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A derivation is presented which gives both the nonlinear dynamic inflow model and the perturbation dynamic inflow model in a general coordinate system. The perturbation model includes perturbations in hub motions, in skew angle, and in yaw angle. The governing equations may be switched to their dimensional forms prior to application.
To explore the feasibility of using buckled columns to provide a soft support system for simulating a free-free boundary condition in dynamic testing, the nonlinear load-shortening behavior of initially imperfect, eccentrically loaded slender columns is analyzed. Load-shortening curves are obtained for various combinations of load eccentricity and uniform initial curvature and are compared, for reference purposes, with the limiting case of the classical elastica. Results for numerous combinations of initial curvature and load eccentricity show that, over a wide range of shortening, an axially loaded slender column exhibits load-deflection compliance which is of the same order as that of a straight but otherwise identical cantilever beam under lateral tip loading.
The authors discuss a control approach that embeds the neural elements within a model-based compliant control architecture for robotic tasks that involve contact with unstructured environments. Compliance control experiments have been performed on actual robotics hardware to demonstrate the performance of contact control schemes with neural elements. System parameters were identified under the assumption that environment dynamics have a fixed nonlinear structure. A robotics research arm, placed in contact with a single degree-of-freedom electromechanical environment dynamics emulator, was commanded to move through a desired trajectory. The command was implemented by using a compliant control strategy.
In the past, there have been a number of fatal incidents attributable to wake vortex encounters, involving both general aviation and commercial aircraft. In fact, the wake vortex hazard is considered to be the single dominant safety issue determining the aircraft spacing requirements at airports. As the amount of air traffic increases, the number of dangerous encounters is likely only to increase. It is therefore imperative that a means be found to reduce the danger. That is the purpose of this research: to use nonlinear inverse dynamic (NID) control methods in the design of an aircraft control system which can improve the safety margin in a wake vortex encounter.
We demonstrate the stabilization of an isolated unstable periodic orbit in a liquid bridge convection experiment. A model independent, nonlinear control algorithm uses temperature measurements near the liquid interface to compute control perturbations which are applied by a thermoelectric element. The algorithm employs a time series reconstruction of a nonlinear control surface in a high dimensional phase space to alter the system dynamics.
There is evidence that physiological signals under healthy conditions may have a fractal temporal structure. Here we investigate the possibility that time series generated by certain physiological control systems may be members of a special class of complex processes, termed multifractal, which require a large number of exponents to characterize their scaling properties. We report on evidence for multifractality in a biological dynamical system, the healthy human heartbeat, and show that the multifractal character and nonlinear properties of the healthy heart rate are encoded in the Fourier phases. We uncover a loss of multifractality for a life-threatening condition, congestive heart failure.
Many modern spacecraft are complex multi-body dynamic systems where the bodies are connected by several active control systems for pointing and isolation. Mission requirements indicate that many structural modes and possibly some nonlinear effects will require characterization. Thus, even characterization at the subsystem level will become more difficult than usual. System level characterization difficulties will be compounded by the fact that only limited ground testing will be possible on the full up system, and flight testing will be restricted by an extremely limited measurements set. The object of the present discussion is the application of matrix majorant theory to the problem of assessing dynamic system performance when knowledge of the system is uncertain. We show how majorants provide an effective tool to relate required performance output to system identification test quality in terms of residual uncertainty in input-output relations, parameter values, nonlinearities, and interactions. The underlying machinery consists of the block-norm matrix which is a nonnegative matrix each of whose elements is the norm of a block of a suitably partitioned matrix. A matrix which bounds the block-norm matrix in the sense of nonnegative matrices, i.e., element by element is known as a majorant.
We present a new numerical study of the equilibrium and stability properties of close binary systems. We use the smoothed-particle hydrodynamics (SPH) technique both to construct accurate equilibrium configurations in three dimensions and to follow their hydrodynamic evolution. We adopt a simple polytropic equation of state p = K(sub rho)(exp gamma) with gamma = 5/3 and K = constant within each star, applicable to low-mass degenerate dwarfs as well as low-mass main-sequence stars. For degenerate configurations, we set the two polytropic constants equal, K = K prime, independent of the mass ratio. For main-sequence stars, we adjust K and K prime so as to obtain a simple mass-radius relation of the form R/R prime = M/M prime, where R prime and M prime are the radius and mass of the secondary. Along a sequence of binary equilibrium configurations for two identical stars, we demonstrate the existence of both secular and dynamical instabilities, confirming directly the results of recent analytic work. We use the SPH method to calculate the nonlinear development of the dynamical instability and to determine the final fate of the system. We find that the two stars merge together into a single, rapidly rotating object in just a few orbital periods. Equilibrium sequences are also constructed for systems containing two nonidentical stars. These sequences terminate at a Roche limit, which we can determine very accurately using SPH. For two low-mass main-sequence stars with mass ratio q approximately less than 0.4 we find that the (synchronized) Roche limit configuration is secularly unstable. We discuss the implications of our results for the evolution of double white-dwarf systems and W Ursae Majoris binaries.
A study of stable periodic solutions to a simple nonlinear model of the ocean-atmosphere-ice system is presented. The model has two dependent variables: ocean-atmosphere temperature and latitudinal extent of the ice cover. No explicit dependence on latitude is considered in the model. Hence all variables depend only on time and the model consists of a coupled set of nonlinear ordinary differential equations. The globally averaged ocean-atmosphere temperature in the model is governed by the radiation balance. The reflectivity to incoming solar radiation, i.e., the planetary albedo, includes separate contributions from sea ice and from continental ice sheets. The major physical mechanisms active in the model are (1) albedo-temperature feedback, (2) continental ice-sheet dynamics and (3) precipitation-rate variations. The model has three-equilibrium solutions, two of which are linearly unstable, while one is linearly stable. For some choices of parameters, the stability picture changes and sustained, finite-amplitude oscillations obtain around the previously stable equilibrium solution. The physical interpretation of these oscillations points to the possibility of internal mechanisms playing a role in glaciation cycles.
Recent studies have shown that fossil generators equipped with post-combustion carbon capture (PCC) systems are needed to reduce the cost of deep decarbonization. Such generators need to be flexible and responsive to grid conditions, particularly in a high variable renewable energy (VRE) environment. In this work, we evaluate the net present value (NPV) of retrofitting an existing natural gas combined cycle (NGCC) unit with a flexible PCC system while incorporating market signals from a high VRE grid. We use our industrial partner’s NGCC configuration as representative of existing NGCC units and Svante’s rapid-temperature swing adsorption (TSA) for PCC. Because of its ability to rapidly startup/shutdown and ramp-up/ramp-down, the chosen capture technology is very attractive for load-following operations. For a given set of market signals, we formulate a two-stage stochastic multi-period optimization problem, under the price-taker assumption, to simultaneously optimize the design of the capture system and operation of the entire plant. Rigorous models for the NGCC unit, PCC system, and compression system are developed using commercial process simulators and validated with either plant or vendor data. For computational tractability, we develop surrogate/reduced-order models for use in the optimization problem. The surrogate model for the NGCC plant is constructed by linearizing the rigorous dynamic model at 75% load, while data-driven nonlinear surrogate models for the capture and compression systems are constructed using simulation data from the rigorous models. The optimization problem, formulated as a mixed integer bilinear program, is implemented in the IDAES® integrated platform and solved to global optimality using Gurobi 9.5. Using this formulation, we determine the profitability of retrofitting an existing NGCC unit with the chosen capture system for multiple regions in the U.S. under two scenarios with different carbon prices. Importantly, the results show that the optimal decision strongly depends on the region and on the carbon price, thereby demonstrating the importance of the inclusion of market signals in the design process.
This paper builds on prior work conducted within the Los Alamos National Laboratory (LANL) Testbeds to Reduce Uncertainty in Simulations and Tests (TRUST) program. Specifically, it builds on finite element (FE) modeling efforts for the TRUST program’s Nonlinear Dynamics (ND) testbed. Historically, the FE model for the ND testbed has exclusively utilized a Lanczos eigensolver that linearly extracts the system’s natural frequencies. This paper investigates the Abaqus 2024’s explicit dynamic solver, which implements a central difference explicit solver. The central difference method used in Abaqus can capture nonlinear material responses in structural dynamic simulations making it suitable for the ND FE model.
In designing a robot control system for dual arm configurations, the control engineer is faced with two challenges: to derive the equations of motion for a given situation, and to meet certain desired control requirements (for instance, minimum energy). The former may involve closed kinematic chains, such as the case when the two arms are grasping a common object. The latter usually involves nonlinear optimization. These issues are considered in the context of transporting an inertial load using two planar three-link arms. A generalized 'reduction transformation' is applied to the dynamics to remove the singularity in the system equations. A suboptimal minimum energy method is presented to reduce a difficult 12-state, six-control nonlinear optimization to two independent, nonconflicting suboptimizations. A simulation example is provided to illustrate the degree of energy reduction possible using the optimal arm torque distribution that was developed.
The class of hypersonic vehicle configurations with single stage-to-orbit (SSTO) capability reflect highly integrated airframe and propulsion systems. These designs are also known to exhibit a large degree of interaction between the airframe and engine dynamics. Consequently, even simplified hypersonic models are characterized by tightly coupled nonlinear equations of motion. In addition, hypersonic SSTO vehicles present a major system design challenge; the vehicle's overall mission performance is a function of its subsystem efficiencies including structural, aerodynamic, propulsive, and operational. Further, all subsystem efficiencies are interrelated, hence, independent optimization of the subsystems is not likely to lead to an optimum design. Thus, it is desired to know the effect of various subsystem efficiencies on overall mission performance. For the purposes of this analysis, mission performance will be measured in terms of the payload weight inserted into orbit. In this report, a trajectory optimization problem is formulated for a generic hypersonic lifting body for a specified orbit-injection mission. A solution method is outlined, and results are detailed for the generic vehicle, referred to as the baseline model. After evaluating the performance of the baseline model, a sensitivity study is presented to determine the effect of various subsystem efficiencies on mission performance. This consists of performing a parametric analysis of the basic design parameters, generating a matrix of configurations, and determining the mission performance of each configuration. Also, the performance loss due to constraining the total head load experienced by the vehicle is evaluated. The key results from this analysis include the formulation of the sizing problem for this vehicle class using trajectory optimization, characteristics of the optimal trajectories, and the subsystem design sensitivities.
In an ultrafast nonlinear optical interaction, the electric field of the emitted nonlinear signal provides direct access to the induced nonlinear transient polarization or transient currents and thus carries signatures of ultrafast dynamics in a medium. Measurement of the electric field of such signals offers sensitive observables to track ultrafast electron dynamics in various systems. In this work, we resolve the real-time phase of the electric field of a femtosecond third-order nonlinear optical signal in the molecular frame. The electric field emitted from impulsively pre-aligned gas-phase molecules at room temperature, in a degenerate four-wave mixing scheme, is measured using a spectral interferometry technique. The nonlinear signal is measured around a rotational revival to extract its molecular-frame angle dependence from pump-probe time-delay scans. By comparing these measurements for two linear molecules, carbon dioxide and nitrogen, we show that the measured second-order phase parameter (temporal chirp) of the signal is sensitive to the valence electronic symmetry of the molecules, whereas the amplitude of the signal does not show such sensitivity. We compare measurements to theoretical calculations of the chirp observable in the molecular frame. This work is an important step towards using electric field measurements in nonlinear optical spectroscopy to study ultrafast dynamics of electronically excited molecules in the molecular frame.
A dynamic model of a high-power Stirling convertor has been developed for space nuclear power systems modeling. The model is based on the Component Test Power Convertor (CTPC), a 12.5-kWe free-piston Stirling convertor. The model includes the fluid heat source, the Stirling convertor, output power and heat rejection. The Stirling convertor model includes the Stirling cycle thermodynamics, heat flow, mechanical mass-spring damper systems, and the linear alternator. The model was validated against test data. Both nonlinear and linear versions of the model were developed. The linear version algebraically couples two separate linear dynamic models; one model of the Stirling cycle and one model of the thermal system, through the pressure factors. Future possible uses of the Stirling system dynamic model are discussed. A pair of commercially available 1-kWe Stirling convertors is being purchased by NASA Glenn Research Center. The specifications of those convertors may eventually be incorporated into the dynamic model and analysis compared to the convertor test data. Subsequent potential testing could include integrating the convertors into a pumped liquid metal hot-end interface. This test would provide more data for comparison to the dynamic model analysis.
A dynamic model of a high-power Stirling convertor has been developed for space nuclear power systems modeling. The model is based on the Component Test Power Convertor (CTPC), a 12.5-kWe free-piston Stirling convertor. The model includes the fluid heat source, the Stirling convertor, output power, and heat rejection. The Stirling convertor model includes the Stirling cycle thermodynamics, heat flow, mechanical mass-spring damper systems, and the linear alternator. The model was validated against test data. Both nonlinear and linear versions of the model were developed. The linear version algebraically couples two separate linear dynamic models; one model of the Stirling cycle and one model of the thermal system, through the pressure factors. Future possible uses of the Stirling system dynamic model are discussed. A pair of commercially available 1-kWe Stirling convertors is being purchased by NASA Glenn Research Center. The specifications of those convertors may eventually be incorporated into the dynamic model and analysis compared to the convertor test data. Subsequent potential testing could include integrating the convertors into a pumped liquid metal hot-end interface. This test would provide more data for comparison to the dynamic model analysis.
The rapid 2-D slewing and vibrational control of the unsymmetrical flexible SCOLE (Spacecraft Control Laboratory Experiment) with multi-bounded controls is considered. Pontryagin's Maximum Principle is applied to the nonlinear equations of the system to derive the necessary conditions for the optimal control. The resulting two point boundary value problem is then solved by using the quasilinearization technique, and the near minimum time is obtained by sequentially shortening the slewing time until the controls are near the bang-bang type. The tradeoff between the minimum time and the minimum flexible amplitude requirements is discussed. The numerical results show that the responses of the nonlinear system are significantly different from those of the linearized system for rapid slewing. The SCOLE station-keeping closed loop dynamics are re-examined by employing a slightly different method for developing the equations of motion in which higher order terms in the expressions for the mast modal shape functions are now included. A preliminary study on the effect of actuator mass on the closed loop dynamics of large space systems is conducted. A numerical example based on a coupled two-mass two-spring system illustrates the effect of changes caused in the mass and stiffness matrices on the closed loop system eigenvalues. In certain cases the need for redesigning control laws previously synthesized, but not accounting for actuator masses, is indicated.
It is shown that the estimator part of the Modified Partitioned Adaptive Controller, (MPAC) developed for nonlinear aircraft dynamics of a small jet transport can adapt to sensor failures. In addition, an investigation is made into the potential usefulness of the configuration detection technique used in the MPAC and the failure detection filter is developed that determines how a noise plant output is associated with a line or plane characteristic of a failure. It is shown by computer simulation that the estimator part and the configuration detection part of the MPAC can readily adapt to actuator and sensor failures and that the failure detection filter technique cannot detect actuator or sensor failures accurately for this type of system because of the plant modeling errors. In addition, it is shown that the decision technique, developed for the failure detection filter, can accurately determine that the plant output is related to the characteristic line or plane in the presence of sensor noise.