy impeller, a housing instrumented for pressure measurements, a rotating dynamometer and an eccentric whirl mechanism. The solid impeller is used so that leakage flow contributions to the forces are measured, but the main throughflow contributions are not experienced. The inner surface of the housing has been modified to accommodate meridional ribs or swirl brakes within the leakage annulus. In addition, the housing has been modified to accommodate a discharge orifice that qualitatively simulates one side of the balance piston orifice of the Space Shuttle ATD. Results indicate the detrimental effects of a discharge orifice and the beneficial effects of brakes. Plots of the tangential and normal forces versus whirl ratio show a substantial increase in these forces along with destabilizing resonances at some positive whirl ratios when a discharge orifice is added. When brakes are added, some of the detrimental effects of the orifice are reduced. For the tangential force, a plot versus whirl ratio shows a significant reduction and a destabilizing resonance appears to be eliminated. For the normal force, although the overall force is not reduced, again a destabilizing resonance appears to be eliminated.

Sivo, Joseph M.↗
NASA NTRS1974

User's Manual for Computer Program ROTOR

A detailed description of a computer program to calculate tilt-rotor aircraft dynamic characteristics is presented. This program consists of two parts: (1) the natural frequencies and corresponding mode shapes of the rotor blade and wing are developed from structural data (mass distribution and stiffness distribution); and (2) the frequency response (to gust and blade pitch control inputs) and eigenvalues of the tilt-rotor dynamic system, based on the natural frequencies and mode shapes, are derived. Sample problems are included to assist the user.

Yasue, M.↗
NASA NTRS1983

A refined finite element for vibration analysis of twisted blades based on beam theory

A finite element method of discretizing beam segments of pretwisted rotating blades is presented. Employing the matrix displacement method, stiffness and mass properties are developed from basic mechanics of a pretwisted beam theory. By introducing the proper displacement functions, the effect of rotor blade rotational motion on the stiffness matrix is obtained systematically from the kinetic energy expression. Comparing with other beam elements the derivation of this element is more fundamental. This allows one to apply the same approach to more complicated problems including nonlinear effects or complex dynamic motions. Illustrative examples are given comparing numerical results with available data and other numerical solutions from rotating and nonrotating force fields. These examples show that accurate prediction of vibration frequencies for pretwisted blades can be obtained by employing a quite modest number of degrees of freedom.

Sisto, F.↗
NASA NTRS1990

Mathematical modeling of the flow field and particle motion in a rotating bioreactor at unit gravity and microgravity

The biotechnology group at NASA Johnson Space Center is developing systems for culturing mammalian cells that stimulate some aspect of microgravity and provide a low shear environment for microgravity-based studies on suspension and anchorage dependent cells. The design of these vessels for culturing cells is based on the need to suspend cells and aggregates of cells and microcarrier beads continually in the culturing medium. The design must also provide sufficient circulation for adequate mass transfer of nutrients to the cells and minimize the total force on the cells. Forces, resulting from sources such as hydrodynamic fluid shear and collisions of cells and walls of the vessels, may damage delicate cells and degrade the formation of three dimensional structures. This study examines one particular design in both unit gravity and microgravity based on two concentric cylinders rotating in the same direction at different speeds to create a Couette flow between them. A numerical simulation for the flow field and the trajectories of particles in the vessel. The flow field for the circulation of the culturing medium is modeled by the Navier-Stokes equations. The forces on a particle are assumed to be drag from the fluid's circulation, buoyancy from the gravitational force and centrifugal force from the rotation of the vessel. The problem requires first solving the system of partial differential equations for the fluid flow by a finite difference method and then solving the system of ordinary differential equations for the trajectories by Gear's stiff method. Results of the study indicate that the trajectories in unit gravity and microgravity are very similar except for small spatial deviations on the fast time scale in unit gravity. The total force per unit cross sectional area on a particle in microgravity, however, is significantly smaller than the corresponding value in unit gravity, which is also smaller than anticipated. Hence, this study indicates that this design for a bioreactor with optimal rates of rotation can provide a good environment for culturing cells in microgravity with adequate circulation and minimal force on the cells.

Boyd, Ernest J.↗
NASA NTRS1991

Stacking-sequence optimization for buckling of laminated plates by integer programming

Integer-programming formulations for the design of symmetric and balanced laminated plates under biaxial compression are presented. Both maximization of buckling load for given total thickness, and the minimization of total thickness subject to a buckling constraint are formulated. The design variables that define the stacking sequence of the laminate are zero-one integers. It is shown that the formulation results in a linear optimization problem that can be solved on readily aviable software. Constraints on the stacking sequence such as a limit on the number of contiguous plies of the same orientation and limits on in-plane stiffnesses are easily accommodated. Examples are presented for graphite-epoxy plates under uniaxial and biaxial compression using a commercial software package based on the branch-and-bound algorithm.

Haftka, Raphael T.↗
NASA NTRS1938

Tables of stiffness and carry-over factor for structural members under axial load

Tables of stiffness and carry-over factor are presented for members in which the cross section and axial load do not vary along the length of the member. These tables are of use in solving problems in the stability of structural members under axial load as well as in application of the Cross method of moment distribution when the effects of axial load in the members are considered. The interval between successive values of the argument is small enough to make interpolation unnecessary in engineering calculations.

Lundquist, Eugene E↗
NASA NTRS2000

Model Refinement Using Eigensystem Assignment

IA novel approach for the refinement of finite-element-based analytical models of flexible structures is presented. The proposed approach models the possible refinements in the mass, damping, and stiffness matrices of the finite element model in the form of a constant gain feedback with acceleration, velocity, and displacement measurements, respectively. Once the free elements of the structural matrices have been defined, the problem of model refinement reduces to obtaining position, velocity, and acceleration gain matrices with appropriate sparsity that reassign a desired subset of the eigenvalues of the model, along with partial mode shapes, from their baseline values to those obtained from system identification test data. A sequential procedure is used to assign one conjugate pair of eigenvalues at each step using symmetric output feedback gain matrices, and the eigenvectors are partially assigned, while ensuring that the eigenvalues assigned in the previous steps are not disturbed. The procedure can also impose that gain matrices be dissipative to guarantee the stability of the refined model. A numerical example, involving finite element model refinement for a structural testbed at NASA Langley Research Center (Controls-Structures-Interaction Evolutionary model) is presented to demonstrate the feasibility of the proposed approach.

Maghami, Peiman G.↗
NASA NTRS1998

Model Refinement Using Eigensystem Assignment

This paper presented a novel approach for the refinement of finite-element-based analytical models of flexible structures is presented. The proposed approach models the possible refinements in the mass, damping, and stiffness matrices of the finite element model in the form of a constant gain feedback with acceleration, velocity, and displacement measurements, respectively. Once, the free elements of the structural matrices have been defined, the problem of model refinement reduces to obtaining position, velocity, and acceleration gain matrices, which reassign a desired subset of the eigenvalues of the model, along with partial mode shapes, from their baseline values to those obtained from system identification test data. A sequential procedure is used to assign one self-conjugate pair of closed-loop eigenvalues at each step using symmetric output feedback gain matrices, and the closed-loop eigenvectors are partially assigned, while ensuring that the eigenvalues assigned in the previous steps are not disturbed. The procedure can also impose that gain matrices be dissipative in order to guarantee the stability of the refined model. A numerical example, involving finite element model refinement for a structural testbed at NASA Langley (CSI Evolutionary Model) is presented to demonstrate the feasibility of the proposed approach.

Maghami, Pieman G.↗
NASA NTRS2015

FEAMAC-CARES Software Coupling Development Effort for CMC Stochastic-Strength-Based Damage Simulation

Reported here is a coupling of two NASA developed codes: CARES (Ceramics Analysis and Reliability Evaluation of Structures) with the MACGMC composite material analysis code. The resulting code is called FEAMACCARES and is constructed as an Abaqus finite element analysis UMAT (user defined material). Here we describe the FEAMACCARES code and an example problem (taken from the open literature) of a laminated CMC in off-axis loading is shown. FEAMACCARES performs stochastic-strength-based damage simulation response of a CMC under multiaxial loading using elastic stiffness reduction of the failed elements.

Reliability↗