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At least 73 records · Page 4
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Spatial operator algebra for flexible multibody dynamics

This paper presents an approach to modeling the dynamics of flexible multibody systems such as flexible spacecraft and limber space robotic systems. A large number of degrees of freedom and complex dynamic interactions are typical in these systems. This paper uses spatial operators to develop efficient recursive algorithms for the dynamics of these systems. This approach very efficiently manages complexity by means of a hierarchy of mathematical operations.

Jain, A.↗
DOE OSTI2025

Investigation of Main Bearing Fatigue Estimate Sensitivity to Synthetic Turbulence Models Using a Novel Drivetrain Model Implemented in OpenFAST

ABSTRACT A coupled medium‐fidelity drivetrain model is developed and implemented in OpenFAST for a 10‐MW land‐based reference turbine. The implementation is verified against a fully coupled multibody wind turbine model, including a detailed drivetrain. The new model can simultaneously and accurately estimate main bearing loads and represent elastic bending of the drivetrain. It has low computational cost and is useful for early design phases, sensitivity analyses and complex systems like wind farms (where computational expense must be expended elsewhere). Here, the model is implemented for a monopile offshore wind turbine and used to investigate the sensitivity of main bearing basic rating life to different synthetic turbulence models. Large‐eddy simulations (LES) targeting stable, neutral, and unstable atmospheric conditions at below‐, near‐ and above‐rated wind speeds are used as a reference. The turbulence models recommended by the International Electrotechnical Commission, the Mann spectral tensor model, and the Kaimal spectral model with exponential coherence are fitted to the LES data. Additionally, a constrained turbulence generator, PyConTurb (short for Python Constrained Turbulence ), based on LES data, is applied in the aero‐hydro‐servo‐elastic simulations. Taking PyConTurb as the baseline, the Kaimal model significantly underestimates fatigue of the downwind main bearing, with between 10% and 40% less damage. The Mann model also underestimates the downwind main bearing fatigue by up to 30%. The upwind main bearing damage is driven by mean loads, and differences between models are less significant, although the trends are similar. Reasons for these discrepancies are investigated and attributed to differences in spatial and temporal variations among the turbulence models.

17 WIND ENERGY↗
NASA NTRS1993

Stress stiffening and approximate equations in flexible multibody dynamics

A useful model for open chains of flexible bodies undergoing large rigid body motions, but small elastic deformations, is one in which the equations of motion are linearized in the small elastic deformations and deformation rates. For slow rigid body motions, the correctly linearized, or consistent, set of equations can be compared to prematurely linearized, or inconsistent, equations and to 'oversimplified,' or ruthless, equations through the use of open loop dynamic simulations. It has been shown that the inconsistent model should never be used, while the ruthless model should be used whenever possible. The consistent and inconsistent models differ by stress stiffening terms. These are due to zeroth-order stresses effecting virtual work via nonlinear strain-displacement terms. In this paper we examine in detail the nature of these stress stiffening terms and conclude that they are significant only when the associated zeroth-order stresses approach 'buckling' stresses. Finally it is emphasized that when the stress stiffening terms are negligible the ruthlessly linearized equations should be used.

Padilla, Carlos E.↗
NASA NTRS1989

Modeling of control forces for kinematical constraints in the dynamics of multibody systems: A new approach

Conventionally kinematical constraints in multibody systems are treated similar to geometrical constraints and are modeled by constraint reaction forces which are perpendicular to constraint surfaces. However, in reality, one may want to achieve the desired kinematical conditions by control forces having different directions in relation to the constraint surfaces. The conventional equations of motion for multibody systems subject to kinematical constraints are generalized by introducing general direction control forces. Conditions for the selections of the control force directions are also discussed. A redundant robotic system subject to prescribed end-effector motion is analyzed to illustrate the methods proposed.

Ider, Sitki Kemal↗
NASA NTRS1977

Dynamics and control simulation of the Spacelab Experiment Pointing Mount

Computer simulations were developed to evaluate the performance of four Experiment Pointing Mounts (EPM) being considered for Spacelab experiments in the 1980-1990 time frame. The system modeled compromises a multibody system consisting of the shuttle, a mechanical isolation device, the EPM, celestial and inertial sensors, bearings, gimbal torque motors and associated nonlinearities, the experiment payload, and control and estimator algorithms. Each mount was subjected to a common disturbance (shuttle vernier thruster firing and man push off) and command (stellar pointing or solar raster scan) input. The fundamental limitation common to all mounts was found to be sensor noise. System dynamics and hardware nonlinearities have secondary effects on pointing performance for sufficiently high bandwidth.

Marsh, E. L.↗
NASA NTRS1992

CSI design of articulated space structures

Integrated control and structural design of flexible spacecraft with articulated appendages is considered. A procedure is proposed by which the resulting design is optimal with respect to a measure of performance for all possible system articulation conditions. The controller design is of the dynamic dissipative type which provides guaranteed closed-loop stability. The procedure is demonstrated for a simple multibody flexible spacecraft model with an articulated appendage.

Kelkar, Atul G.↗
NASA NTRSDate not supplied

Verification of the Generalized Aerospace Simulation in Simulink (R)

NASA uses six-degrees-of-freedom (6-DOF) simulations tools to design, test, develop Guidance Navigation and Control (GN&C) software, and certify vehicle performance prior to flight. Therefore, it is critical that the 6-DOF tools used for vehicle design and certification are validated. The focus of this work is the vali-dation of the NASA Marshall Space Flight Center 6-DOF “GeneraLized Aero-space Simulation in Simulink” (GLASS) framework tool. The GLASS tool framework is currently used to support NASA GN&C insight for the Human Landing System (HLS) project, simulating vehicle dynamics during lunar descent and as-cent. The GLASS framework utilizes the off-the-shelf Mathworks ® Simscape Multibody® toolbox to model vehicle multi-body dynamics. NASA’s Engineering and Safety Center (NESC) provides a set of 6-DOF simulation verification “check cases” that are available to any user needing to verify 6-DOF tools. The check cases contain seventeen atmospheric and twenty-six orbital test scenarios are provided to validate equations of motion, environmental models (e.g., atmosphere, gravitation, and geodesy) and tool propagators. This paper compares GLASS 6-DOF simulation results against the NESC check cases’ results via simulation-to-simulation comparisons. The comparisons demonstrate that GLASS simulation results are “in family” with the outputs of the applicable NASA NESC check cases and verifies the GLASS core framework dynamics and the correct implementation of the check case scenario models.

6-Dof↗
NASA NTRS1989

Element-specific modal formulations for large-displacement multibody dynamics

Large dispacement assumed-mode modeling techniques are examined in the context of multibody elastodynamics. The range of both general and element-specific approaches are studied with the aid of examples involving beams, plates, and shells. For systems undergoing primarily structural bending and twisting with little or no membrane distortion, it is found that fully-linear, element-specific, modal formulations provide the most accurate time history solutions at the least expense. When membrane effects become dominant in structural problems due to loading and boundary conditions, one must naturally resort to a formulation involving a nonlinear stress-strain relationship in addition to nonlinear terms associated with large overall system motion. Such nonlinear models were investigated using assumed modes and found to lead to modal convergence difficulties when standard free-free structural modes are employed. A constrained mode formulation aimed at addressing the convergence problem is proposed.

Ryan, R. R.↗
NASA NTRS1989

A finite element approach for large motion dynamic analysis of multibody structures in space

A three-dimensional finite element formulation for modeling the transient dynamics of constrained multibody space sructures with truss-like configurations is presented. Convected coordinate systems are used to define rigid-body motion of individual elements in the system. These systems are located at one end of each element and are oriented such that one axis passes through the other end of the element. Deformation of each element, relative to its convected coordinate system, is defined by cubic flexural shape functions as used in finite element methods of structural analysis. The formulation is oriented toward joint dominated structures and places the generalized coordinates at the joint. A transformation matrix is derived to integrate joint degree-of-freedom into the equations of motion of the element. Based on the derivation, a general-purpose code LATDYN (Large Angle Transient DYNamics) was developed. Two examples are presented to illustrate the application of the code. For the spin-up of a flexible beam, results are compared with existing solutions available in the literature. For the deployment of one bay of a deployable space truss (the Minimast), results are verified by the geometric knowledge of the system and converged solution of a successively refined model.

Chang, Che-Wei↗
NASA NTRS2000

Modeling Molecules

The molecule modeling method known as Multibody Order (N) Dynamics, or MBO(N)D, was developed by Moldyn, Inc. at Goddard Space Flight Center through funding provided by the SBIR program. The software can model the dynamics of molecules through technology which stimulates low-frequency molecular motions and properties, such as movements among a molecule's constituent parts. With MBO(N)D, a molecule is substructured into a set of interconnected rigid and flexible bodies. These bodies replace the computation burden of mapping individual atoms. Moldyn's technology cuts computation time while increasing accuracy. The MBO(N)D technology is available as Insight II 97.0 from Molecular Simulations, Inc. Currently the technology is used to account for forces on spacecraft parts and to perform molecular analyses for pharmaceutical purposes. It permits the solution of molecular dynamics problems on a moderate workstation, as opposed to on a supercomputer.

Source record↗
NASA NTRS1989

Explicit modeling of composite plates and beams in the dynamics of multibody systems

The state of the art dynamic response analysis of flexible multibody systems is currently restricted to elastic bodies with homogeneous materials. The requirements for high speed operation has made it necessary to use lightweight multi layered composite bodies in robotic systems and space structure applications. Dynamic modeling and analysis of such systems are particularly important since the effects of body flexibility to the performance are likely to be more pronounced. The eight-noded isoperimetric quadrilateral element with independent rotational and displacement degrees of freedom is extended to laminated composite elements. The element includes an arbitrary number of bonded layers, each of which may have a different thickness. The transverse shear deformation which is a predominant factor in the analysis of laminated composite structures is taken into account in developing the stiffness and mass matrices. The corresponding 3-D mode shapes are then incorporated to the multibody system dynamical equations. Floating body reference frames allow the selection of different boundary conditions, and the dynamical equations contain all the nonlinear interactions between the rigid and elastic motion. Example simulations are presented to illustrate the methods proposed.

Amirouche, F. M. L.↗
NASA NTRS1989

Modal identities for multibody elastic spacecraft: An aid to selecting modes for simulation

The question: Which set of modes furnishes a higher fidelity math model of dynamics of a multibody, deformable spacecraft (hinges-free or hinges-locked vehicle modes) is answered. Two sets of general, discretized, linear equations of motion of a spacecraft with an arbitrary number of deformable appendages, each articulated directly to the core body, are obtained using the above two families of modes. By a comparison of these equations, ten sets of modal identities are constructed which involve modal momenta coefficients and frequencies associated with both classes of modes. The sums of infinite series that appear in the identities are obtained in terms of mass, and first and second moments of inertia of the appendages, core body, and vehicle by using certain basic identities concerning appendage modes. Applying the above identities to a four-body spacecraft, the hinges-locked vehicle modes are found to yield a higher fidelity model than hinges-free modes, because the latter modes have nonconverging modal coefficients; a characteristic proved and illustrated.

Hablani, Hari B.↗
NASA NTRS2020

Multibody Simulation of REMORA CubeSat Docking to and Pushing a Spent Rocket Booster

This paper details the multibody simulation of three phases of critical importance to the feasibility of the REMORA CubeSat space debris mitigation concept: the final approach of the CubeSat to a spent rocket booster; the grappling of the spent rocket booster using a robotic arm; and the pushing of the spent rocket booster to divert its course from another on-orbit asset. The extension of a robotic mobility and manipulation modeling toolkit (M3TK) from multibody dynamics simulation of manipulators and ground vehicles to simulation of orbital robotics is outlined. This includes the identification of the appropriate parameters required to concisely and generically describe thruster loads, thruster mixing, spacecraft control, and spacecraft navigation for the purpose of on-orbit robotics simulation. A high-level spacecraft navigator commands maneuvers to target spacecraft states. A PID spacecraft controller takes the target states and calculates desired forces and torques. A thruster mixer solves a quadratic program to determine the optimal thruster firing times for the propulsion system. Pulse width modulated actuation of eight canted cold gas thrusters is used in the simulated approach to a rocket nozzle from a distance of 200 m. A five degree of freedom robotic arm is controlled to position a pair of pincers to grasp the rocket nozzle. Contact dynamics are used to accurately simulate the grasping of the rocket nozzle by the pincers. A similar, but separate simulation is performed to assess the ability of the REMORA CubeSat to push the large spent rocket booster. This diversion maneuver makes use of an additional, larger thruster, and pushes the rocket booster in excess of 400 m. Appropriate motor control gains on the robotic arm are found to be higher during the pushing phase than those which are appropriate during free motion; this increase promotes rigidity of the arm and allows it to properly direct the pushing force. Challenges encountered in time step selection for numerical stability of the simulation are also discussed.

Mukherjee, Rudranarayan↗
NASA NTRS1988

Random field estimation approach to multibody dynamics

The use of recursive techniques similar to random field models to factor and invert the inertia matrix of a multibody system is discussed. An equivalence is established between the composite multibody system inertia matrix and the covariance of the output of a described linear system model. Conditional mean estimation and sequential estimation problems are solved along with problems of filtering and smoothing. Formulas are developed to compute the covariance of several relevant quantities. The foregoing results are used to obtain the inverse of the composite multibody system inertia in closed form.

Rodriguez, G.↗
NASA NTRS1989

Computational methods and software systems for dynamics and control of large space structures

The deployment, assembly and mission-oriented maneuvering of space structures in orbit will trigger large motions of flexible, truss-type structures. In addition, the presence of on-board controls both for attitude stabilization and specified vibration tolerance requirements may further complicate the dynamic behavior of the orbiting structures. Because of safety and cost considerations, the dynamic response of the combined structural and control systems must be predicted reliably. This need can only be met through the development of reliable and efficient simulation capabilities, since there is general agreement that on-orbit experiments should be limited because of cost, time and facility constraints. The long-term objective of this research effort is to develop a next-generation computer simulator for the dynamics and control of large space structures. The simulator will be based on integrating four research thrusts: a new multibody dynamics formulation methodology, modeling capabilities in long/slender truss-beam components with realistic joints, efficient computational procedures that can be implemented either in sequential or concurrent computers, and prototype simulation modules that can be easily processed into a modern large-scale engineering software system such as the NASA/Computational Structural Mechanics (CSM) testbed.

Park, K. C.↗
NASA NTRS1989

Proceedings of the 3rd Annual Conference on Aerospace Computational Control, volume 1

Conference topics included definition of tool requirements, advanced multibody component representation descriptions, model reduction, parallel computation, real time simulation, control design and analysis software, user interface issues, testing and verification, and applications to spacecraft, robotics, and aircraft.

Bernard, Douglas E.↗
NASA NTRS1992

Recursive formulation of operational space control

A recently developed spatial operator algebra approach to modeling and analysis of multibody robotic systems is used to develop O(n) recursive algorithms that compute the operational space mass matrix and the operational space coriolis/centrifugal and gravity terms of an n-link serial manipulator. These algorithms enable an O(n) recursive implementation of operational space control.

Kreutz-Delgado, K.↗