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The occurrence of oil whirl instability in rigid and flexible rotor systems was investigated. The effect of various bearing parameters on the oil whirl frequency and amplitude of rigid and flexible shafts supported on fluid film bearings was also studied.
The problem of dynamic and balancing of flexible rotors were considered, which were set and solved as the problem of the identification of flexible rotor systems, which is the same as the inverse problem of the oscillation theory dealing with the task of the identifying the outside influences and system parameters on the basis of the known laws of motion. This approach to the problem allows the disclosure the picture of disbalances throughout the rotor-under-test (which traditional methods of flexible rotor balancing, based on natural oscillations, could not provide), and identify dynamic characteristics of the system, which correspond to a selected mathematical model. Eventually, various methods of balancing were developed depending on the special features of the machines as to their design, technology, and operation specifications. Also, theoretical and practical methods are given for the flexible rotor balancing at far from critical rotation frequencies, which does not necessarily require the knowledge forms of oscillation, dissipation, and elasticity and inertia characteristics, and to use testing masses.
This paper presents experience with grid ready flexible transformer unit, which is in service for two years without any difficulty. Transformer unit is capable of changing short circuit impedance on load and it is equipped with state-of-the-art monitoring system.
The advent of the new Ares I launch vehicle has highlighted the need for advanced dynamic analysis tools for variable mass, flexible structures. This system is composed of interconnected flexible stages or components undergoing rapid mass depletion through the consumption of solid or liquid propellant. In addition to large rigid body configuration changes, the system simultaneously experiences elastic deformations. In most applications, the elastic deformations are compatible with linear strain-displacement relationships and are typically modeled using the assumed modes technique. The deformation of the system is approximated through the linear combination of the products of spatial shape functions and generalized time coordinates. Spatial shape functions are traditionally composed of normal mode shapes of the system or even constraint modes and static deformations derived from finite element models of the system. Equations of motion for systems undergoing coupled large rigid body motion and elastic deformation have previously been derived through a number of techniques [1]. However, in these derivations, the mode shapes or spatial shape functions of the system components were considered constant. But with the Ares I vehicle, the structural characteristics of the system are changing with the mass of the system. Previous approaches to solving this problem involve periodic updates to the spatial shape functions or interpolation between shape functions based on system mass or elapsed mission time. These solutions often introduce misleading or even unstable numerical transients into the system. Plus, interpolation on a shape function is not intuitive. This paper presents an approach in which the shape functions are held constant and operate on the changing mass and stiffness matrices of the vehicle components. Each vehicle stage or component finite element model is broken into dry structure and propellant models. A library of propellant models is used to describe the distribution of mass in the fuel tank or Solid Rocket Booster (SRB) case for various propellant levels. Based on the mass consumed by the liquid engine or SRB, the appropriate propellant model is coupled with the dry structure model for the stage. Then using vehicle configuration data, the integrated vehicle model is assembled and operated on by the constant system shape functions. The system mode shapes and frequencies can then be computed from the resulting generalized mass and stiffness matrices for that mass configuration. The rigid body mass properties of the vehicle are derived from the integrated vehicle model. The coupling terms between the vehicle rigid body motion and elastic deformation are also updated from the constant system shape functions and the integrated vehicle model. This approach was first used to analyze variable mass spinning beams and then prototyped into a generic dynamics simulation engine. The resulting code was tested against Crew Launch Vehicle (CLV-)class problems worked in the TREETOPS simulation package and by Wilson [2]. The Ares I System Integration Laboratory (SIL) is currently being developed at the Marshall Space Flight Center (MSFC) to test vehicle avionics hardware and software in a hardware-in-the-loop (HWIL) environment and certify that the integrated system is prepared for flight. The Ares I SIL utilizes the Ares Real-Time Environment for Modeling, Integration, and Simulation (ARTEMIS) tool to simulate the launch vehicle and stimulate avionics hardware. Due to the presence of vehicle control system filters and the thrust oscillation suppression system, which are tuned to the structural characteristics of the vehicle, ARTEMIS must incorporate accurate structural models of the Ares I launch vehicle. The ARTEMIS core dynamics simulation models the highly coupled nature of the vehicle flexible body dynamics, propellant slosh, and vehicle nozzle inertia effects combined with mass and flexible body properties that vary significant with time during the flight. All forces that act on the vehicle during flight must be simulated, including deflected engine thrust force, spatially distributed aerodynamic forces, gravity, and reaction control jet thrust forces. These forces are used to excite an integrated flexible vehicle, slosh, and nozzle dynamics model for the vehicle stack that simulates large rigid body translations and rotations along with small elastic deformations. Highly effective matrix math operations on a distributed, threaded high-performance simulation node allow ARTEMIS to retain up to 30 modes of flex for real-time simulation. Stage elements that separate from the stack during flight are propagated as independent rigid six degrees of freedom (6DOF) bodies. This paper will present the formulation of the resulting equations of motion, solutions to example problems, and describe the resulting dynamics simulation engine within ARTEMIS.
For high-performance computing (HPC) system designers and users, meeting the myriad challenges of next-generation exascale supercomputing systems requires rethinking their approach to application and system software design. Among these challenges, providing resiliency and stability to the scientific applications in the presence of high fault rates requires new approaches to software architecture and design. As HPC systems become increasingly complex, they require intricate solutions for detection and mitigation for various modes of faults and errors that occur in these large-scale systems, as well as solutions for failure recovery. These resiliency solutions often interact with and affect other system properties, including application scalability, power and energy efficiency. Therefore, resilience solutions for HPC systems must be thoughtfully engineered and deployed.In previous work, we developed the concept of resilience design patterns, which consist of templated solutions based on well-established techniques for detection, mitigation and recovery. In this paper, we use these patterns as the foundation to propose new approaches to designing runtime systems for HPC systems. The instantiation of these patterns within a runtime system enables flexible and adaptable end-to-end resiliency solutions for HPC environments. The paper describes the architecture of the runtime system, named Plexus, and the strategies for dynamically composing and adapting pattern instances under runtime control. This runtime-based approach enables actively balancing the cost-benefit trade-off between performance overhead and protection coverage of the resilience solutions. Based on a prototype implementation of PLEXUS, we demonstrate the resiliency and performance gains achieved by the pattern-based runtime system for a parallel linear solver application.
Many Space Shuttle and Space Station payloads can benefit from isolation from crew or attitude control system disturbances. Preliminary studies have been performed for a Suspended Experiment Mount (SEM) system that will provide isolation from accelerations and stabilize the viewing direction of a payload. The concept consists of a flexible suspension system and payload-mounted control moment gyros. The suspension system, which is rigidly locked for ascent and descent, isolates the payload from high frequency disturbances. The control moment gyros stabilize the payload orientation. The SEM will be useful for payloads that require a lower-g environment than a manned vehicle can provide, such as materials processing, and for payloads that require stabilization of pointing direction, but not large angle slewing, such as nadir-viewing earth observation or solar viewing payloads.
Control-Structures Interaction (CSI) technology embraces the understanding of the interaction between the spacecraft structure and the control system, and the creation and validation of concepts, techniques, and tools, for enabling the interdisciplinary design of an integrated structure and control system, rather than the integration of a structural design and a control system design. The goal of this program is to develop validated CSI technology for integrated design/analysis and qualification of large flexible space systems and precision space structures. A description of the CSI technology program is presented.
Auxiliary bearings are a critical feature of any magnetic bearing system. They protect the soft iron core of the magnetic bearing during an overload or failure. An auxiliary bearing typically consists of a rolling element bearing or bushing with a clearance gap between the rotor and the inner race of the support. The dynamics of such systems can be quite complex. It is desired to develop a rotordynamic model which describes the dynamic behavior of a flexible rotor system with magnetic bearings including auxiliary bearings. The model is based upon an experimental test facility. Some simulation studies are presented to illustrate the behavior of the model. In particular, the effects of introducing sideloading from the magnetic bearing when one coil fails is studied.
Auxiliary bearings are a critical feature of any magnetic bearing system. They protect the soft iron core of the magnetic bearing during an overload or failure. An auxiliary bearing typically consists of a rolling element bearing or bushing with a clearance gap between the rotor and the inner race of the support. The dynamics of such systems can be quite complex. It is desired to develop a rotordynamic model which describes the dynamic behavior of a flexible rotor system with magnetic bearings including auxiliary bearings. The model is based upon an experimental test facility. Some simulation studies are presented to illustrate the behavior of the model. In particular, the effects of introducing sideloading from the magnetic bearing when one coil fails is studied. These results are presented and discussed.
The transfer function matrix is obtained for a three-input and three-output model of minimum sensors and actuators for the attitude control system of flexible spacecraft, and a method is described for determining the poles and zeros of this transfer function. Three cases are considered: (1) the actuators and the sensors are all attached to the primary body, (2) the actuators are on the primary body and the sensors are on the sub-body, and (3) the actuators are on the sub-body and the sensors are on the primary body. The zero-determination problem is shown to reduce to eigenvalue calculations of a matrix which is constructed from the inertial and modal matrices in a simple fashion.
The design concepts and philosophies of the lunar module instrumentation subsystem are discussed along with manufacturing and systems integration. The experience gained from the program is discussed, and recommendations are made for making the subsystem more compatible and flexible in system usage. Characteristics of lunar module caution and warning circuits are presented.
The formulation of an Order (n) algorithm for DISCOS (Dynamics Interaction Simulation of Controls and Structures), which is an industry-standard software package for simulation and analysis of flexible multibody systems is presented. For systems involving many bodies, the new Order (n) version of DISCOS is much faster than the current version. Results of the experimental validation of the dynamics software are also presented. The experiment is carried out on a seven-joint robot arm at NASA's Goddard Space Flight Center. The algorithm used in the current version of DISCOS requires the inverse of a matrix whose dimension is equal to the number of constraints in the system. Generally, the number of constraints in a system is roughly proportional to the number of bodies in the system, and matrix inversion requires O(p exp 3) operations, where p is the dimension of the matrix. The current version of DISCOS is therefore considered an Order (n exp 3) algorithm. In contrast, the Order (n) algorithm requires inversion of matrices which are small, and the number of matrices to be inverted increases only linearly with the number of bodies. The newly-developed Order (n) DISCOS is currently capable of handling chain and tree topologies as well as multiple closed loops. Continuing development will extend the capability of the software to deal with typical robotics applications such as put-and-place, multi-arm hand-off and surface sliding.
We propose a stability monitoring approach for the mitigation of cyber threats directed at the wide area control (WAC) system used for coordinated control of Flexible AC Transmission Systems (FACTS) used for power oscillation damping (POD) of active power flow on inter-area tie lines. The approach involves monitoring the modes of the active power oscillation on an inter-area tie line using the Matrix Pencil (MP) method. We use the stability characteristics of the observed modes as a proxy for the presence of destabilizing cyber threats. We monitor the system modes to determine whether any destabilizing modes appear after the WAC system engages to control the POD. If the WAC signal exacerbates the POD performance, the FACTS falls back to POD using local measurements. The proposed approach does not require an expansive system-wide view of the network. We simulate replay, control integrity, and timing attacks for a test system and present results that demonstrate the performance of the SM approach for mitigation.
We propose a localized oscillation amplitude monitoring (OAM) method for the mitigation of cyber threats directed at the wide area control (WAC) system used to coordinate control of Flexible AC Transmission Systems (FACTS) for power oscillation damping (POD) of active power flow on inter-area tie lines. The method involves monitoring the inter-area tie line active power oscillation amplitude over a sliding window. We use system instability - inferred from oscillation amplitudes growing instead of damping - as evidence of an indication of a malfunction in the WAC of FACTS, possibly indicative of a cyber attack. Monitoring the presence of such a growth allows us to determine whether any destabilizing behaviors appear after the WAC system engages to control the POD. If the WAC signal increases the oscillation amplitude over time, thereby diminishing the POD performance, the FACTS falls back to POD using local measurements. The proposed method does not require an expansive system-wide view of the network. We simulate replay, control integrity, and timing attacks for a test system and present results that demonstrate the performance of the OAM method for mitigation.
Disclosed is a system for suppressing vibration and noise mitigation in structures such as blades in turbomachinery. The system includes flexible piezoelectric patches which are secured on or imbedded in turbomachinery blades which, in one embodiment, comprises eight (8) fan blades. The system further includes a capacitor plate coupler and a power transfer apparatus, which may both be arranged into one assembly, that respectively transfer data and power. Each of the capacitive plate coupler and power transfer apparatus is configured so that one part is attached to a fixed member while another part is attached to a rotatable member with an air gap there between. The system still further includes a processor that has 16 channels, eight of which serve as sensor channels, and the remaining eight, serving as actuation channels. The processor collects and analyzes the sensor signals and, in turn, outputs corrective signals for vibration/noise suppression of the turbine blades.
This fact sheet includes key findings and possible actions identified by the Nuclear Innovation: Clean Energy Future (NICE Future) initiative’s Flexible Nuclear Campaign (FNC).
Unique power control technology has been incorporated into an electrical power control unit (EPCU) for the Fluids and Combustion Facility (FCF). The objective is to maximize science throughput by providing a flexible power system that is easily reconfigured by the science payload. Electrical power is at a premium on the International Space Station (ISS). The EPCU utilizes advanced power management techniques to maximize the power available to the FCF experiments. The EPCU architecture enables dynamic allocation of power from two ISS power channels for experiments. Because of the unique flexible remote power controller (FRPC) design, power channels can be paralleled while maintaining balanced load sharing between the channels. With an integrated and redundant architecture, the EPCU can tolerate multiple faults and still maintain FCF operation. It is important to take full advantage of the EPCU functionality. The EPCU acts as a buffer between the experimenter and the ISS power system with all its complex requirements. However, FCF science payload developers will still need to follow guidelines when designing the FCF payload power system. This is necessary to ensure power system stability, fault coordination, electromagnetic compatibility, and maximum use of available power for gathering scientific data.
Interactions between structure response and control of large flexible space systems have challenged current modeling techniques and have prompted development of new techniques for model improvement. Due to the geometric complexity of envisioned large flexible space structures, finite element models (FEM's) will be used to predict the dynamic characteristics of structural components. It is widely accepted that these models must be experimentally 'validated' before their acceptance as the basis for final design analysis. However, predictions of modal properties (natural frequencies, mode shapes, and damping ratios) are often in error when compared to those obtained from Experimental Modal Analysis (EMA). Recent research efforts have resulted in the development of algorithmic approaches for model improvement, also referred to as system or structure identification.