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At least 451 records · Page 25

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NASA NTRS1999

Optimal Variable-Structure Control Tracking of Spacecraft Maneuvers

An optimal control approach using variable-structure (sliding-mode) tracking for large angle spacecraft maneuvers is presented. The approach expands upon a previously derived regulation result using a quaternion parameterization for the kinematic equations of motion. This parameterization is used since it is free of singularities. The main contribution of this paper is the utilization of a simple term in the control law that produces a maneuver to the reference attitude trajectory in the shortest distance. Also, a multiplicative error quaternion between the desired and actual attitude is used to derive the control law. Sliding-mode switching surfaces are derived using an optimal-control analysis. Control laws are given using either external torque commands or reaction wheel commands. Global asymptotic stability is shown for both cases using a Lyapunov analysis. Simulation results are shown which use the new control strategy to stabilize the motion of the Microwave Anisotropy Probe spacecraft.

John L. Crassidis↗

NASA NTRS1999

Finite Differences and Collocation Methods for the Solution of the Two Dimensional Heat Equation

In this paper we combine finite difference approximations (for spatial derivatives) and collocation techniques (for the time component) to numerically solve the two dimensional heat equation. We employ respectively a second-order and a fourth-order schemes for the spatial derivatives and the discretization method gives rise to a linear system of equations. We show that the matrix of the system is non-singular. Numerical experiments carried out on serial computers, show the unconditional stability of the proposed method and the high accuracy achieved by the fourth-order scheme.

Kouatchou, Jules↗

NASA NTRS1989

An improved, robust, axial line singularity method for bodies of revolution

The failures encountered in attempts to increase the range of applicability of the axial line singularity method for representing incompressible, inviscid flow about an inclined and slender body-of-revolution are presently noted to be common to all efforts to solve Fredholm equations of the first kind. It is shown that a previously developed smoothing technique yields a robust method for numerical solution of the governing equations; this technique is easily retrofitted to existing codes, and allows the number of circularities to be increased until the most accurate line singularity solution is obtained.

Hemsch, Michael J.↗

NASA NTRS1976

Lifting surface theory for rectangular wings

A new incompressible lifting-surface theory is developed for thin rectangular wings. The solution requires the downwash equation to be in the form of Cauchy-type integrals. Lan's method is employed for the chordwise integrals since it properly accounts for the leading-edge singularity, Cauchy singularity and Kutta condition. The Cauchy singularity in the spanwise integral is also accounted for by using the midpoint trapezoidal rule and theory of Chebychev polynomials. The resulting matrix equation, formed by satisfying the boundary condition at control points, is simpler and quicker to compute than other lifting surface theories. Solutions were found to converge with only a small number of control points and to compare favorably with results from other methods.

Dejarnette, F. R.↗

NASA NTRS1988

A simple, analytic 3-dimensional downburst model based on boundary layer stagnation flow

A simple downburst model is developed for use in batch and real-time piloted simulation studies of guidance strategies for terminal area transport aircraft operations in wind shear conditions. The model represents an axisymmetric stagnation point flow, based on velocity profiles from the Terminal Area Simulation System (TASS) model developed by Proctor and satisfies the mass continuity equation in cylindrical coordinates. Altitude dependence, including boundary layer effects near the ground, closely matches real-world measurements, as do the increase, peak, and decay of outflow and downflow with increasing distance from the downburst center. Equations for horizontal and vertical winds were derived, and found to be infinitely differentiable, with no singular points existent in the flow field. In addition, a simple relationship exists among the ratio of maximum horizontal to vertical velocities, the downdraft radius, depth of outflow, and altitude of maximum outflow. In use, a microburst can be modeled by specifying four characteristic parameters, velocity components in the x, y and z directions, and the corresponding nine partial derivatives are obtained easily from the velocity equations.

Oseguera, Rosa M.↗

NASA NTRS1980

Stress-intensity factors for internal surface cracks in cylindrical pressure vessels

The paper presents stress-intensity factors for a wide range of semi-elliptical surface cracks on the inside of pressurized cylinders. The ratio of crack depth to crack length ranged from 0.2 to 1; the ratio of crack depth to wall thickness ranged from 0.2 to 0.8; and the ratio of wall thickness to vessel radius was 0.1 to to 0.25. The stress-intensity factors were calculated by a three-dimensional finite-element method using singularity elements along the crack front and linear-strain elements elsewhere. An equation for the stress-intensity factors was obtained which applies over a wide range of configuration parameters and was within about 5 percent of the present results. A comparison was also made between the results and other analyses of internal surface cracks in cylinders. The results from a boundary-integral equation method were in agreement and those from another finite-element method were in fair agreement (+ or - 8 percent) with the results.

Newman, J. C., Jr.↗

NASA NTRS1983

Incidence angle effects on convected gust airfoil noise

An analysis is developed which predicts the influence of airfoil mean loading on noise generation due to convected gusts. The theory is based on a linearization of the exact inviscid equations about a nonuniform compressible mean flow and the solution is developed using singular perturbation techniques. The case of a flat plate airfoil, at incidence angle alpha, interacting with three-dimensional disturbances is analyzed. It is found that in the vicinity of the airfoil leading and trailing edges, local regions are present which scale on the disturbance wavelength, with the noise generation concentrated in these regions. Away from the airfoil edges, the mean flow variation is found to be slow compared to the disturbance wavelength and no significant noise generation occurs. The mean flow variation near the leading edge generates additional noise by distorting the convected gust. The cumulative effect of the airfoil mean loading in the trailing edge region produces a 0(1) phase shift between the disturbances on the upper and lower surfaces of the airfoil. A corresponding 0(1) decrease, compared to the alpha = 0 case, is found in the noise generated at the trailing edge.

Kerschen, E. J.↗

NASA NTRS1987

Analytical prediction of the unsteady lift on a rotor caused by downstream struts

A two-dimensional, inviscid, incompressible procedure is presented for predicting the unsteady lift on turbomachinery blades caused by the upstream potential disturbance of downstream flow obstructions. Using the Douglas-Neumann singularity superposition potential flow computer program to model the downstream flow obstructions, classical equations of thin airfoil theory are then employed, to compute the unsteady lift on the upstream rotor blades. The method is applied to a particular geometry which consists of a rotor, a downstream stator, and downstream struts which support the engine casing. Very good agreement between the Douglas-Neumann program and experimental measurements was obtained for the downstream stator-strut flow field. The calculations for the unsteady lift due to the struts were in good agreement with the experiments in showing that the unsteady lift due to the struts decays exponentially with increased axial separation of the rotor and the struts. An application of the method showed that for a given axial spacing between the rotor and the strut, strut-induced unsteady lift is a very weak function of the axial or circumferential position of the stator.

Taylor, A. C., III↗

NASA NTRS1989

Optimal force distribution for payload positioning using a planar dual-arm robot

This paper presents a parameter optimization technique for deciding the force distribution on a payload being transported along a predetermined trajectory using two planar manipulator arms. The methodology begins by transforming the singular dynamics of two-arm transport to an ordinary set of differential equations and then proceeds to obtain a relation between the torques exerted by each arm. This relation is then used in a quadratic torque cost which is subsequently minimized to yield an optimal torque distribution. Significant savings in energy were found to occur when the arms were allowed to interact by transmission of forces through the payload. Even more significant are the savings found over one-arm transport of payloads where the arm torques are fixed by the prescribed trajectory.

Carignan, C. R.↗

NASA NTRS1990

Dynamic Analysis and Control of Lightweight Manipulators with Flexible Parallel Link Mechanisms

The objective is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. The resulting equation of motion have a structure which is useful to reduce the number of terms calculated, to check correctness, or to extend the model to higher order. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. Elastic motion is expressed by the assumed mode method. Mode shape functions of each link are chosen using the load interfaced component mode synthesis. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model.

Lee, Jeh Won↗

NASA NTRS1990

Theory of finite disturbances in a centrifugal compression system with a vaneless radial diffuser

A previous small perturbation analysis of circumferential waves in circumferential compression systems, assuming inviscid flow, is shown to be consistent with observations that narrow diffusers are more stable than wide ones, when boundary layer displacement effect is included. The Moore-Greitzer analysis for finite strength transients containing both surge and rotating stall in axial machines is adapted for a centrifugal compression system. Under certain assumptions, and except for a new second order swirl, the diffuser velocity field, including resonant singularities, can be carried over from the previous inviscid linear analysis. Nonlinear transient equations are derived and applied in a simple example to show that throttling through a resonant value of flow coefficient must occur in a sudden surge-like drop, accompanied by a transient rotating wave. This inner solution is superseded by an outer surge response on a longer time scale. Surge may occur purely as result of circumferential wave resonance. Numerical results are shown for various parametric choices relating to throttle schedule and the characteristic slope. A number of circumferential modes considered simultaneously is briefly discussed.

Moore, F. K.↗

NASA NTRS1989

Probabilistic finite elements for fracture and fatigue analysis

The fusion of the probabilistic finite element method (PFEM) and reliability analysis for probabilistic fracture mechanics (PFM) is presented. A comprehensive method for determining the probability of fatigue failure for curved crack growth was developed. The criterion for failure or performance function is stated as: the fatigue life of a component must exceed the service life of the component; otherwise failure will occur. An enriched element that has the near-crack-tip singular strain field embedded in the element is used to formulate the equilibrium equation and solve for the stress intensity factors at the crack-tip. Performance and accuracy of the method is demonstrated on a classical mode 1 fatigue problem.

Liu, W. K.↗

NASA NTRS1991

Dynamic analysis and control of lightweight manipulators with flexible parallel link mechanisms

The flexible parallel link mechanism is designed for increased rigidity to sustain the buckling when it carries a heavy payload. Compared to a one link flexible manipulator, a two link flexible manipulator, especially the flexible parallel mechanism, has more complicated characteristics in dynamics and control. The objective of this research is the theoretical analysis and the experimental verification of dynamics and control of a two link flexible manipulator with a flexible parallel link mechanism. Nonlinear equations of motion of the lightweight manipulator are derived by the Lagrangian method in symbolic form to better understand the structure of the dynamic model. A manipulator with a flexible parallel link mechanism is a constrained dynamic system whose equations are sensitive to numerical integration error. This constrained system is solved using singular value decomposition of the constraint Jacobian matrix. The discrepancies between the analytical model and the experiment are explained using a simplified and a detailed finite element model. The step response of the analytical model and the TREETOPS model match each other well. The nonlinear dynamics is studied using a sinusoidal excitation. The actuator dynamic effect on a flexible robot was investigated. The effects are explained by the root loci and the Bode plot theoretically and experimentally. For the base performance for the advanced control scheme, a simple decoupled feedback scheme is applied.

Lee, Jeh Won↗

NASA NTRS1996

Description of Jet Breakup

In this article we review recent results on the breakup of cylindrical jets of a Newtonian fluid. Capillary forces provide the main driving mechanism and our interest is in the description of the flow as the jet pinches to form drops. The approach is to describe such topological singularities by constructing local (in time and space) similarity solutions from the governing equations. This is described for breakup according to the Euler, Stokes or Navier-Stokes equations. It is found that slender jet theories can be applied when viscosity is present, but for inviscid jets the local shape of the jet at breakup is most likely of a non-slender geometry. Systems of one-dimensional models of the governing equations are solved numerically in order to illustrate these differences.

Papageorgiou, Demetrios T.↗

NASA NTRS1992

Singularity perturbed zero dynamics of nonlinear systems

Stability properties of zero dynamics are among the crucial input-output properties of both linear and nonlinear systems. Unstable, or 'nonminimum phase', zero dynamics are a major obstacle to input-output linearization and high-gain designs. An analysis of the effects of regular perturbations in system equations on zero dynamics shows that whenever a perturbation decreases the system's relative degree, it manifests itself as a singular perturbation of zero dynamics. Conditions are given under which the zero dynamics evolve in two timescales characteristic of a standard singular perturbation form that allows a separate analysis of slow and fast parts of the zero dynamics.

Isidori, A.↗

NASA NTRS1986

On substructuring algorithms and solution techniques for the numerical approximation of partial differential equations

Substructuring methods are in common use in mechanics problems where typically the associated linear systems of algebraic equations are positive definite. Here these methods are extended to problems which lead to nonpositive definite, nonsymmetric matrices. The extension is based on an algorithm which carries out the block Gauss elimination procedure without the need for interchanges even when a pivot matrix is singular. Examples are provided wherein the method is used in connection with finite element solutions of the stationary Stokes equations and the Helmholtz equation, and dual methods for second-order elliptic equations.

Gunzburger, M. D.↗

DOE OSTI2024

Ladder symmetries and Love numbers of Reissner-Nordström black holes

It is well known that asymptotically flat black holes in general relativity have vanishing tidal Love numbers. In the case of Schwarzschild and Kerr black holes, this property has been shown to be a consequence of a hidden structure of ladder symmetries for the perturbations. In this work, we extend the ladder symmetries to non-rotating charged black holes in general relativity. As opposed to previous works in this context, we adopt a more general definition of Love numbers, including quadratic operators that mix gravitational and electromagnetic perturbations in the point-particle effective field theory. We show that the calculation of a subset of those couplings in full general relativity is affected by an ambiguity in the split between source and response, which we resolve through an analytic continuation. As a result, we derive a novel master equation that unifies scalar, electromagnetic and gravitational perturbations around Reissner-Nordström black holes. The equation is hypergeometric and can be obtained from previous formulations via nontrivial field redefinitions, which allow to systematically remove some of the singularities and make the presence of the ladder symmetries more manifest.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

DOE OSTI2020

Novel strategies for modal-based structural material identification

Here, we present modal-based methods for model calibration in structural dynamics, and address several key challenges in the solution of gradient-based optimization problems with eigenvalues and eigenvectors, including the solution of singular Helmholtz problems encountered in sensitivity calculations, non-differentiable objective functions caused by mode swapping during optimization, and cases with repeated eigenvalues. Unlike previous literature that relied on direct solution of the eigenvector adjoint equations, we present a parallel iterative domain decomposition strategy (Adjoint Computation via Modal Superposition with Truncation Augmentation) for the solution of the singular Helmholtz problems. For problems with repeated eigenvalues we present a novel Mode Separation via Projection algorithm, and in order to address mode swapping between inverse iterations we present a novel Injective mode ordering metric. We present the implementation of these methods in a massively parallel finite element framework with the ability to use measured modal data to extract unknown structural model parameters from large complex problems. A series of increasingly complex numerical examples are presented that demonstrate the implementation and performance of the methods in a massively parallel finite element framework [7], [5], using gradient-based optimization techniques in the Rapid Optimization Library (ROL) [21].

36 MATERIALS SCIENCE↗