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NASA NTRS1988

Structure of a viscoplastic theory

The general structure of a viscoplastic theory is developed from physical and thermodynamical considerations. The flow equation is of classical form. The dynamic recovery approach is shown to be superior to the hardening function approach for incorporating nonlinear strain hardening into the material response through the evolutionary equation for back stress. A novel approach for introducing isotropic strain hardening into the theory is presented, which results in a useful simplification. In particular, the limiting stress for the kinematic saturation of state (not the drag stress) is the chosen scalar-valued state variable. The resulting simplification is that there is no coupling between dynamic and thermal recovery terms in each evolutionary equation. The derived theory of viscoplasticity has the structure of a two-surface plasticity theory when the response is plasticlike, and the structure of a Bailey-Orowan creep theory when the response is creeplike.

Freed, Alan D.↗

NASA NTRS1988

A viscoplastic theory applied to copper

A phenomenologically based viscoplastic model is derived for copper. The model is thermodynamically constrained by the condition of material dissipativity. Two internal state variables are considered. The back stress accounts for strain-induced anisotropy, or kinematic hardening. The drag stress accounts for isotropic hardening. Static and dynamic recovery terms are not coupled in either evolutionary equation. The evolution of drag stress depends on static recovery, while the evolution of back stress depends on dynamic recovery. The material constants are determined from isothermal data. Model predictions are compared with experimental data for thermomechanical test conditions. They are in good agreement at the hot end of the loading cycle, but the model overpredicts the stress response at the cold end of the cycle.

Freed, Alan D.↗

NASA NTRS1988

Data requirements to model creep in 9Cr-1Mo-V steel

Models for creep behavior are helpful in predicting response of components experiencing stress redistributions due to cyclic loads, and often the analyst would like information that correlates strain rate with history assuming simple hardening rules such as those based on time or strain. On the one hand, much progress has been made in the development of unified constitutive equations that include both hardening and softening through the introduction of state variables whose evolutions are history dependent. Although it is difficult to estimate specific data requirements for general application, there are several simple measurements that can be made in the course of creep testing and results reported in data bases. The issue is whether or not such data could be helpful in developing unified equations, and, if so, how should such data be reported. Data produced on a martensitic 9Cr-1Mo-V-Nb steel were examined with these issues in mind.

Swindeman, R. W.↗

NASA NTRS1988

Electro-impulse de-icing electrodynamic solution by discrete elements

This paper describes a technique for analyzing the electrodynamic phenomena associated with electro-impulse deicing. The analysis is done in the time domain and utilizes a discrete element formulation concept expressed in state variable form. Calculated results include coil current, eddy currents in the target (aircraft leading edge skin), pressure distribution on the target, and total force and impulse on the target. Typical results are presented and described. Some comparisons are made between calculated and experimental results, and also between calculated values from other theoretical approaches. Application to the problem of a nonrigid target is treated briefly.

Bernhart, W. D.↗

NASA NTRS1987

Prediction and experimental observation of damage dependent damping in laminated composite beams

The equations of motion are developed for laminated composite beams with load-induced matrix cracking. The damage is accounted for by utilizing internal state variables. The net result of these variables on the field equations is the introduction of both enhanced damping, and degraded stiffness. Both quantities are history dependent and spatially variable, thus resulting in nonlinear equations of motion. It is explained briefly how these equations may be quasi-linearized for laminated polymeric composites under certain types of structural loading. The coupled heat conduction equation is developed, and it is shown that an enhanced Zener damping effect is produced by the introduction of microstructural damage. The resulting equations are utilized to demonstrate how damage dependent material properties may be obtained from dynamic experiments. Finaly, experimental results are compared to model predictions for several composite layups.

Allen, D. H.↗

NASA NTRS1988

Development of a two-dimensional skin friction balance nulling circuit using multivariable control theory

Measurement of planar skin friction forces in aerodynamic testing currently requires installation of two perpendicularly mounted, single-axis balances; consequently, force components must be sensed at two distinct locations. A two-axis instrument developed at the Langley Research Center to overcome this disadvantage allows measurement of a two-dimensional force at one location. This paper describes a feedback-controlled nulling circuit developed for the NASA two-axis balance which, without external compensation, is inherently unstable because of its low friction mechanical design. Linear multivariable control theory is applied to an experimentally validated mathematical model of the balance to synthesize a state-variable feedback control law. Pole placement techniques and computer simulation studies are employed to select eigenvalues which provide ideal transient response with decoupled sensing dynamics.

Tripp, John S.↗

NASA NTRS1989

Modeling Plants With Moving-Average Outputs

Three discrete-state-variable representations derived. Paper discusses mathematical modeling of digital control systems for plants in which outputs include combinations of instantaneous and moving-average-prefiltered measurements.

Polites, Michael E.↗

NASA NTRS1988

Temperature and horizontal wind measurements on the ER-2 aircraft during the 1987 airborne Antarctic ozone experiment

The NASA ER-2 aircraft is equipped with special instrumentation to provide accurate in situ measurement of the atmospheric state variables during flight. The Meteorological Measurement System (MMS) on the ER-2 aircraft is described. Since the meteorological parameters (temperature, pressure, and wind vector) are extensively used by other ER-2 experimenters for data processing and interpretation, the accuracy and resolution of each of these parameters are assessed and discussed. During the 1987 Airborne Antarctic Ozone Experiment (AAOE) mission, the ER-2 aircraft was stationed at Punta Arenas, Chile (53 S, 72 W), and successfully flew over Antarctica on 12 occasions between August 17 and September 22, 1987. On each of the 12 flights, the ER-2 aircraft flight plan was to take off at approximately the same local time, fly southward at a near constant potential temperature surface, descend and ascend at the southernmost terminus at about 72 S over Antarctica and return northward at either the same or a different constant potential temperature surface. The measurements of the MMS experiment during the AAOE mission are presented. MMS data are organized to provide a composite view of the polar atmosphere, which is characterized by frigid temperatures and high zonal winds. Altitudinal variations of the temperature measurement (during takeoff/landing at Punta Arenas and during descent/ascent at the southern terminus) and latitudinal variations of the zonal wind (on near constant potential temperature surfaces) are emphasized and discussed.

Chan, K. Roland↗

NASA NTRS1988

The use of the articulated total body model as a robot dynamics simulation tool

The Articulated Total Body (ATB) model is a computer sumulation program which was originally developed for the study of aircrew member dynamics during ejection from high-speed aircraft. This model is totally three-dimensional and is based on the rigid body dynamics of coupled systems which use Euler's equations of motion with constraint relations of the type employed in the Lagrange method. In this paper the use of the ATB model as a robot dynamics simulation tool is discussed and various simulations are demonstrated. For this purpose the ATB model has been modified to allow for the application of torques at the joints as functions of state variables of the system. Specifically, the motion of a robotic arm with six revolute articulations with joint torques prescribed as functions of angular displacement and angular velocity are demonstrated. The simulation procedures developed in this work may serve as valuable tools for analyzing robotic mechanisms, dynamic effects, joint load transmissions, feed-back control algorithms employed in the actuator control and end-effector trajectories.

Obergfell, Louise A.↗

NASA NTRS1989

A study of material damping in large space structures

A constitutive model was developed for predicting damping as a function of damage in continuous fiber reinforced laminated composites. The damage model is a continuum formulation, and uses internal state variables to quantify damage and its subsequent effect on material response. The model is sensitive to the stacking sequence of the laminate. Given appropriate baseline data from unidirectional material, and damping as a function of damage in one crossply laminate, damage can be predicted as a function of damage in other crossply laminates. Agreement between theory and experiment was quite good. A micromechanics model was also developed for examining the influence of damage on damping. This model explicitly includes crack surfaces. The model provides reasonable predictions of bending stiffness as a function of damage. Damping predictions are not in agreement with the experiment. This is thought to be a result of dissipation mechanisms such as friction, which are not presently included in the analysis.

Highsmith, A. L.↗

NASA NTRS1989

Efficient grid generation

Because the governing equations in fluid dynamics contain partial differentials and are too difficult in most cases to solve analytically, these differentials are generally replaced by finite difference terms. These terms contain terms in the solution at nearby states. This procedure discretizes the field into a finite number of states. These states, when plotted, form a grid, or mesh, of points. It is at these states, or field points, that the solution is found. The optimum choice of states, the x, y, z coordinate values, minimizes error and computational time. But the process of finding these states is made more difficult by complex boundaries, and by the need to control step size differences between the states, that is, the need to control the spacing of field points. One solution technique uses a different set of state variables, which define a different coordinate system, to generate the grid more easily. A new method, developed by Dr. Joseph Steger, combines elliptic and hyperbolic partial differential equations into a mapping function between the physical and computational coordinate systems. This system of equations offers more control than either equation provides alone. The Steger algorithm was modified in order to allow bodies with stronger concavities to be used, offering the possibility of generating a single grid about multiple bodies. Work was also done on identifying areas where grid breakdown occurs.

Seki, Rycichi↗

NASA NTRS1988

A cumulative damage model for continuous fiber composite laminates with matrix cracking and interply delaminations

The present cumulative damage model for the prediction of stiffness loss in graphite/epoxy laminates applies a thermomechanical constitutive theory for elastic composites with distributed damage. The model proceeds from a continuum mechanics and thermodynamics approach in which the distributed damage is characterized by a set of second-order tensor-valued internal state variables. A set of damage-dependent laminated plate equations is obtained; this is developed by modifying classical Kirchhoff plate theory.

Allen, David H.↗

NASA NTRS1988

Extensions of the CSCM methodology for nonequilibrium reacting gas flows

The paper describes the extension of the CSCM flux difference splitting to produce conservative unconditionally stable implicit upwind methods for the extended equation set. The CSCM-S single data level relaxation algorithm is argued to be particularly advantageous for efficiently solving the set of equations. Attention is given to issues of alternative state variable representations and to complementary thermodynamic relations that parameterize and need to be effectively coupled with the solution procedure for the partial differential equations. Within the framework of iteration, consideration is given to more efficient approximate solution procedures than the full block coupled LU decomposition. Results of early numerical experiments are given to illustrate the developments.

Lombard, C. K.↗

NASA NTRS1989

Computational complexities and storage requirements of some Riccati equation solvers

The linear optimal control problem of an nth-order time-invariant dynamic system with a quadratic performance functional is usually solved by the Hamilton-Jacobi approach. This leads to the solution of the differential matrix Riccati equation with a terminal condition. The bulk of the computation for the optimal control problem is related to the solution of this equation. There are various algorithms in the literature for solving the matrix Riccati equation. However, computational complexities and storage requirements as a function of numbers of state variables, control variables, and sensors are not available for all these algorithms. In this work, the computational complexities and storage requirements for some of these algorithms are given. These expressions show the immensity of the computational requirements of the algorithms in solving the Riccati equation for large-order systems such as the control of highly flexible space structures. The expressions are also needed to compute the speedup and efficiency of any implementation of these algorithms on concurrent machines.

Utku, Senol↗

NASA NTRS1989

A new adaptive control approach for aerospace vehicles with parameter uncertainties

A new stochastic adaptive control structure is developed for the problem of combined parameter estimation and control of aerospace vehicles with changing parameters. Parameter uncertainties are modeled as first-order Gauss-Markov processes, and are introduced to the system dynamics through a small parameter. It is assumed that an accurate inertial measurement unit gives perfect measurements of the state variables. Since the stochastic system is assumed to be Gauss-Markov, the density function of the parameters given these measurements is conditionally Gaussian. Based on this conditionally Gaussian density, the problem of minimizing a quadratic cost over an infinite time horizon can be set up within the framework of stochastic optimal control theory. The optimal feedback control law is derived from a straightforward expansion of the Hamilton-Jacobi-Bellman equation, based on the LQG solution. The resulting nonlinear controller is applied to the pitch axis control of a space platform with uncertain moments of inertia and is shown to produce marked improvement over a fixed controller.

Hahn, Yungsun↗

NASA NTRS1989

Model reduction for flexible structures - Test data approach

A reduced model of a system is obtained by truncating part of its state variables. Hankel singular values and component costs determine which component is deleted or retained in the reduced model. In this paper Hankel singular values and component costs of a flexible structure are obtained from the resonance test data, rather than from the system matrices. Test data, besides system dynamics, include also actuators and sensors dynamics. For this reason, the reduced model obtained from test data can be far from the optimal one. In this paper the reconstruction of the flexible structure indices from the joint actuator-sensor-flexible structure indices is discussed.

Gawronski, Wodek↗

NASA NTRS1989

Guidance and Control strategies for aerospace vehicles

A neighboring optimal guidance scheme was devised for a nonlinear dynamic system with stochastic inputs and perfect measurements as applicable to fuel optimal control of an aeroassisted orbital transfer vehicle. For the deterministic nonlinear dynamic system describing the atmospheric maneuver, a nominal trajectory was determined. Then, a neighboring, optimal guidance scheme was obtained for open loop and closed loop control configurations. Taking modelling uncertainties into account, a linear, stochastic, neighboring optimal guidance scheme was devised. Finally, the optimal trajectory was approximated as the sum of the deterministic nominal trajectory and the stochastic neighboring optimal solution. Numerical results are presented for a typical vehicle. A fuel-optimal control problem in aeroassisted noncoplanar orbital transfer is also addressed. The equations of motion for the atmospheric maneuver are nonlinear and the optimal (nominal) trajectory and control are obtained. In order to follow the nominal trajectory under actual conditions, a neighboring optimum guidance scheme is designed using linear quadratic regulator theory for onboard real-time implementation. One of the state variables is used as the independent variable in reference to the time. The weighting matrices in the performance index are chosen by a combination of a heuristic method and an optimal modal approach. The necessary feedback control law is obtained in order to minimize the deviations from the nominal conditions.

Hibey, J. L.↗

NASA NTRS1990

Singular perturbation analysis of AOTV-related trajectory optimization problems

The problem of real time guidance and optimal control of Aeroassisted Orbit Transfer Vehicles (AOTV's) was addressed using singular perturbation theory as an underlying method of analysis. Trajectories were optimized with the objective of minimum energy expenditure in the atmospheric phase of the maneuver. Two major problem areas were addressed: optimal reentry, and synergetic plane change with aeroglide. For the reentry problem, several reduced order models were analyzed with the objective of optimal changes in heading with minimum energy loss. It was demonstrated that a further model order reduction to a single state model is possible through the application of singular perturbation theory. The optimal solution for the reduced problem defines an optimal altitude profile dependent on the current energy level of the vehicle. A separate boundary layer analysis is used to account for altitude and flight path angle dynamics, and to obtain lift and bank angle control solutions. By considering alternative approximations to solve the boundary layer problem, three guidance laws were derived, each having an analytic feedback form. The guidance laws were evaluated using a Maneuvering Reentry Research Vehicle model and all three laws were found to be near optimal. For the problem of synergetic plane change with aeroglide, a difficult terminal boundary layer control problem arises which to date is found to be analytically intractable. Thus a predictive/corrective solution was developed to satisfy the terminal constraints on altitude and flight path angle. A composite guidance solution was obtained by combining the optimal reentry solution with the predictive/corrective guidance method. Numerical comparisons with the corresponding optimal trajectory solutions show that the resulting performance is very close to optimal. An attempt was made to obtain numerically optimized trajectories for the case where heating rate is constrained. A first order state variable inequality constraint was imposed on the full order AOTV point mass equations of motion, using a simple aerodynamic heating rate model.

Calise, Anthony J.↗