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At least 1,531 records · Page 85
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NASA NTRS1988

New nonlinear control algorithms for multiple robot arms

Multiple coordinated robot arms are modeled by considering the arms as closed kinematic chains and as a force-constrained mechanical system working on the same object simultaneously. In both formulations, a novel dynamic control method is discussed. It is based on feedback linearization and simultaneous output decoupling technique. By applying a nonlinear feedback and a nonlinear coordinate transformation, the complicated model of the multiple robot arms in either formulation is converted into a linear and output decoupled system. The linear system control theory and optimal control theory are used to design robust controllers in the task space. The first formulation has the advantage of automatically handling the coordination and load distribution among the robot arms. In the second formulation, it was found that by choosing a general output equation it became possible simultaneously to superimpose the position and velocity error feedback with the force-torque error feedback in the task space.

Tarn, T. J.↗
NASA NTRS1989

Nonlinear evolution of high frequency R-mode waves excited by water group ions near comets - Computer experiments

An ion beam resonates with R-mode waves at a high-frequency RH mode and a low-frequency RL mode. The nonlinear evolution of ion beam-generated RH waves is studied here by one-dimensional hybrid computer experiments. Both wave-particle and subsequent wave-wave interactions are examined. The competing process among coexisting RH and RL mode beam instabilities and repeated decay instabilities triggered by the beam-excited RH mode waves is clarified. It is found that the quenching of the RH instability is not caused by a thermal spreading of the ion beam, but by the nonlinear wave-wave coupling process. The growing RH waves become unstable against the decay instability. This instability involves a backward-traveling RH electromagnetic wave and a forward-traveling longitudinal sound wave. The inverse cascading process is found to occur faster than the growth of the RL mode. Wave spectra decaying from the RH waves weaken as time elapses and the RL mode waves become dominant at the end of the computer experiment.

Kojima, H.↗
NASA NTRS1989

Nonlinear Parker instability of isolated magnetic flux in a plasma

The nonlinear evolution of the Parker instability in an isolated horizontal magnetic-flux sheet embedded in a two-temperature layer atmosphere is studied by using a two-dimensional MHD code. In the solar case, this two-layer model is regarded as a simplified abstraction of the sun's photosphere/chromosphere and its overlying much hotter (coronal) envelope. The horizontal flux sheet is initially located in the lower temperature atmosphere so as to satisfy magnetostatic equilibrium under a constant gravitational acceleration. Ideal MHD is assumed, and only perturbations with k parallel to the magnetic-field lines are investigated. As the instability develops, the gas slides down the expanding loop, and the evacuated loop rises as a result of enhanced magnetic buoyancy. In the nonlinear regime of the instability, both the rise velocity of a magnetic loop and the local Alfven velocity at the top of the loop increase linearly with height and show self-similar behavior with height as long as the wavelength of the initial perturbation is much smaller than the horizontal size of the computing domain.

Shibata, K.↗
NASA NTRS1989

A finite element solution algorithm for nonlinear thermal problems with severe gradients

An implicit enthalpy - flux component finite element algorithm is presented for nonlinear thermal problems with severe gradients. The algorithm is formulated to permit efficient solution of nonlinear heat transfer problems for unstructured meshes with a large range of element sizes. Two transient conduction examples illustrate the effectiveness of the approach for problems with high temperatures and steep gradients.

Thornton, Earl A.↗
NASA NTRS1988

Guaranteed properties for nonlinear gain scheduled control systems

An analysis is presented of two types of nonlinear gain-scheduled control systems: scheduling on a reference trajectory and scheduling on the plant output. Conditions are given which guarantee stability, robustness, and performance properties of the global gain-scheduled designs. These conditions confirm and formalize popular notions regarding gain-scheduled designs; e.g., that the scheduling variable should vary slowly and capture the plant's nonlinearities. These results extend the work of Shamma and Athans (1987), which addressed the case of linear plants whose dynamics depends on exogenous parameters.

Shamma, Jeff S.↗
NASA NTRS1989

Linear stable unity-feedback system - Necessary and sufficient conditions for stability under nonlinear plant perturbations

The authors consider a linear (not necessarily time-invariant) stable unity-feedback system, where the plant and the compensator have normalized right-coprime factorizations. They study two cases of nonlinear plant perturbations (additive and feedback), with four subcases resulting from: (1) allowing exogenous input to Delta P or not; 2) allowing the observation of the output of Delta P or not. The plant perturbation Delta P is not required to be stable. Using the factorization approach, the authors obtain necessary and sufficient conditions for all cases in terms of two pairs of nonlinear pseudostate maps. Simple physical considerations explain the form of these necessary and sufficient conditions. Finally, the authors obtain the characterization of all perturbations Delta P for which the perturbed system remains stable.

Desoer, C. A.↗
NASA NTRS1989

Nonlinear and snap-through responses of curved panels to intense acoustic excitation

Assuming a single-mode transverse displacement, a simple formula is derived for the transverse load-displacement relationship of a plate under in-plane compression. The formula is used to derive a simple analytical expression for the nonlinear dynamic response of postbuckled plates under sinusoidal or random excitation. The highly nonlinear motion of snap-through can be easily interpreted using the single-mode formula. Experimental results are obtained with buckled and cylindrical aluminum panels using discrete frequency and broadband excitation of mechanical and acoustic forces. Some important effects of the snap-through motion on the dynamic response of the postbuckled plates are described. Static tests were used to identify the deformation shape during snap-through.

Ng, C. F.↗
NASA NTRS1989

Equivalent linearization for fatigue life estimates of a nonlinear structure

An analysis is presented of the suitability of the method of equivalent linearization for estimating the fatigue life of a nonlinear structure. Comparisons are made of the fatigue life of a nonlinear plate as predicted using conventional equivalent linearization and three other more accurate methods. The excitation of the plate is assumed to be Gaussian white noise and the plate response is modeled using a single resonant mode. The methods used for comparison consist of numerical simulation, a probabilistic formulation, and a modification of equivalent linearization which avoids the usual assumption that the response process is Gaussian. Remarkably close agreement is obtained between all four methods, even for cases where the response is significantly linear.

Miles, R. N.↗
NASA NTRS1988

Applications of nonlinear systems theory to control design

For most applications in the control area, the standard practice is to approximate a nonlinear mathematical model by a linear system. Since the feedback linearizable systems contain linear systems as a subclass, the procedure of approximating a nonlinear system by a feedback linearizable one is examined. Because many physical plants (e.g., aircraft at the NASA Ames Research Center) have mathematical models which are close to feedback linearizable systems, such approximations are certainly justified. Results and techniques are introduced for measuring the gap between the model and its truncated linearizable part. The topic of pure feedback systems is important to the study.

Hunt, L. R.↗
NASA NTRS1989

The influence of nonlinear damping on the random response of panels by time domain simulation

The effects of nonlinear damping on the large-deflection response of symmetrically laminated composite panels is studied by time-domain simulation in an attempt to quantify experimentally observed phenomena. A single-mode deflection approach is used in the equations of motion and in the linear and nonlinear damping models. The probability, peak-probability, and spectral-density data are compiled for both strains and deflection. The rms responses as a function of input excitation level are also obtained and compared to linear, equivalent-linearization, and Fokker-Planck equation solutions.

Robinson, J.↗
NASA NTRS1988

Parameter estimation in nonlinear distributed systems - Approximation theory and convergence results

An abstract approximation framework and convergence theory is described for Galerkin approximations applied to inverse problems involving nonlinear distributed parameter systems. Parameter estimation problems are considered and formulated as the minimization of a least-squares-like performance index over a compact admissible parameter set subject to state constraints given by an inhomogeneous nonlinear distributed system. The theory applies to systems whose dynamics can be described by either time-independent or nonstationary strongly maximal monotonic operators defined on a reflexive Banach space which is densely and continuously embedded in a Hilbert space. It is demonstrated that if readily verifiable conditions on the system's dependence on the unknown parameters are satisfied, and the usual Galerkin approximation assumption holds, then solutions to the approximating problems exist and approximate a solution to the original infinite-dimensional identification problem.

Banks, H. T.↗
NASA NTRS1989

Nonlinear interactions among solar acoustic modes

The rates at which nonlinear interactions transfer energy among the normal modes of a plane-parallel, stratified atmosphere are evaluated. It is shown that every p-mode in the 5-minute band is involved in many near-resonant triplets, and, as a consequence, the energy transfer rates are independent of the mode line widths. It is also found that nonlinear mode coupling cannot limit the growth of overstable p-modes, which favors the hypothesis that the sun's p-modes are stochastically excited by turbulent convection.

Kumar, Pawan↗
NASA NTRS1989

Sub transitional and supersonic travelling field response in nonlinear viscoelastic media

This paper considers the problem of traveling fields in nonlinearly elastic and viscoelastic media. By introducing the appropriate hierarchical partitioning, the governing equations of motion are shown to be a continuum analogy of Duffing's equation. Through the use of a constrained perturbation procedure, the response behavior is obtained in sub, transitional as well as supersonic ranges of disturbance speed. Due to the generality of the approach taken, the effects of damping can be handled. To quantify the effects of material nonlinearity, strain softening and hardening are considered. Such behavior is quantified in general example problems.

Padovan, Joe↗
NASA NTRS1989

Nonlinear fracture of concrete and ceramics

The nonlinear fracture process zones in an impacted unnotched concrete bend specimen, a prenotched ceramic bend specimen, and an unnotched ceramic/ceramic composite bend specimen were estimated through hybrid experimental numerical analysis. Aggregate bridging in concrete, particulate bridging in ceramics, and fiber bridging in ceramic/ceramic composite are modeled by Barenblatt-type cohesive zones which are incorporated into the finite-element models of the bend specimens. Both generation and propagation analyses are used to estimate the distribution of crack closure stresses in the nonlinear fracture process zones. The finite-element models are then used to simulate fracture tests consisting of rapid crack propagation in an impacted concrete bend specimen, and stable crack growth and strain softening in a ceramic and ceramic/ceramic composite bend specimens.

Kobayashi, Albert S.↗
NASA NTRS1989

Ground-state energies of the nonlinear sigma model and the Heisenberg spin chains

A theorem on the O(3) nonlinear sigma model with the topological theta term is proved, which states that the ground-state energy at theta = pi is always higher than the ground-state energy at theta = 0, for the same value of the coupling constant g. Provided that the nonlinear sigma model gives the correct description for the Heisenberg spin chains in the large-s limit, this theorem makes a definite prediction relating the ground-state energies of the half-integer and the integer spin chains. The ground-state energies obtained from the exact Bethe ansatz solution for the spin-1/2 chain and the numerical diagonalization on the spin-1, spin-3/2, and spin-2 chains support this prediction.

Zhang, Shoucheng↗
NASA NTRS1989

An approximate analytic solution of a set of nonlinear model alpha-omega-dynamo equations for marginally unstable systems

An approximate analytic solution of a set of nonlinear model alpha-omega-dynamo equations is obtained. The reaction of the Lorentz force on the velocity shear which stretches and, hence, amplifies the magnetic field is incorporated into the model. To single out the effect of the Lorentz force on the omega-effect, the effect of the Lorentz force on the alpha-effect is neglected in this study. The solution represents a nonlinear oscillation with the amplitude and period determined by the dynamo number N. The amplitude is proportional to N - 1, while the period is almost exactly the same as the dissipation time of the unstable mode (proportional to N).

Hinata, S.↗
NASA NTRS1989

Nonlinear longitudinal control of a supermaneuverable aircraft

A technique is described which can be used for design of feedback controllers for high-performance aircraft operating in flight conditions in which nonlinearities significantly affect performance. Designs are performed on a mathematical model of the longitudinal dynamics of a hypothetical aircraft similar to proposed supermaneuverable flight test vehicles. Nonlinear controller designs are performed using truncated solutions of the Hamilton-Jacobi-Bellman equation. Preliminary results show that the method yields promising results.

Garrard, William L.↗
NASA NTRS1989

Nonlinear maneuver autopilot for the F-15 aircraft

A methodology is described for the development of flight test trajectory control laws based on singular perturbation methodology and nonlinear dynamic modeling. The control design methodology is applied to a detailed nonlinear six degree-of-freedom simulation of the F-15 and results for a level accelerations, pushover/pullup maneuver, zoom and pushover maneuver, excess thrust windup turn, constant thrust windup turn, and a constant dynamic pressure/constant load factor trajectory are presented.

Menon, P. K. A.↗