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NASA NTRS1989

Stationary nonlinear Alfven waves and solitons

Stationary solutions of the derivative nonlinear Schroedinger equation are discussed and classified by using a pseudopotential formulation. The solutions consist of a rich family of nonlinear Alfven waves and solitons with parallel and oblique propagation directions. Expressions for the envelope and the phase of nonlinear waves with periodic envelope modulation, and 'hyperbolic' and 'algebraic' solitons are given. The propagation angle for the slightly modulated elliptic, periodic waves and for oblique solitons is evaluated.

Hada, T.↗

NASA NTRS1989

Efficient loads analyses of Shuttle-payloads using dynamic models with linear or nonlinear interfaces

An efficient method for the load analysis of Shuttle-payload systems with linear or nonlinear attachment interfaces is presented which allows the kinematics of the interface degrees of freedom at a given time to be evaluated without calculating the combined system modal representation of the Space Shuttle and its payload. For the case of a nonlinear dynamic model, an iterative procedure is employed to converge the nonlinear terms of the equations of motion to reliable values. Results are presented for a Shuttle abort landing event.

Spanos, P. D.↗

NASA NTRS1989

Nonlinear interaction between the sinuous and varicose instability modes in a plane wake

The nonlinear interaction between sinuous and varicose instability modes in a plane wake is examined in the nonlinear-nonequilibrium critical layer regime. Equations governing the evolution of the instability wave amplitudes and critical layer vorticity distributions are derived. Numerical solutions for these equations are obtained for a number of wake defects and initial amplitude ratios. The results show that the primary effects of the nonlinear interaction are the suppression of the varicose mode and the downstream shift of the peak of the sinuous mode.

Leib, S. J.↗

NASA NTRS1988

Dynamic control of robot arms in tasks space using nonlinear feedback

Differential geometric system and control theory is used to develop a new dynamic system feedback technique for robot task space commands. The nonlinear robot arm system is feedback-linearized and simultaneously is output-decoupled by an appropriate nonlinear feedback and nonlinear coordinate transformation. On the joint space level, the scheme only commands drive forces or torques or their equivalent quantities addressed to the joint drives. An important property of the technique is that the planned and commanded task space trajectory together with its time derivatives directly drive the robot arm through a linear system model. A method for task space motion planning matching the requirements of the new scheme is briefly presented. The implications of the new technique for second and third order model robot arms with and without force feedback measuremnts and for two or more dynamically cooperating robot arms are discussed.

Bejczy, A. K.↗

NASA NTRS1989

Kinetic effects of Alfven wave nonlinearity. I - Ponderomotive density fluctuations

The Vlasov theory is used to study kinetic corrections to fluid descriptions of Alfven wave nonlinearity. The method is to obtain an expression for the second-order perturbed distribution function produced by a nonlinear Alfven wave. From this distribution function a kinetically correct expression is obtained for the plasma density perturbation associated with an envelope-modulated Alfven wave. This kinetic theory result differs substantially from the fluid expression when the plasma beta is greater than about 1, and the electron and ion temperatures are approximately equal. This result is of interest because density fluctuations are an observationally accessible indicator of wave nonlinearity in solar system Alfven waves. It also will assist in the determination of properties of Alfven waves in the interstellar medium. Finally, this analysis also yields a kinetically correct expression for u, the magnetic field-aligned component of the plasma fluid velocity.

Spangler, Steven R.↗

NASA NTRS1989

Linear and nonlinear responses to middle latitude surface temperature anomalies

Nonlinear responses to fixed and seasonally varying surface temperature anomalies in a two-level hemispheric time-dependent coupled atmosphere-surface mixed layer model are described. Linear stationary models that are equivalent to the nonlinear time-dependent model are used to analyze these responses. A model linearized around the climatological zonal state of the time dependent model and forced by anomalous surface temperatures does not provide a reasonable estimate for the anomalous reponses, which are considerably underestimated. Better responses are obtained when the anomalous stationary nonlinear eddy fluxes are included in a model linearized around the full climatology. However, this latter model is overly sensitive, and anomalous responses are a small residual balance to the forcing by the surface temperature anomalies and the anomalous transient eddy fluxes. To better understand these linear responses, an eigenanalysis of the climatological state is performed. Seasonal anomalies appear to be dominated by one characteristic pattern near resonance which can be associated with a slowly growing coupled atmosphere-ocean instability.

Roads, John O.↗

NASA NTRS1989

Spatial evolution of nonlinear acoustic mode instabilities on hypersonic boundary layers

The effects are considered of strong critical layer nonlinearity on the spatial evolution of an initially linear acoustic mode instability wave on a hypersonic flat plate boundary layer. The analysis shows that nonlinearity, which is initially confined to a thin critical layer, first becomes important when the amplitude of the pressure fluctuations become 0(1/M exp 4 In M exp 2), where M is the free stream Mach number. The flow outside the critical layer is still determined by linear dynamics and therefore takes the form of a linear instability wave, but with its amplitude completely determined by the flow within the critical layer. The latter flow is determined by a coupled set of nonlinear equations, which were solved numerically.

Goldstein, M. E.↗

NASA NTRS1989

An Entropy-Based Approach to Nonlinear Stability

Many numerical methods used in computational fluid dynamics (CFD) incorporate an artificial dissipation term to suppress spurious oscillations and control nonlinear instabilities. The same effect can be accomplished by using upwind techniques, sometimes augmented with limiters to form Total Variation Diminishing (TVD) schemes. An analysis based on numerical satisfaction of the second law of thermodynamics allows many such methods to be compared and improved upon. A nonlinear stability proof is given for discrete scalar equations arising from a conservation law. Solutions to such equations are bounded in the L sub 2 norm if the second law of thermodynamics is satisfied in a global sense over a periodic domain. It is conjectured that an analogous statement is true for discrete equations arising from systems of conservation laws. Analysis and numerical experiments suggest that a more restrictive condition, a positive entropy production rate in each cell, is sufficient to exclude unphysical phenomena such as oscillations and expansion shocks. Construction of schemes which satisfy this condition is demonstrated for linear and nonlinear wave equations and for the one-dimensional Euler equations.

Merriam, Marshal L.↗

NASA NTRS1989

Application of numerical optimization techniques to control system design for nonlinear dynamic models of aircraft

Control system design for general nonlinear flight dynamic models is considered through numerical simulation. The design is accomplished through a numerical optimizer coupled with analysis of flight dynamic equations. The general flight dynamic equations are numerically integrated and dynamic characteristics are then identified from the dynamic response. The design variables are determined iteratively by the optimizer to optimize a prescribed objective function which is related to desired dynamic characteristics. Generality of the method allows nonlinear effects to aerodynamics and dynamic coupling to be considered in the design process. To demonstrate the method, nonlinear simulation models for an F-5A and an F-16 configurations are used to design dampers to satisfy specifications on flying qualities and control systems to prevent departure. The results indicate that the present method is simple in formulation and effective in satisfying the design objectives.

Lan, C. Edward↗

NASA NTRS1989

Flexural fatigue life prediction of closed hat-section using materially nonlinear axial fatigue characteristics

Straight or curved hat-section members are often used as structural stiffeners in aircraft. For instance, they are employed as stiffeners for the dorsal skin as well as in the aerial refueling adjacent area structure in F-106 aircraft. The flanges of the hat-section are connected to the aircraft skin. Thus, the portion of the skin closing the hat-section interacts with the section itself when resisting the stresses due to service loads. The flexural fatigue life of such a closed section is estimated using materially nonlinear axial fatigue characteristics. It should be recognized that when a structural shape is subjected to bending, the fatigue life at the neutral axis is infinity since the normal stresses are zero at that location. Conversely, the fatigue life at the extreme fibers where the normal bending stresses are maximum can be expected to be finite. Thus, different fatigue life estimates can be visualized at various distances from the neural axis. The problem becomes compounded further when significant portions away from the neutral axis are stressed into plastic range. A theoretical analysis of the closed hat-section subjected to flexural cyclic loading is first conducted. The axial fatigue characteristics together with the related axial fatigue life formula and its inverted form given by Manson and Muralidharan are adopted for an aluminum alloy used in aircraft construction. A closed-form expression for predicting the flexural fatigue life is then derived for the closed hat-section including materially nonlinear action. A computer program is written to conduct a study of the variables such as the thicknesses of the hat-section and the skin, and the type of alloy used. The study has provided a fundamental understanding of the flexural fatigue life characteristics of a practical structural component used in aircraft when materially nonlinear action is present.

Razzaq, Zia↗

NASA NTRS1989

On discrete control of nonlinear systems with applications to robotics

Much progress has been reported in the areas of modeling and control of nonlinear dynamic systems in a continuous-time framework. From implementation point of view, however, it is essential to study these nonlinear systems directly in a discrete setting that is amenable for interfacing with digital computers. But to develop discrete models and discrete controllers for a nonlinear system such as robot is a nontrivial task. Robot is also inherently a variable-inertia dynamic system involving additional complications. Not only the computer-oriented models of these systems must satisfy the usual requirements for such models, but these must also be compatible with the inherent capabilities of computers and must preserve the fundamental physical characteristics of continuous-time systems such as the conservation of energy and/or momentum. Preliminary issues regarding discrete systems in general and discrete models of a typical industrial robot that is developed with full consideration of the principle of conservation of energy are presented. Some research on the pertinent tactile information processing is reviewed. Finally, system control methods and how to integrate these issues in order to complete the task of discrete control of a robot manipulator are also reviewed.

Eslami, Mansour↗

NASA NTRS1989

Lyapunov optimal feedback control of a nonlinear inverted pendulum

Liapunov optimal feedback control is applied to a nonlinear inverted pendulum in which the control torque was constrained to be less than the nonlinear gravity torque in the model. This necessitates a control algorithm which 'rocks' the pendulum out of its potential wells, in order to stabilize it at a unique vertical position. Simulation results indicate that a preliminary Liapunov feedback controller can successfully overcome the nonlinearity and bring almost all trajectories to the target.

Grantham, W. J.↗

NASA NTRS1989

Nonlinear response of composite tubes under combined thermomechanical loading

An analytical investigation was conducted to study the effect of material nonlinearities on the response of graphite/epoxy composite tubes subjected to combined axial and torsional loading. The endochronic theory of Valanis (1971) was employed to model the nonlinear response of the individual graphite/epoxy layers. Thermal loading was included in the analysis in order to incorporate the effect of residual stresses on subsequent mechanical response. The predictions of the analytical model are compared with the response of P75/934 graphite/epoxy tubes with a stacking sequence of (15/0/+/- 10/0/-15)s. Good qualitative correlation between analysis and experiment is obtained when microstructural details of the tube's cross-section, residual stresses and nonlinear effects are taken into account.

Derstine, M. S.↗

NASA NTRS1990

Nonlinear inversion flight control for a supermaneuverable aircraft

This paper describes the use of nonlinear dynamic inversion for the design of a flight control system for a supermaneuverable aircraft. First, the dynamics to be controlled were separated into fast and slow variables. The fast variables were the angular rates and the slow variables were the attitude angles. Then a nonlinear inversion controller was designed for the fast variables. This stabilized the longitudinal short-period and improved the lateral-directional responses over a wide range of angle of attack by making use of a combination for aerodynamic surfaces and thrust vectoring control. Outer loops were then closed to allow the pilot to control the slow dynamics, the angle of attack, side-slip angle and the velocity bank angle. Nonlinear inversion was also used to design of the outer loop control laws. The dynamic inversion control laws were compared with more conventional, gain-scheduled control laws and were shown to yield much better performance.

Snell, S. Antony↗

NASA NTRS1989

Assessment of numerical methods for the solution of fluid dynamics equations for nonlinear resonance systems

The capability of accurate nonlinear flow analysis of resonance systems is essential in many problems, including combustion instability. Classical numerical schemes are either too diffusive or too dispersive especially for transient problems. In the last few years, significant progress has been made in the numerical methods for flows with shocks. The objective was to assess advanced shock capturing schemes on transient flows. Several numerical schemes were tested including TVD, MUSCL, ENO, FCT, and Riemann Solver Godunov type schemes. A systematic assessment was performed on scalar transport, Burgers' and gas dynamic problems. Several shock capturing schemes are compared on fast transient resonant pipe flow problems. A system of 1-D nonlinear hyperbolic gas dynamics equations is solved to predict propagation of finite amplitude waves, the wave steepening, formation, propagation, and reflection of shocks for several hundred wave cycles. It is shown that high accuracy schemes can be used for direct, exact nonlinear analysis of combustion instability problems, preserving high harmonic energy content for long periods of time.

Przekwas, A. J.↗

NASA NTRS1990

System Identification for Nonlinear Control Using Neural Networks

An approach to incorporating artificial neural networks in nonlinear, adaptive control systems is described. The controller contains three principal elements: a nonlinear inverse dynamic control law whose coefficients depend on a comprehensive model of the plant, a neural network that models system dynamics, and a state estimator whose outputs drive the control law and train the neural network. Attention is focused on the system identification task, which combines an extended Kalman filter with generalized spline function approximation. Continual learning is possible during normal operation, without taking the system off line for specialized training. Nonlinear inverse dynamic control requires smooth derivatives as well as function estimates, imposing stringent goals on the approximating technique.

Stengel, Robert F.↗

NASA NTRS1991

Asymptotic integration algorithms for nonhomogeneous, nonlinear, first order, ordinary differential equations

New methods for integrating systems of stiff, nonlinear, first order, ordinary differential equations are developed by casting the differential equations into integral form. Nonlinear recursive relations are obtained that allow the solution to a system of equations at time t plus delta t to be obtained in terms of the solution at time t in explicit and implicit forms. Examples of accuracy obtained with the new technique are given by considering systems of nonlinear, first order equations which arise in the study of unified models of viscoplastic behaviors, the spread of the AIDS virus, and predator-prey populations. In general, the new implicit algorithm is unconditionally stable, and has a Jacobian of smaller dimension than that which is acquired by current implicit methods, such as the Euler backward difference algorithm; yet, it gives superior accuracy. The asymptotic explicit and implicit algorithms are suitable for solutions that are of the growing and decaying exponential kinds, respectively, whilst the implicit Euler-Maclaurin algorithm is superior when the solution oscillates, i.e., when there are regions in which both growing and decaying exponential solutions exist.

Walker, K. P.↗

NASA NTRS1991

An experimental study of nonlinear dynamic system identification

A technique based on the Minimum Model Error optimal estimation approach is employed for robust identification of a nonlinear dynamic system. A simple harmonic oscillator with quadratic position feedback was simulated on an analog computer. With the aid of analog measurements and an assumed linear model, the Minimum Model Error Algorithm accurately identifies the quadratic nonlinearity. The tests demonstrate that the method is robust with respect to prior ignorance of the nonlinear system model and with respect to measurement record length, regardless of initial conditions.

Stry, Greselda I.↗