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NASA NTRS1985

Control of large antennas based on electromagnetic performance criteria

The electromagnetic (EM) performance of large flexible antennas is traditionally achieved by imposing stringent geometric restrictions on the structural distortions from a nominal optimum configuration. An approach to alleviate the stringency of the geometrical criteria of satisfactory performance is presented. The approach consists of generating a linear optimal control problem with quadratic cost functional where the cost functional is obtained from the EM characteristics of the antenna and the dynamic system constraint is given by the structural model of the antenna. It is established that the EM based optimal controller is considerably more efficient than the traditional geometrical based controllers. The same EM performance can be achieved with a much reduced control effort.

Lin, Y. H.↗

NASA NTRS1985

Design of Multivariable Controllers Using the Integrated Analysis Capability (IAC)

Dynamic analysis and controls design for flexible spacecraft involves high-order dynamic systems with multiple inputs and outputs. Computer tools are essential for such analysis. The controls/structures interaction analysis capability of an inter-disciplinary computer software system, called the Integrated Analysis Capability (IAC), is described. An overview of IAC components and procedures is presented, and an example of a preliminary space station controls design is shown.

Bossi, J. A.↗

NASA NTRS1985

Space Station Parametric Models

The development of two parametric models for a four-panel planar initial space station is described. The derivations of the distributed parameter model are presented in detail with the hope that the same method and procedures can be employed for stations with different configurations or for changes within the same configuration class. The 19-DOF finite-element model is also described. With the availability of the 19-DOF and a lower-DOF space station models, the frequency characteristics of the various dynamical systems in the space station environment are identified.

Hamidi, M.↗

NASA NTRS1985

Self-Tuning Adaptive-Controller Using Online Frequency Identification

A real time adaptive controller was designed and tested successfully on a fourth order laboratory dynamic system which features very low structural damping and a noncolocated actuator sensor pair. The controller, implemented in a digital minicomputer, consists of a state estimator, a set of state feedback gains, and a frequency locked loop (FLL) for real time parameter identification. The FLL can detect the closed loop natural frequency of the system being controlled, calculate the mismatch between a plant parameter and its counterpart in the state estimator, and correct the estimator parameter in real time. The adaptation algorithm can correct the controller error and stabilize the system for more than 50% variation in the plant natural frequency, compared with a 10% stability margin in frequency variation for a fixed gain controller having the same performance at the nominal plant condition. After it has locked to the correct plant frequency, the adaptive controller works as well as the fixed gain controller does when there is no parameter mismatch. The very rapid convergence of this adaptive system is demonstrated experimentally, and can also be proven with simple root locus methods.

Chiang, W. W.↗

NASA NTRS1985

An Eigensystem Realization Algorithm (ERA) for modal parameter identification and model reduction

A method, called the Eigensystem Realization Algorithm (ERA), is developed for modal parameter identification and model reduction of dynamic systems from test data. A new approach is introduced in conjunction with the singular value decomposition technique to derive the basic formulation of minimum order realization which is an extended version of the Ho-Kalman algorithm. The basic formulation is then transformed into modal space for modal parameter identification. Two accuracy indicators are developed to quantitatively identify the system modes and noise modes. For illustration of the algorithm, examples are shown using simulation data and experimental data for a rectangular grid structure.

Juang, J. N.↗

NASA NTRS1984

Multiobjective optimization in structural design with uncertain parameters and stochastic processes

The application of multiobjective optimization techniques to structural design problems involving uncertain parameters and random processes is studied. The design of a cantilever beam with a tip mass subjected to a stochastic base excitation is considered for illustration. Several of the problem parameters are assumed to be random variables and the structural mass, fatigue damage, and negative of natural frequency of vibration are considered for minimization. The solution of this three-criteria design problem is found by using global criterion, utility function, game theory, goal programming, goal attainment, bounded objective function, and lexicographic methods. It is observed that the game theory approach is superior in finding a better optimum solution, assuming the proper balance of the various objective functions. The procedures used in the present investigation are expected to be useful in the design of general dynamic systems involving uncertain parameters, stochastic process, and multiple objectives.

Rao, S. S.↗

NASA NTRS1985

Solar wind variations and geomagnetic storms - A study of individual storms based on high time resolution ISEE 3 data

Two independent methods are employed to determine the relationship between the parameter epsilon and total energy dissipation rate of the magnetosphere U sub T by selecting disturbed periods from the same data d set used by Baker et al. (1983). Specifically, four storms are examined in detail, since the accuracy of estimating U sub T is significantly improved during disturbed periods. The first method assumes that U sub T = M sub A exp.2- alpha(epsilon) where M sub A is the Alfven Mach number and alpha varies with time. The second method considers a linear, time-invariant dynamic system with epsilon as input and U sub T as output. This means that U sub T = W(asterisk)epsilon where asterisk is the convolution and W is a transfer function characteristic of the system. It is found that alpha values fluctuate mainly between 0 and -0.25. The transfer function analysis indicates that W often resembles a delta-function or a narrow rectangular impulse. Both results give the same implication (namely that U sub T is approximately equal to epsilon) and thus are consistent with the view that the magnetosphere is primarily a directly driven system during disturbed periods.

Akasofu, S.-I.↗

NASA NTRS1984

Time optimal control of manipulators with bounded accelerations

The linearity of the equations of motion of dynamical systems such as spacecraft or manipulators when controlled by acceleration commands is exploited in generating exact fast maneuvers. A simulated robot example thereof is examined, with advantages and limitations of the proposed design approach discussed in its context.

Dwyer, T. A. W., III↗

NASA NTRS1985

The experimental results of a self tuning adaptive controller using online frequency identification

A fourth-order laboratory dynamic system featuring very low structural damping and a noncolocated actuator-sensor pair has been used to test a novel real-time adaptive controller, implemented in a minicomputer, which consists of a state estimator, a set of state feedback gains, and a frequency-locked loop for real-time parameter identification. The adaptation algorithm employed can correct controller error and stabilize the system for more than 50 percent variation in the plant's natural frequency, compared with a 10 percent stability margin in frequency variation for a fixed gain controller having the same performance as the nominal plant condition. The very rapid convergence achievable by this adaptive system is demonstrated experimentally, and proven with simple, root-locus methods.

Chiang, W.-W.↗

NASA NTRS1985

Optimal generalized multistep integration formulae for real-time digital simulation

The problem of discretizing a dynamical system for real-time digital simulation is considered. Treating the system and its simulation as stochastic processes leads to a statistical characterization of simulator fidelity. A plant discretization procedure based on an efficient matrix generalization of explicit linear multistep discrete integration formulae is introduced, which minimizes a weighted sum of the mean squared steady-state and transient error between the system and simulator outputs.

Moerder, D. D.↗

NASA NTRS1985

Closed-loop, pilot/vehicle analysis of the approach and landing task

Optimal-control-theoretic modeling and frequency-domain analysis is the methodology proposed to evaluate analytically the handling qualities of higher-order manually controlled dynamic systems. Fundamental to the methodology is evaluating the interplay between pilot workload and closed-loop pilot/vehicle performance and stability robustness. The model-based metric for pilot workload is the required pilot phase compensation. Pilot/vehicle performance and loop stability is then evaluated using frequency-domain techniques. When these techniques were applied to the flight-test data for thirty-two highly-augmented fighter configurations, strong correlation was obtained between the analytical and experimental results.

Schmidt, D. K.↗

NASA NTRS1985

An eigensystem realization algorithm for modal parameter identification and model reduction

A method called the eigensystem realization algorithm is developed for modal parameter identification and model reduction of dynamic systems from test data. A new approach is introduced in conjunction with the singular-value decomposition technique to derive the basic formulation of minimum order realization which is an extended version of the Ho-Kalman algorithm. The basic formulation is then transformed into modal space for modal parameter identification. Two accuracy indicators are developed to quantitatively identify the system and noise modes. For illustration of the algorithm, an example is shown using experimental data from the Galileo spacecraft.

Juang, J.-N.↗

NASA NTRS1985

Thermocapillary Flows and Their Stability: Effects of Surface Layers and Contamination

The objective is to study quantitatively thermocapillary flows in two-dimensional and axisymmetric geometries in order to learn the impact of such flows on float-zone refining configurations. The work begins with the analytical study of steady flows in slots and zones to obtain predictions of surface curvature, flow and heat transport. It then examines the instability of such flows. Three new instability mechanisms have been identified and the results show that thermocapillary flows of high Prandtl number fluid become convectively unstable while those of low Prandtl number fluid become hydrodynamically unstable. The work includes numerical simulations of steady, high Marangoni number flows in unit aspect ratio boxes and asymptotic solutions in large boxes. Furthermore, the effect of surface contamination on the steady thermocapillary flows was examined. This fundamental study focused on fluid dynamical systems used to understand events in the flow of melts in float-zone geometries both on Earth and in microgravity environments.

Davis, S. H.↗

NASA NTRS1985

Dynamic Identification for Control of Large Space Structures

This is a compilation of reports by the one author on one subject. It consists of the following five journal articles: (1) A Parametric Study of the Ibrahim Time Domain Modal Identification Algorithm; (2) Large Modal Survey Testing Using the Ibrahim Time Domain Identification Technique; (3) Computation of Normal Modes from Identified Complex Modes; (4) Dynamic Modeling of Structural from Measured Complex Modes; and (5) Time Domain Quasi-Linear Identification of Nonlinear Dynamic Systems.

Ibrahim, S. R.↗

NASA NTRS1985

Development of an unsteady aerodynamics model to improve correlation of computed blade stresses with test data

A reliable rotor aeroelastic analysis operational that correctly predicts the vibration levels for a helicopter is utilized to test various unsteady aerodynamics models with the objective of improving the correlation between test and theory. This analysis called Rotor Aeroelastic Vibration (RAVIB) computer program is based on a frequency domain forced response analysis which utilizes the transfer matrix techniques to model helicopter/rotor dynamic systems of varying degrees of complexity. The results for the AH-1G helicopter rotor were compared with the flight test data during high speed operation and they indicated a reasonably good correlation for the beamwise and chordwise blade bending moments, but for torsional moments the correlation was poor. As a result, a new aerodynamics model based on unstalled synthesized data derived from the large amplitude oscillating airfoil experiments was developed and tested.

Gangwani, S. T.↗

NASA NTRS1985

Conjecture on superrotation in planetary atmospheres - A diffusion model with mixing length theory

The component of rigid shell superrotation on Venus is discussed in the context of comparative planetary atmospheres. A simplified, heuristic analysis, utilizing mixed length theory to describe the small scale nonlinear advections of energy and angular momentum, thereby providing a closure of the dynamic system, is presented, on the basis of which a crude estimate of zonal velocity is made. The rigid shell (global average) component on Venus was calculated to be 105 m/sec.

Mayr, H. G.↗

NASA NTRS1985

PLANT - An experimental task for the study of human problem solving in process control

An experimental tool for the investigation of human problem-solving behavior is introduced. Production Levels and Network Troubleshooting (PLANT) is a computer-based process-control task which may be used to provide opportunities for subjects to control a dynamic system and diagnose, repair, and compensate for system failures. The task is described in detail, and experiments which have been conducted using PLANT are briefly discussed.

Morris, N. M.↗

NASA NTRS1986

Sensitivity analysis and approximation methods for general eigenvalue problems

Optimization of dynamic systems involving complex non-hermitian matrices is often computationally expensive. Major contributors to the computational expense are the sensitivity analysis and reanalysis of a modified design. The present work seeks to alleviate this computational burden by identifying efficient sensitivity analysis and approximate reanalysis methods. For the algebraic eigenvalue problem involving non-hermitian matrices, algorithms for sensitivity analysis and approximate reanalysis are classified, compared and evaluated for efficiency and accuracy. Proper eigenvector normalization is discussed. An improved method for calculating derivatives of eigenvectors is proposed based on a more rational normalization condition and taking advantage of matrix sparsity. Important numerical aspects of this method are also discussed. To alleviate the problem of reanalysis, various approximation methods for eigenvalues are proposed and evaluated. Linear and quadratic approximations are based directly on the Taylor series. Several approximation methods are developed based on the generalized Rayleigh quotient for the eigenvalue problem. Approximation methods based on trace theorem give high accuracy without needing any derivatives. Operation counts for the computation of the approximations are given. General recommendations are made for the selection of appropriate approximation technique as a function of the matrix size, number of design variables, number of eigenvalues of interest and the number of design points at which approximation is sought.

Murthy, D. V.↗