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NASA NTRS1984

Rocket injector anomalies study. Volume 1: Description of the mathematical model and solution procedure

The capability of simulating three dimensional two phase reactive flows with combustion in the liquid fuelled rocket engines is demonstrated. This was accomplished by modifying an existing three dimensional computer program (REFLAN3D) with Eulerian Lagrangian approach to simulate two phase spray flow, evaporation and combustion. The modified code is referred as REFLAN3D-SPRAY. The mathematical formulation of the fluid flow, heat transfer, combustion and two phase flow interaction of the numerical solution procedure, boundary conditions and their treatment are described.

Przekwas, A. J.↗

NASA NTRS1983

The effect of a coronal shock wave on the solar wind ionization state

In connection with studies of solar wind ionization state freezing, it is shown that, by using a Lagrangian approach of following individual fluid parcels, the techniques used previously for calculating ionization state variations in a steady state case can be extended straightforwardly to time-varying flows. The specific ionization state calculations presented are for a relatively simple picture of time-dependent coronal flow, based on a well-known model of a self-similar shock wave propagating through the corona. Time-dependent ionization effects for the sudden transition between two otherwise steady flows are likely to be limited to a narrow range of gas parcels which, having been shocked within the coronal freezing-in radius, pass a fixed interplanetary observer in an interval of a few tens of minutes. The amplitude of any rise in interplanetary ionization temperature associated with the coronal shock is likely to be considerably smaller than the jump in electron temperature that actually occurs in the corona.

Owocki, S. P.↗

NASA NTRS1986

Computational simulation of liquid rocket injector anomalies

A computer model has been developed to analyze the three-dimensional two-phase reactive flows in liquid fueled rocket combustors. The model is designed to study the influence of liquid propellant injection nonuniformities on the flow pattern, combustion and heat transfer within the combustor. The Eulerian-Lagrangian approach for simulating polidisperse spray flow, evaporation and combustion has been used. Full coupling between the phases is accounted for. A nonorthogonal, body fitted coordinate system along with a conservative control volume formulation is employed. The physical models built into the model include a kappa-epsilon turbulence model, a two-step chemical reaction, and the six-flux radiation model. Semiempirical models are used to describe all interphase coupling terms as well as chemical reaction rates. The purpose of this study was to demonstrate an analytical capability to predict the effects of reactant injection nonuniformities (injection anomalies) on combustion and heat transfer within the rocket combustion chamber. The results show promising application of the model to comprehensive modeling of liquid propellant rocket engines.

Przekwas, A. J.↗

NASA NTRS1986

Symbolic generation of elastic rotor blade equations using a FORTRAN processor and numerical study on dynamic inflow effects on the stability of helicopter rotors

The process of performing an automated stability analysis for an elastic-bladed helicopter rotor is discussed. A symbolic manipulation program, written in FORTRAN, is used to aid in the derivation of the governing equations of motion for the rotor. The blades undergo coupled bending and torsional deformations. Two-dimensional quasi-steady aerodynamics below stall are used. Although reversed flow effects are neglected, unsteady effects, modeled as dynamic inflow are included. Using a Lagrangian approach, the governing equations are derived in generalized coordinates using the symbolic program. The program generates the steady and perturbed equations and writes into subroutines to be called by numerical routines. The symbolic program can operate on both expressions and matrices. For the case of hovering flight, the blade and dynamic inflow equations are converted to equations in a multiblade coordinate system by rearranging the coefficients of the equations. For the case of forward flight, the multiblade equations are obtained through the symbolic program. The final multiblade equations are capable of accommodating any number of elastic blade modes. The computer implementation of this procedure consists of three stages: (1) the symbolic derivation of equations; (2) the coding of the equations into subroutines; and (3) the numerical study after identifying mass, damping, and stiffness coefficients. Damping results are presented in hover and in forward flight with and without dynamic inflow effects for various rotor blade models, including rigid blade lag-flap, elastic flap-lag, flap-lag-torsion, and quasi-static torsion. Results from dynamic inflow effects which are obtained from a lift deficiency function for a quasi-static inflow model in hover are also presented.

Reddy, T. S. R.↗

NASA NTRS1989

Mixed formulation for frictionless contact problems

Simple mixed finite element models and a computational precedure are presented for the solution of frictionless contact problems. The analytical formulation is based on a form of Reissner's large rotation theory of the structure with the effects of transverse shear deformation included. The contact conditions are incorporated into the formulation by using a perturbed Lagrangian approach with the fundamental unknowns consisting of the internal forces (stress resultants), the generalized displacements, and the Lagrange multipliers associated with the contact conditions. The element characteristic array are obtained by using a modified form of the two-field Hellinger-Reissner mixed variational principle. The internal forces and the Lagrange multipliers are allowed to be discontinuous at interelement boundaries. The Newton-Raphson iterative scheme is used for the solution of the nonlinear algebraic equations, and the determination of the contact area and the contact pressures.

Noor, Ahmed K.↗

NASA NTRS1989

Mixed finite element formulation for frictionless contact problems

Simple mixed finite element models and a computational procedure are presented for the solution of frictionless contact problems. The analytical formulation is based on a form of Reissner's large-rotation theory of the structure with the effect of transverse shear deformation included. The contact conditions are incorporated into the formulation by using a perturbed Lagrangian approach with the fundamental unknowns consisting of the internal forces (or stress resultants), the generalized displacements, and the Lagrange multipliers associated with the contact conditions. Numerical examples of axisymmetric deformations of a hemispherical shell and planar deformations of a circular ring are presented. Both structures are pressed against a rigid plate. Detailed information about the response of the structures is presented. The numerical studies demonstrate the high accuracy of the mixed models and the effectiveness of the computational procedure based on combining the geometrically nonlinear terms and the contact conditions in one iteration loop.

Noor, Ahmed K.↗

NASA NTRS1989

Kinematics and dynamics of a six-degree-of-freedom robot manipulator with closed kinematic chain mechanism

This paper deals with a class of robot manipulators built based on the kinematic chain mechanism (CKCM). This class of CKCM manipulators consists of a fixed and a moving platform coupled together via a number of in-parallel actuators. A closed-form solution is derived for the inverse kinematic problem of a six-degre-of-freedom CKCM manipulator designed to study robotic applications in space. Iterative Newton-Raphson method is employed to solve the forward kinematic problem. Dynamics of the above manipulator is derived using the Lagrangian approach. Computer simulation of the dynamical equations shows that the actuating forces are strongly dependent on the mass and centroid of the robot links.

Nguyen, Charles C.↗

NASA NTRS1989

Computations of turbulent evaporating sprays

A computational study of turbulent evaporating sprays is reported. The major focus is to examine the sensitivity of the vaporization behavior of turbulent sprays to the transient liquid-phase processes. Three models considered to represent these processes are the thin skin, infinite diffusion, and diffusion limit models. Favre-averaged equations with k-epsilon-g turbulence model are employed for the gas phase. The Lagrangian approach with a stochastic separated flow method is used for the liquid phase where the effects of gas turbulence on droplet trajectories and interphase transport rates are considered using random-walk computations. Also the variable-property effects are considered in detail. Results indicate that, depending upon the boiling temperature and heat of vaporization of the fuel considered, the vaporization behavior of turbulent sprays may be quite sensitive to the modeling of transient liquid-phase processes. Thus, it is important that for most hydrocarbon fuels these processes be adequately represented in any comprehensive spray computations. The present results also provide further support to the conclusions of earlier studies which have been based on simplified spray configurations.

Aggarwal, S. K.↗

NASA NTRS1989

Dynamic analysis of a 6 DOF CKCM robot end-effector for dual-arm telerobot systems

A dynamical analysis is performed for a six DOF robot end-effector built to study telerobotic service and maintenance of NASA hardwares in space. The design of the end-effector is based on the concept of closed-kinematic chain mechanism capable of performing precise motion in a small workspace. After presenting a closed-form solution for the inverse kinematic problem, the Lagrangian approach is used to derive a set of equations of motion for the end-effector where the generalized coordinates are selected to be the Cartesian coordinates. A computer simulation study shows that the centrifugal and Coriolis terms can be neglected for slow motion.

Nguyen, Charles C.↗

NASA NTRS1989

Control of flexible beams using a free-free active truss

An analytical and experimental study involving controlling flexible beams using a free-free active truss is presented. This work extends previous work in controlling flexible continua with active trusses which were configured with fixed-free boundary conditions. The following describes the Lagrangian approach used to derive the equations of motion for the active truss and the beams attached to it. A partial-state feedback control law is derived for this system based on a full-state feedback Linear Quadratic Regulator method. The analytical model is examined via numerical simulations and the results are compared to a similar experimental apparatus described herein. The results show that control of a flexible continua is possible with a free-free active truss.

Clark, W. W.↗

NASA NTRS1991

A detailed numerical investigation of Burke-Schumann gaseous and spray flames

The classical Burke-Schumann gaseous diffusion flame, and the effect of introducing fuel in the form of liquid sprays are investigated numerically. The time-dependent two-dimensional, axisymmetric conservation equations are solved for the gas phase. A Lagrangian approach is used for the dispersed phase. The chemical reactions are modeled through the one-step global reaction scheme. The numerical results show that the computed flame structure is significantly different from that given by the analytical solution. The computed flame is about 15 percent longer and 5 percent narrower than the classical Burke-Schumann flame. The predicted flame shape is, however, in better agreement with experimental observations than the Burke-Schumann flame. The effects of introducing liquid sprays is found to produce thinner and longer flames than its counterpart gaseous flame. A detailed comparison of the structures of gaseous and spray flames is made, and the differences are discussed.

Mawid, M. A.↗

NASA NTRS1992

An integrated development of the equations of motion for elastic hypersonic flight vehicles

An integrated, consistent analytical framework is developed for modeling the dynamics of elastic hypersonic flight vehicles. A Lagrangian approach is used in order to capture the dynamics of rigid-body motion, elastic deformation, fluid flow, rotating machinery, wind, and a spherical rotating earth model, and to account for their interactions with each other. A vector form of the force, moment and elastic-deformation equations is developed from Lagrange's equation; a useable scalar form of these equations is also presented. The appropriate kinematic equations are developed, and are presented in a useable form. A preliminary study of the significance of selected terms in the equations of motion is conducted. Using generic data for a single-stage-to-orbit vehicle, it was found that the Coriolis force can reach values of up to 6 percent of the vehicle weight, and that the forces and moments attributable to fluid-flow terms can be significant.

Bilimoria, Karl D.↗

NASA NTRS1993

Robust stability of second-order systems

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for space robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar manipulator with freely floating base.

Chuang, C.-H.↗

NASA NTRS1991

Optimal control/structure integrated design of a flexible space platform with articulated appendages

A complete set of closed form symbolic equations are developed for a 2-D model of a system comprised of a flexible platform with articulated appendages. The system considered has a flexible two link manipulator, with joint compliance, at one end of the flexible platform and an articulated antenna on the other end. The model is formulated using a Lagrangian approach which incorporates homogeneous transformation matrices, similar to those typically seen in the robotics literature, for the kinematic representation. The integrated control/structure design strategy considered emphasizes rapid system response and minimal structural weight. Constraints are included to keep antenna pointing error to a minimum, and at the same time achieve accurate end point positioning of the manipulator with minimal oscillations.

Kelkar, Atul G.↗

NASA NTRS1993

A passivity based controller for free base manipulators

A feedback linearization technique is used in conjunction with passivity concepts to design robust controllers for free base robots. It is assumed that bounded modeling uncertainties exist in the inertia matrix and the vector representing the coriolis, centripetal, and friction forces. Under these assumptions, the controller guarantees asymptotic tracking of the joint variables. A Lagrangian approach is used to develop a dynamic model for space robots. Closed-loop simulation results are illustrated for a simple case of a single link planar space manipulator with freely floating base.

Chuang, C.-H.↗

NASA NTRS1993

Non-recursive augmented Lagrangian algorithms for the forward and inverse dynamics of constrained flexible multibodies

A technique is presented for solving the inverse dynamics of flexible planar multibody systems. This technique yields the non-causal joint efforts (inverse dynamics) as well as the internal states (inverse kinematics) that produce a prescribed nominal trajectory of the end effector. A non-recursive global Lagrangian approach is used in formulating the equations for motion as well as in solving the inverse dynamics equations. Contrary to the recursive method previously presented, the proposed method solves the inverse problem in a systematic and direct manner for both open-chain as well as closed-chain configurations. Numerical simulation shows that the proposed procedure provides an excellent tracking of the desired end effector trajectory.

Bayo, Eduardo↗

NASA NTRS1993

Mass properties measurement system dynamics

The MPMS mechanism possess two revolute degrees-of-freedom and allows the user to measure the mass, center of gravity, and the inertia tensor of an unknown mass. The dynamics of the Mass Properties Measurement System (MPMS) from the Lagrangian approach to illustrate the dependency of the motion on the unknown parameters.

Doty, Keith L.↗

NASA NTRS1993

CFD Analysis of Spray Combustion and Radiation in OMV Thrust Chamber

The Variable Thrust Engine (VTE), developed by TRW, for the Orbit Maneuvering Vehicle (OMV) uses a hypergolic propellant combination of Monomethyl Hydrazine (MMH) and Nitrogen Tetroxide (NTO) as fuel and oxidizer, respectively. The propellants are pressure fed into the combustion chamber through a single pintle injection element. The performance of this engine is dependent on the pintle geometry and a number of complex physical phenomena and their mutual interactions. The most important among these are (1) atomization of the liquid jets into fine droplets; (2) the motion of these droplets in the gas field; (3) vaporization of the droplets (4) turbulent mixing of the fuel and oxidizer; and (5) hypergolic reaction between MMH and NTO. Each of the above phenomena by itself poses a considerable challenge to the technical community. In a reactive flow field of the kind occurring inside the VTE, the mutual interactions between these physical processes tend to further complicate the analysis. The objective of this work is to develop a comprehensive mathematical modeling methodology to analyze the flow field within the VTE. Using this model, the effect of flow parameters on various physical processes such as atomization, spray dynamics, combustion, and radiation is studied. This information can then be used to optimize design parameters and thus improve the performance of the engine. The REFLEQS CFD Code is used for solving the fluid dynamic equations. The spray dynamics is modeled using the Eulerian-Lagrangian approach. The discrete ordinate method with 12 ordinate directions is used to predict the radiative heat transfer in the OMV combustion chamber, nozzle, and the heat shield. The hypergolic reaction between MMH and NTO is predicted using an equilibrium chemistry model with 13 species. The results indicate that mixing and combustion is very sensitive to the droplet size. Smaller droplets evaporate faster than bigger droplets, leading to a well mixed zone in the combustion chamber. The radiative heat flux at combustion chamber and nozzle walls are an order of negligible less than the conductive heat flux. Simulations performed with the heat shield show that a negligible amount of fluid is entrained into the heat shield region. However, the heat shield is shown to be effective in protecting the OMV structure surrounding the engine from the radiated heat.

Giridharan, M. G.↗