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NASA NTRS1980

Modal methods in optimal control synthesis

Efficient algorithms for solving linear smoother-follower problems with quadratic criteria are presented. For time-invariant systems, the algorithm consists of one backward integration of a linear vector equation and one forward integration of another linear vector equation. Furthermore, the backward and forward Riccati matrices can be expressed in terms of the eigenvalues and eigenvectors of the Euler-Lagrange equations. Hence, the gains of the forward and backward Kalman-Bucy filters and of the optimal state-feedback regulator can be determined without integration of matrix Riccati equations. A computer program has been developed, based on this method of determining the gains, to synthesize the optimal time-invariant compensator in the presence of random disturbance inputs and random measurement errors. The program also computes the rms state and control variables of the optimal closed-loop system.

Bryson, A. E., Jr.↗

NASA NTRS1979

On the applicability of eigenvalue/eigenvector assignment in multivariable systems

The technique of multivariable control-system design via assignment of the closed loop state matrix eigensystem is described. Features of this developing methodology include exact eigenvalue assignment, eigenvector assignment that approximates in a least squares sense a priori modal specifications, and an interactive design trade-off between the latter and desired eigensystem sensitivity with respect to plant parameters.

Liberty, S. R.↗

NASA NTRS1981

Effect of elastic end rings on the eigenfrequencies of thin cylinders

The effect of elastic end rings on the eigenfrequencies of thin cylindrical shells is studied by using an exact solution of the linear eigenvalue problem. The out-of-plane and torsional rigidities of the rings are responsible for the overall shell stiffness. Considerable mode interaction exists for modes with low circumferential wave numbers when the mass of the ring is comparable with that of the shell. The hypothetical simply supported and clamped boundary conditions are practically impossible to realize with a finite-mass ring for relatively short and thin shells.

El Raheb, M.↗

NASA NTRS1980

Stability of large horizontal-axis axisymmetric wind turbines

The stability of large horizontal-axis, axisymmetric, power producing wind turbines is examined within the framework of an analytical model which includes dynamic coupling of the rotor, tower, and power generating system. The aerodynamic loading is derived from blade element theory. Stability is determined by the eigenvalues of a set of linearized constant-coefficient differential equations. All results presented are based on a 3-bladed, 300-ft diameter, 2.0-MW wind turbine. It is shown that unstable or weakly stable behavior can be caused by aerodynamic forces due to motion of the rotor blades and tower in the plane of rotation or by mechanical coupling between the rotor system and the tower.

Hirschbein, M. S.↗

NASA NTRS1980

Design of a robust multivariable proportional plus integral controller via spectral assignment

A new design procedure for a class of multivariable integral plus proportional servo control systems is presented. The procedure utilizes a null space formulation of the eigensystem assignment problem assuming complete state feedback. Reduced order observers are used to estimate unavailable states. The resulting system realizes arbitrary closed-loop eigenvalues, approximates specified modal behavior and achieves low eigensystem sensitivity with respect to plant parameter variations. A tutorial example to illustrate the design procedure is included.

Mielke, R. R.↗

NASA NTRS1981

On the polarization state of hydromagnetic fluctuations in the solar wind

From presently available observations one can infer that the Alfvenic turbulence measured in the solar wind, predominantly on trailing edges of high-speed streams, is a mixture of modes with two different polarizations, namely, Alfvenic modes and modes which are the incompressible limit of slow magnetosonic waves. Using Helios 2 magnetic data and a variance analysis, parallel (to the mean field) and perpendicular components of the fluctuations are separated, and the possible correlation between such components which would be predicted as a consequence of the incompressible character of the turbulence is studied. Correlations between eigenvalues of the variance matrix are also investigated and discussed.

Bavassano, B.↗

NASA NTRS1981

A new payload integration method

This paper introduces a new payload integration method. The system equations of motion are derived in terms of interface-restrained booster and payload modes. These system equations are directly integrated, avoiding the solution of an expensive eigenvalue problem. A modified Newmark-Chan-Beta numerical scheme is used to perform this integration. Due to the unique form of the system equations it is possible to achieve significant savings. A similar savings is feasible for the computation of the internal loads. This new approach does not involve approximations. Although completely general, the presented technique is most effective when the number of interface degrees of freedom is relatively small. Both determinate and indeterminate interfaces are allowed.

Engels, R. C.↗

NASA NTRS1981

Vibration of prestressed periodic lattice structures

Equations are developed for vibration of general lattice structures that have repetitive geometry. The method of solution is an extension of a previous paper for buckling of similar structures. The theory is based on representing each member of the structure with the exact dynamic stiffness matrix and taking advantage of the repetitive geometry to obtain an eigenvalue problem involving the degrees-of-freedom at a single node in the lattice. Results are given for shell-and beam-like lattice structures and for rings stiffened with tension cables and a central mast. The variation of frequency with external loading and the effect of local member vibration on overall modes is shown.

Anderson, M. S.↗

NASA NTRS1981

Rotating unconstrained modes - A more appropriate dynamic analysis of flexible spinning spacecraft

The objective of the paper is a formation of vehicle modes for gyroscopic space structures through a continuum formulation. This requires examination of adjointness of the associated eigenvalue problems. It is shown that standard conditions of self-adjointness are inadequate even for nongyroscopic structures; modifications required depend on the problem under study. On one hand, in the nongyroscopic case the frequencies appear only quadratically and it is relatively easy to devise the corresponding vehicle modes and the self-adjoint operators. On the other hand in the case of the gyroscopic structures the frequencies appear quadratically as well as linearly; this takes the vehicle mode from a configuration space to a phase space, that is, a Hilbert space in the present case. Four elastic systems of increasing complexity typifying nonspinning and spinning elastic spacecraft are investigated in detail.

Hablani, H. B.↗

NASA NTRS1981

A hybrid state vector approach to aeroelastic analysis with application to composite lifting surfaces

A computational technique has been developed for performing preliminary design aeroelastic analyses of large aspect ratio lifting surfaces. This technique, applicable to both fixed and rotating wing configurations, is based upon a formulation of the structural equilibrium equations in terms of a hybrid state vector containing generalized force and displacement variables. An integrating matrix is employed to solve these equations for divergence and flutter eigenvalues and steady aeroelastic deformation. Results are presented for simple examples which verify the technique and demonstrate how it can be applied to analyze lifting surfaces, including those constructed from composite materials.

Lehman, L. L.↗

NASA NTRS1981

A study of the modal truncation error in the component mode analysis of a dual-rotor system

In the component mode synthesis method, the equation of motion in the generalized coordinates is built upon the undamped eigenvalue data of the component structures. Error is inevitable when truncated modes are used. In this paper, two modal truncation schemes were evaluated with regard to the critical speed, stability, and unbalance response of a two-spool gas turbine engine. The numbers of modes required to yield acceptable accuracy in these cases were determined. Guidelines for modal truncation were derived from these results.

Li, D. F.↗

NASA NTRS1981

Solutions of the Helmholtz equation with boundary conditions for force-free magnetic fields

It is shown that the solution, with one ignorable coordinate, for the Taylor minimum energy state (resulting in a force-free magnetic field) in either a straight cylindrical or a toroidal geometry with arbitrary cross section can be reduced to the solution of either an inhomogeneous Helmholtz equation or a Grad-Shafranov equation with simple boundary conditions. Standard Green's function theory is, therefore, applicable. Detailed solutions are presented for the Taylor state in toroidal and cylindrical domains having a rectangular cross section. The focus is on solutions corresponding to the continuous eigenvalue spectra. Singular behavior at 90 deg corners is explored in detail.

Rasband, S. N.↗

NASA NTRS1981

Flux vector splitting of the inviscid gasdynamic equations with application to finite-difference methods

The conservation-law form of the inviscid gasdynamic equations has the remarkable property that the nonlinear flux vectors are homogeneous functions of degree one. This property readily permits the splitting of flux vectors into subvectors by similarity transformations so that each subvector has associated with it a specified eigenvalue spectrum. As a consequence of flux vector splitting, new explicit and implicit dissipative finite-difference schemes are developed for first-order hyperbolic systems of equations. Appropriate one-sided spatial differences for each split flux vector are used throughout the computational field even if the flow is locally subsonic. The results of some preliminary numerical computations are included.

Steger, J. L.↗

NASA NTRS1981

On the propagation of long waves in acoustically treated, curved ducts

A two-dimensional, detailed study is presented on the behavior of long waves in lined, curved ducts. The analysis includes a comparison between the propagation in curved and straight lined ducts. A parametric study was conducted over a range of wall admittance and duct wall separation. The complex eigenvalues of the characteristic equation, which in the case of a curved duct are also the angular wavenumbers, have been obtained by successive approximations.

Rostafinski, W.↗

NASA NTRS1981

Some approximations in the linear dynamic equations of thin cylinders

Theoretical analysis is performed on the linear dynamic equations of thin cylindrical shells to find the error committed by making the Donnell assumption and the neglect of in-plane inertia. At first, the effect of these approximations is studied on a shell with classical simply supported boundary condition. The same approximations are then investigated for other boundary conditions from a consistent approximate solution of the eigenvalue problem. The Donnell assumption is valid at frequencies high compared with the ring frequencies, for finite length thin shells. The error in the eigenfrequencies from omitting tangential inertia is appreciable for modes with large circumferential and axial wavelengths, independent of shell thickness and boundary conditions.

El-Raheb, M.↗

NASA NTRS1981

Instability of non-zonal baroclinic flows - Multiple-scale analysis

The linear instability of a non-zonal flow can be reduced to an eigenvalue-eigenfunction problem, governed by a nonseparable partial differential equation (Niehaus, 1980). Approximate solutions, found by the method of multiple scales, are derived here and compared with earlier results found using a spectral method. The amplitude maxima are correctly located. The zonal variations of local wavenumber and of amplitude are qualitatively correct, but not sufficiently extreme. Because the method is oversensitive to local conditions, and less sensitive to global constraints, this comparison provides theoretical limits to the possibility of parameterizing transient eddies in terms of the local time mean state of the atmosphere. The method can be extended easily to flows with more realistic vertical structure.

Niehaus, M. C. W.↗

NASA NTRS1981

Effects of displacement and rate saturation on the control of statically unstable aircraft

Methodologies are presented for the analysis and design of stability augmentation control laws for aircraft in which 'hard' displacement and rate limiting are significant. Candidate control laws are derived using the linear-quadratic (LQ) regulator. Analytical and computational estimates of the stability limits imposed by control saturation are presented using state trajectories with control limiting, as well as describing functions and eigenvalue computation. Analysis also includes an investigation of the interaction of the state-space saturation and stability boundaries for various choices of LQ weighting matrices. For minimum-energy control, the saturation and stability boundaries are shown to be parallel. In this case, there is a direct relation between the solution to the matrix Riccati equation and the aircraft's open-loop dynamics.

Hanson, G. D.↗

NASA NTRS1980

Equilibrium response of flight control systems

The steady-state behavior of an aircraft in response to control and disturbance inputs has a major impact on its performance and flying qualities, and it is, to a large extent, not readily predicted by the aircraft's stability and transient behavior. Singular as well as nonsingular response can result as a consequence of the command vector's definition, i.e., equilibrium in the command vector can imply disequilibrium in the state. The flight control structure can be modified to account for this characteristic, and it is shown that systems with identical eigenvalues and eigenvectors but dissimilar command vectors have markedly different responses.

Stengel, R. F.↗