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At least 1,333 records · Page 74

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NASA NTRS1986

Nonlinear adaptive control of an elastic robotic arm

An approach to control of a class of nonlinear flexible robotic systems is presented. For simplicity, a robot arm (PUMA-type) with three rotational joints is considered. The third link is assumed to be elastic. An adaptive torquer control law is derived for controlling the joint angles. This controller includes a dynamic system in the feedback path, requires only joint angle and rate for feedback, and asymptotically decomposes the elastic dynamics into two subsystems representing the transverse vibrations of the elastic link in two orthogonal planes. To damp out the elastic vibration, a force control law using modal feedback is synthesized. The combination of the torque and force control laws accomplishes joint angle control and elastic mode stabilization.

Singh, S. N.↗

NASA NTRS1987

Double diffusive convection during directional solidification - Nonlinear analysis

The dynamics of doubly diffusive convective flow during the constant-velocity vertical solidification of binary melts to form single-phase solids is examined, summarizing the results of recent experimental and analytical investigations. The effects of horizontal temperature gradients are considered; the nonlinearities of the system and their numerical treatment are discussed; and numerical results are presented graphically for the solidification of a Pb melt containing 0.0015 wt pct Sn, with growth velocity 0.0002 cm/s and a temperature gradient of 200 K/cm in the liquid.

Coriell, S. R.↗

NASA NTRS1987

Optimal time free nodal transfers between elliptical orbits

The paper presents the necessary conditions for the minimum fuel, time-free transfer between two noncoplanar elliptical orbits. It is shown that the solution is obtained by solving a system of three nonlinear equations for three unknowns. The case where the impulses are applied along the line of nodes is discussed. In general, this nodal transfer is nonoptimal, but the characteristic velocity for the best nodal transfer, called the minimizing nodal transfer, is reasonably close to the one for the optimal transfer for it to be useful as a substitute for a practical transfer. Furthermore, when the relative position of the two terminal orbits is varied, the two characteristic velocities, for the minimizing nodal transfer and the optimal transfer, exhibit the same trend in the sense that they pass through their maxima and minima at nearly the same relative position. This makes the set of explicit formulas for computing the minimizing nodal transfer, as presented in this paper, a useful tool for designing a minimum fuel transfer between several orbits.

Vinh, Nguyen X.↗

NASA NTRS1988

A mixed finite difference/Galerkin method for three-dimensional Rayleigh-Benard convection

A fast and accurate numerical method, for nonlinear conservation equation systems whose solutions are periodic in two of the three spatial dimensions, is presently implemented for the case of Rayleigh-Benard convection between two rigid parallel plates in the parameter region where steady, three-dimensional convection is known to be stable. High-order streamfunctions secure the reduction of the system of five partial differential equations to a system of only three. Numerical experiments are presented which verify both the expected convergence rates and the absolute accuracy of the method.

Buell, Jeffrey C.↗

NASA NTRS1989

Inclusion of filter modulation in synthetic-discriminant-function construction

A technique in which the filter modulation is included in the synthesis of a synthetic-discriminant-function (SDF) matched spatial filter is presented. In the filter synthesis, a system of simultaneous nonlinear equations is solved with an iteration procedure. A computer simulation of the new method using thresholded images of the Space Shuttle over a range of aspect angles was performed for phase-only filters (POFs) and binary-phase-only filters (BPOFs). The filters constructed are capable of obtaining the specified peak-correlation response to within 1 percent with a high signal-to-clutter-ratio for the one-class problem, the two-class problem, and the multilevel problem. In contrast, conventional projection SDF POFs and BPOFs are unable to produce the desired peak-correlation response.

Jared, David A.↗

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

A variable-gain output feedback control design approach

A multi-model design technique to find a variable-gain control law defined over the whole operating range is proposed. The design is formulated as an optimal control problem which minimizes a cost function weighing the performance at many operating points. The solution is obtained by embedding into the Multi-Configuration Control (MCC) problem, a multi-model robust control design technique. In contrast to conventional gain scheduling which uses a curve fit of single model designs, the optimal variable-gain control law stabilizes the plant at every operating point included in the design. An iterative algorithm to compute the optimal control gains is presented. The methodology has been successfully applied to reconfigurable aircraft flight control and to nonlinear flight control systems.

Haylo, Nesim↗

NASA NTRS1989

Active vibration mitigation of distributed parameter, smart-type structures using Pseudo-Feedback Optimal Control (PFOC)

A new, near-optimal feedback control technique is introduced that is shown to provide excellent vibration attenuation for those distributed parameter systems that are often encountered in the areas of aeroservoelasticity and large space systems. The technique relies on a novel solution methodology for the classical optimal control problem. Specifically, the quadratic regulator control problem for a flexible vibrating structure is first cast in a weak functional form that admits an approximate solution. The necessary conditions (first-order) are then solved via a time finite-element method. The procedure produces a low dimensional, algebraic parameterization of the optimal control problem that provides a rigorous basis for a discrete controller with a first-order like hold output. Simulation has shown that the algorithm can successfully control a wide variety of plant forms including multi-input/multi-output systems and systems exhibiting significant nonlinearities. In order to firmly establish the efficacy of the algorithm, a laboratory control experiment was implemented to provide planar (bending) vibration attenuation of a highly flexible beam (with a first clamped-free mode of approximately 0.5 Hz).

Patten, W. N.↗

NASA NTRS1990

Linear iterative solvers for implicit ODE methods

The numerical solution of stiff initial value problems, which lead to the problem of solving large systems of mildly nonlinear equations are considered. For many problems derived from engineering and science, a solution is possible only with methods derived from iterative linear equation solvers. A common approach to solving the nonlinear equations is to employ an approximate solution obtained from an explicit method. The error is examined to determine how it is distributed among the stiff and non-stiff components, which bears on the choice of an iterative method. The conclusion is that error is (roughly) uniformly distributed, a fact that suggests the Chebyshev method (and the accompanying Manteuffel adaptive parameter algorithm). This method is described, also commenting on Richardson's method and its advantages for large problems. Richardson's method and the Chebyshev method with the Mantueffel algorithm are applied to the solution of the nonlinear equations by Newton's method.

Saylor, Paul E.↗

NASA NTRS1991

Supercomputer optimizations for stochastic optimal control applications

Supercomputer optimizations for a computational method of solving stochastic, multibody, dynamic programming problems are presented. The computational method is valid for a general class of optimal control problems that are nonlinear, multibody dynamical systems, perturbed by general Markov noise in continuous time, i.e., nonsmooth Gaussian as well as jump Poisson random white noise. Optimization techniques for vector multiprocessors or vectorizing supercomputers include advanced data structures, loop restructuring, loop collapsing, blocking, and compiler directives. These advanced computing techniques and superconducting hardware help alleviate Bellman's curse of dimensionality in dynamic programming computations, by permitting the solution of large multibody problems. Possible applications include lumped flight dynamics models for uncertain environments, such as large scale and background random aerospace fluctuations.

Chung, Siu-Leung↗

NASA NTRS1991

Exponential integration algorithms applied to viscoplasticity

Four, linear, exponential, integration algorithms (two implicit, one explicit, and one predictor/corrector) are applied to a viscoplastic model to assess their capabilities. Viscoplasticity comprises a system of coupled, nonlinear, stiff, first order, ordinary differential equations which are a challenge to integrate by any means. Two of the algorithms (the predictor/corrector and one of the implicits) give outstanding results, even for very large time steps.

Freed, Alan D.↗

NASA NTRS1991

A high-frequency servosystem for fuel control in hypersonic engines

A hydrogen fuel-flow valve with an electrohydraulic servosystem is described. An analysis of the servosystem is presented along with a discussion of the limitations imposed on system performance by nonlinearities. The response of the valve to swept-frequency inputs is experimentally determined and compared with analytical results obtained from a computer model. The valve is found to perform favorably for frequencies up to 200 Hz.

Simon, Donald L.↗

NASA NTRS1990

Modelling and computationally efficient time domain linear equalisation of nonlinear bandlimited QPSK satellite channels

The problem of modeling and equalization of a nonlinear satellite channel is considered. The channel is assumed to be bandlimited and exhibits both amplitude and phase nonlinearities. In traditional models, computations are usually performed in the frequency domain and solutions are based on complex numerical techniques. A discrete time model is used to represent the satellite link with both uplink and downlink white Gaussian noise. Under conditions of practical interest, a simple and computationally efficient time-domain design technique for the minimum mean square error linear equalizer is presented. The efficiency of this technique is enhanced by the use of a fast and simple iterative algorithm for the computation of the autocorrelation coefficients of the output of the nonlinear channel. Numerical results on the evaluations of bit error probability and other relevant parameters needed in the design and analysis of a nonlinear bandlimited QPSK system demonstrate the simplicity and computational efficiency of the proposed approach.

Konstantinides, K.↗

NASA NTRS1991

Periodic response of multi-disk rotors with bearing clearances

The forced steady state response of a multi-disk rotor system involving a clearance at one of the bearings is determined by using a harmonic balance approach. The impedance method is applied to each of the harmonic steady state components in order to reduce the system to its displacement at the nonlinear bearing support. The results reveal the interrelated roles of the bearing clearance, mass eccentricity and side force in producing dangerous subharmonics. The significant effects of the strong nonlinearity of a bearing clearance are studied as related to the various system parameters. The results show that the approach developed in this study is computationally superior to numerical integration methods in analyzing multi-disk rotor systems with strong nonlinearity.

Kim, Y. B.↗

NASA NTRS1992

Application of a generalized minimal residual method to 2D unsteady flows

A generalized minimum residual scheme (GMRES), previously developed for solving nonlinear and linear systems of equations, has been applied to the numerical solution of 2D unsteady compressible flows. It is found that the use of GMRES significantly increases the time step that may be used, compared to noniterative implicit schemes. The feasibility of reducing the memory requirements of the GMRES scheme using a multigrid strategy has also been explored. Several sample steady and unsteady viscous flow applications are presented.

Hixon, Ray↗

NASA NTRS1990

Rotordynamics analysis of a Jeffcott model with deadband

A method is developed for determining the stability margins of a simple Jeffcott model with deadband via analysis of the discrete Fourier transform of the system response. The model in question is of a uniform, unbalanced, flexible shaft that is supported by a bearing as it rotates about its x axis. This model is represented by a system of coupled nonlinear differential equations.

Zalik, R. A.↗

NASA NTRS1992

AIAA/USAF/NASA/OAI Symposium on Multidisciplinary Analysis and Optimization, 4th, Cleveland, OH, Sept. 21-23, 1992, Technical Papers. Pts. 1 & 2

The papers presented at the symposium cover aerodynamics, design applications, propulsion systems, high-speed flight, structures, controls, sensitivity analysis, optimization algorithms, and space structures applications. Other topics include helicopter rotor design, artificial intelligence/neural nets, and computational aspects of optimization. Papers are included on flutter calculations for a system with interacting nonlinearities, optimization in solid rocket booster application, improving the efficiency of aerodynamic shape optimization procedures, nonlinear control theory, and probabilistic structural analysis of space truss structures for nonuniform thermal environmental effects.

Source record↗

NASA NTRS1993

Successful combination of the stochastic linearization and Monte Carlo methods

A combination of a stochastic linearization and Monte Carlo techniques is presented for the first time in literature. A system with separable nonlinear damping and nonlinear restoring force is considered. The proposed combination of the energy-wise linearization with the Monte Carlo method yields an error under 5 percent, which corresponds to the error reduction associated with the conventional stochastic linearization by a factor of 4.6.

Elishakoff, I.↗