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The proceedings of the 58th Shock and Vibration Symposium, held in Huntsville, Alabama, October 13 to 15, 1987 are given. Mechanical shock, dynamic analysis, space shuttle main engine vibration, isolation and damping, and analytical methods are discussed.
A quasi-three-dimensional rotor/stator analysis has been developed for blade-to-blade flows in turbomachinery. The analysis solves the unsteady Euler or thin-layer Navier-Stokes equations in a body-fitted coordinate system. It accounts for the effects of rotation, radius change, and stream-surface thickness. The Baldwin-Lomax eddy-viscosity model is used for turbulent flows. The equations are integrated in time using a four-stage Runge-Kutta scheme with a constant timestep. Results are shown for the first stage of the Space Shuttle Main Engine high pressure fuel turbopump. Euler and Navier-Stokes results are compared on the scaled single- and multi-passage machine. The method is relatively fast and the quasi-three-dimensional formulation is applicable to a wide range of turbomachinery geometries.
The Space Shuttle Main Engine (SSME) is a complex power plant. To evaluate its performance 1200 hot-wire ground tests have been conducted, varying in duration from 0 to 500 secs. During the test some 500 sensors are sampled every 20 ms. The sensors are generally bounded by red lines so that an excursion beyond could lead to premature shutdown. In 27 tests it was not possible to effect an orderly premature shutdown, resulting in major incidents with serious damage to the SSME and test stand. The application of pattern recognition are investigated to detect SSME performance trends that may lead to major incidents. Based on the sensor data a set of (n) features is defined. At any time during the test, the state of the SSME is given by a point in the n-dimensional feature space. The history of a test can now be represented as a trajectory in the n-dimensional feature space. Portions of the normal trajectories and failed test trajectories would lie in different regions of the n-dimensional feature space. The latter can now be partitioned into regions of normal and failed tests. Thus, it is possible to examine the trajectory of a test in progress and predict if it is going into the normal or failure region.
Arguments are presented for the retention of vibrational equilibrium of species in the nozzle of the Space Shuttle Main Engine which are especially applicable to water and the hydroxyl radical. It is shown that the reaction OH + HH yields HOH + H maintains equilibrium as well. This is used to relate OH to H, the temperature, and the oxidizer-to-fuel ratio.
A study was conducted to evaluate the performance implications of a heads-up ascent flight design for the Space Transportation System, as compared to the current heads-down flight mode. The procedure involved the use of the Minimum Hamiltonian Ascent Shuttle Trajectory Evaluation Program, which is a three-degree-of-freedom moment balance simulation of shuttle ascent. A minimum-Hamiltonian optimization strategy was employed to maximize injection weight as a function of maximum dynamic pressure constraint and Solid Rocket Motor burnrate. Performance Reference Mission Four trajectory groundrules were used for consistency. The major conclusions are that for heads-up ascent and a mission nominal design maximum dynamic pressure value of 680 psf, the optimum solid motor burnrate is 0.394 ips, which produces a performance enhancement of 4293 lbm relative to the baseline heads-down ascent, with 0.368 ips burnrate solid motors and a 680 psf dynamic pressure constraint. However, no performance advantage exists for heads-up flight if the current Solid Rocket Motor target burnrate of 0.368 ips is used. The advantage of heads-up ascent flight employing the current burnrate is that Space Shuttle Main Engine throttling for dynamic pressure control is not necessary.
The internal environment of the Space Shuttle Main Engine (SSME) is being determined from hot firings of the prototype engines and from model tests using either air or water as the test fluid. The objectives are to develop a database system to facilitate management and analysis of test measurements and results, to enter available data into the the database, and to analyze available data to establish conventions and procedures to provide consistency in data normalization and configuration geometry references.
This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems. Use of this technology will result in greatly improved systems and reduced development costs. The major design issues in developing effective robotic systems are discussed and the use of ROBOSIM, a NASA developed simulation tool, to address these issues is presented. Three representative simulation case studies are reviewed: off-line programming of the robotic welding development cell for the Space Shuttle Main Engine (SSME); the integration of a sensor to control the robot used for removing the Thermal Protection System (TPS) from the Solid Rocket Booster (SRB); and the development of a teleoperator/robot mechanism for the Orbital Maneuvering Vehicle (OMV).
The Space Shuttle main engine high-pressure oxygen turbopumps have not experienced the sevice life required of them. This insufficiency has been due in part to the shortened life of the bearings. To improve the life of the existing turbopump bearings, an effort is under way to investigate bearing modifications that could be retrofitted into the present bearing cavity. Several bearing parameters were optimized using the computer program SHABERTH, which performs a thermomechanical simulation of a load support system. The computer analysis showed that improved bearing performance is feasible if low friction coefficients can be attained. Bearing geometries were optimized considering heat generation, equilibrium temperatures, and relative life. Thermal gradients through the bearings were found to be lower with liquid lubrication than with solid film lubrication, and a liquid oxygen coolant flowrate of approximately 4.0 kg/s was found to be optimal. This paper describes the analytical modeling used to determine these feasible modifications to improve bearing performance.
Dynamic analysis, dynamic testing, space shuttle main engine vibration, isolation and damping and analytical methods are among the topics discussed.
An automated dynamics data analysis and management systems implemented on a DEC VAX minicomputer cluster is described. Multichannel acquisition, Fast Fourier Transformation analysis, and an online database have significantly improved the analysis of wideband transducer responses from Space Shuttle Main Engine testing. Leakage error correction to recover sinusoid amplitudes and correct for frequency slewing is described. The phase errors caused by FM recorder/playback head misalignment are automatically measured and used to correct the data. Data compression methods are described and compared. The system hardware is described. Applications using the data base are introduced, including software for power spectral density, instantaneous time history, amplitude histogram, fatigue analysis, and rotordynamics expert system analysis.
Several incompressible Navier-Stokes solution methods for obtaining steady and unsteady solutions are discussed. Special attention is given to internal flows which involve distinctly different features from external flows. The characterisitcs of the flow solvers employing the method of pseudocompressibility and a fractional step method are briefly described. This discussion is limited to a primitive variable formulation in generalized curvilinear coordinates. Computed results include simple test cases and internal flow in the Space Shuttle main engine hot-gas manifold.
A large number of computational fluid mechanics (CFD) problems were investigated. The primary studies include: the analysis of the turnaround duct/hot gas manifold/transfer tubes (fuel side) of the Space Shuttle Main Engine (SSME); the analysis of the LOX-T manifold (oxidizer side) of the SSME; the analysis of hydrogen accumulation in the Vandeburg flame trench; and modification of the Intel/VT241 systems to accommodate the EADS and PLOT 3D. Some of the analyses were exploratory in nature, using the CONTINUSYS code to provide preliminary information to enhance understanding of the problem, while in other the primary thrust was to acquire design information. In all cases the ability to predict information rapidly in these very complex analyses is seen to be an important demonstration of the power and utility of this mature predictive capability.
Space shuttle main engine (SSME) blades are subject to severe thermal, pressure, and forced vibration environments. Structural optimization provides an automated alternative to time consuming iterations. Any number of analyses, design variables, and constraints can be incorporated in a structural optimization computer code. This idea was applied to develop the code SSME/STAEBL, which is a stand alone code suitable for automated design of SSME turbopump blades. Additions and modifications of STAEBL included in SSME/STAEBL include the following: (1) thermal stress analysis, (2) gas dynamic (pressure) loads, (3) temperature-dependent material and thermal properties, (4) forced vibrations, (5) tip displacement constraints, (6) single crystal material analysis, (7) blade cross-section stacking offsets, and (8) direct time integration algorithm for transient dynamic response.
The effects of actual variations, also called uncertainties, in geometry and material properties on the structural response of a space shuttle main engine turbopump blade are evaluated. A normal distribution was assumed to represent the uncertainties statistically. Uncertainties were assumed to be totally random, partially correlated, and fully correlated. The magnitude of these uncertainties were represented in terms of mean and variance. Blade responses, recorded in terms of displacements, natural frequencies, and maximum stress, was evaluated and plotted in the form of probabilistic distributions under combined uncertainties. These distributions provide an estimate of the range of magnitudes of the response and probability of occurrence of a given response. Most importantly, these distributions provide the information needed to estimate quantitatively the risk in a structural design.
A study was performrd to determine the dynamic characteristics of the Space Shuttle Main Engine high pressure fuel turbopump (HPFTP) blades made of single crystal (SC) material. The first and second stage drive turbine blades of HPFTP were examined. The nonrotating natural frequencies were determined experimentally and analytically. The experimental results of the SC second stage blade were used to verify the analytical procedures. The study examined the SC first stage blade natural frequencies with respect to crystal orientation at typical operating conditions. The SC blade dynamic response was predicted to be less than the directionally solidified base. Crystal axis orientation optimization indicated that the third mode interference will exist in any SC orientation.
A two-dimensional shell model of an entire solid rocket booster (SRB) has been developed using the STAGSC-1 computer code and executed on the Ames CRAY computer. The purpose of these analyses is to calculate the overall deflection and stress distributions for the SRB when subjected to mechanical loads corresponding to critical times during the launch sequence. The mechanical loading conditions for the full SRB arise from the external tank (ET) attachment points, the solid rocket motor (SRM) pressure load, and the SRB hold down posts. The ET strut loads vary with time after the Space Shuttle main engine (SSME) ignition. The SRM internal pressure varies axially by approximately 100 psi. Static analyses of the full SRB are performed using a snapshot picture of the loads. The field and factory joints are modeled by using equivalent stiffness joints instead of detailed models of the joint. As such, local joint behavior cannot be obtained from this global model.
The objective of the task was to evaluate the suitability of a bronze-filled polytetra fluoroethylene (Salox M) as the cage material in Space Shuttle Main Engine (SSME) high pressure oxygen turbo pump (HPOTP) bearings. The role of the cage pocket material will be to provide a transferred lubricating interface at the ball-race contact region. A series of experiments was conducted which involved block-on-ring tests (the block was the polytetrafluoroethylene (PTFE) -filled material and the ring was through-hardened 440C steel) and high speed traction tests of two 440C disks with one disk rubbed with a PTFE block to generate a transfer film. Measurements included post test visual observations of the condition of the 440C, wear rate measurements of the blocks, and traction measurements between the disks. It was observed that both Salox M and glass-filled PTFE (Armalon) transferred PTFE to 440C at cryogenic temperatures. Bronze is also transferred to uncoated 440C from the Salox M. At room temperature no PTFE transfer was observed in the high speed disk tests due to severe frictional heating, although bronze transfer still occurred with the bronze-PTFE Salox M material. Since the bearing will operate at cryogenic temperature, transfer films are very probable. Salox M wore slightly, although probably tolerably, more than glass-filled PTFE against 440C. However, Salox M is clearly less abrasive to 440C than is the glass-filled material. When the surface layer of PTFE is depleted from the glass-filled material, the glass fibers tend to seriously abrade the steel. This problem does not occur with Salox M. The surface roughness studies indicate that smooth balls are quite reasonable for transfer films. No significant difference in wear rates of the candidate cage materials was observed when the 440C surface finish was increased from 0.025 micron to 0.1 micron cla. At higher levels of roughness, the wear rate increased. Two surface coatings (MoS2 and TiN) were tested. The surface coatings tended to reduce the Salox M wear rate and reduce bronze transfer. PTFE transfer at cryogenic temperatures still occurred with the surface coatings. Two cage design concepts are presented utilizing Salox M material. One design involves a metal-reinforced Salox M cage, while the second design uses Salox M inserts in a metal structure.
The use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems is described. Use of this technology will result in greatly improved systems and reduced development costs. The major design issues in developing effective robotic systems are discussed and the use of ROBOSIM, a NASA developed simulation tool, to address these issues is presented. Three representative simulation case studies are reviewed: off-line programming of the robotic welding development cell for the Space Shuttle Main Engine; the integration of a sensor to control the robot used for removing the Thermal Protection System from the Solid Rocket Booster; and the development of a teleoperator/robot mechanism for the Orbital Maneuvering Vehicle.