Results for “nonlinear model predictive control” — Page 9

NASA NTRS1998

Bulk-Flow Analysis of Hybrid Thrust Bearings for Advanced Cryogenic Turbopumps

A bulk-flow analysis and computer program for prediction of the static load performance and dynamic force coefficients of angled injection, orifice-compensated hydrostatic/hydrodynamic thrust bearings have been completed. The product of the research is an efficient computational tool for the design of high-speed thrust bearings for cryogenic fluid turbopumps. The study addresses the needs of a growing technology that requires of reliable fluid film bearings to provide the maximum operating life with optimum controllable rotordynamic characteristics at the lowest cost. The motion of a cryogenic fluid on the thin film lands of a thrust bearing is governed by a set of bulk-flow mass and momentum conservation and energy transport equations. Mass flow conservation and a simple model for momentum transport within the hydrostatic bearing recesses are also accounted for. The bulk-flow model includes flow turbulence with fluid inertia advection, Coriolis and centrifugal acceleration effects on the bearing recesses and film lands. The cryogenic fluid properties are obtained from realistic thermophysical equations of state. Turbulent bulk-flow shear parameters are based on Hirs' model with Moody's friction factor equations allowing a simple simulation for machined bearing surface roughness. A perturbation analysis leads to zeroth-order nonlinear equations governing the fluid flow for the thrust bearing operating at a static equilibrium position, and first-order linear equations describing the perturbed fluid flow for small amplitude shaft motions in the axial direction. Numerical solution to the zeroth-order flow field equations renders the bearing flow rate, thrust load, drag torque and power dissipation. Solution to the first-order equations determines the axial stiffness, damping and inertia force coefficients. The computational method uses well established algorithms and generic subprograms available from prior developments. The Fortran9O computer program hydrothrust runs on a Windows 95/NT personal computer. The program, help files and examples are licensed by Texas A&M University Technology License Office. The study of the static and dynamic performance of two hydrostatic/hydrodynamic bearings demonstrates the importance of centrifugal and advection fluid inertia effects for operation at high rotational speeds. The first example considers a conceptual hydrostatic thrust bearing for an advanced liquid hydrogen turbopump operating at 170,000 rpm. The large axial stiffness and damping coefficients of the bearing should provide accurate control and axial positioning of the turbopump and also allow for unshrouded impellers, therefore increasing the overall pump efficiency. The second bearing uses a refrigerant R134a, and its application in oil-free air conditioning compressors is of great technological importance and commercial value. The computed predictions reveal that the LH2 bearing load capacity and flow rate increase with the recess pressure (i.e. increasing orifice diameters). The bearing axial stiffness has a maximum for a recess pressure rati of approx. 0.55. while the axial damping coefficient decreases as the recess pressure ratio increases. The computer results from three flow models are compared. These models are a) inertialess, b) fluid inertia at recess edges only, and c) full fluid inertia at both recess edges and film lands. The full inertia model shows the lowest flow rates, axial load capacity and stiffness coefficient but on the other hand renders the largest damping coefficients and inertia coefficients. The most important findings are related to the reduction of the outflow through the inner radius and the appearance of subambient pressures. The performance of the refrigerant hybrid thrust bearing is evaluated at two operating speeds and pressure drops. The computed results are presented in dimensionless form to evidence consistent trends in the bearing performance characteristics. As the applied axial load increases, the bearing film thickness and flow rate decrease while the recess pressure increases. The axial stiffness coefficient shows a maximum for a certain intermediate load while the damping coefficient steadily increases. The computed results evidence the paramount of centrifugal fluid inertia at low recess pressures (i.e. low loads), and where there is actually an inflow through the bearing inner diameter, accompanied by subambient pressures just downstream of the bearing recess edge. These results are solely due to centrifugal fluid inertia and advection transport effects. Recommendations include the extension of the computer program to handle flexure pivot tilting pad hybrid bearings and the ability to calculate moment coefficients for shaft angular misalignments.

SanAndres, Luis↗

NASA NTRS2003

Deployment Simulation Methods for Ultra-Lightweight Inflatable Structures

Two dynamic inflation simulation methods are employed for modeling the deployment of folded thin-membrane tubes. The simulations are necessary because ground tests include gravity effects and may poorly represent deployment in space. The two simulation methods are referred to as the Control Volume (CV) method and the Arbitrary Lagrangian Eulerian (ALE) method. They are available in the LS-DYNA nonlinear dynamic finite element code. Both methods are suitable for modeling the interactions between the inflation gas and the thin-membrane tube structures. The CV method only considers the pressure induced by the inflation gas in the simulation, while the ALE method models the actual flow of the inflation gas. Thus, the transient fluid properties at any location within the tube can be predicted by the ALE method. Deployment simulations of three packaged tube models; namely coiled, Z-folded, and telescopically-folded configurations, are performed. Results predicted by both methods for the telescopically-folded configuration are correlated and computational efficiency issues are discussed.

Wang, John T.↗

NASA NTRS2009

Control of Systems With Slow Actuators Using Time Scale Separation

This paper addresses the problem of controlling a nonlinear plant with a slow actuator using singular perturbation method. For the known plant-actuator cascaded system the proposed scheme achieves tracking of a given reference model with considerably less control demand than would otherwise result when using conventional design techniques. This is the consequence of excluding the small parameter from the actuator dynamics via time scale separation. The resulting tracking error is within the order of this small parameter. For the unknown system the adaptive counterpart is developed based on the prediction model, which is driven towards the reference model by the control design. It is proven that the prediction model tracks the reference model with an error proportional to the small parameter, while the prediction error converges to zero. The resulting closed-loop system with all prediction models and adaptive laws remains stable. The benefits of the approach are demonstrated in simulation studies and compared to conventional control approaches.

Stepanyan, Vehram↗

NASA NTRS2006

Momentum Transfer in a Spinning Fuel Tank Filled with Xenon

Transient spin-up and spin-down flows inside of spacecraft fuel tanks need to be analyzed in order to properly design spacecraft control systems. Knowledge of the characteristics of angular momentum transfer to and from the fuel is used to size the de-spin mechanism that places the spacecraft in a controllable in-orbit state. In previous studies, several analytical models of the spin-up process were developed. However, none have accurately predicted all of the flow dynamics. Several studies have also been conducted using Navier-Stokes based methods. These approaches have been much more successful at simulating the dynamic processes in a cylindrical container, but have not addressed the issue of momentum transfer. In the current study, the spin-up and spin-down of a fuel tank filled with gaseous xenon has been investigated using a three-dimensional unsteady Navier-Stokes code. Primary interests have been concentrated on the spin-up/spin-down time constants and the initial torque imparted on the system. Additional focus was given to the relationship between the dominant flow dynamics and the trends in momentum transfer. Through the simulation of both a cylindrical and a spherical tank, it was revealed that the transfer of angular momentum is nonlinear at early times and tends toward a linear pattern at later times. Further investigation suggests that the nonlinear spin up is controlled by the turbulent transport of momentum, while the linear phase is controlled by a Coriolis driven (Ekman) flow along the outer wall. These results indicate that the spinup and spin-down processes occur more quickly in tanks with curved surfaces than those with defined top, bottom, and side walls. The results also provide insights for the design of spacecraft de-spin mechanisms.

Peugeot, John W.↗

NASA NTRS2002

Hybrid Verification of an Interface for an Automatic Landing

Modern commercial aircraft have extensive automation which helps the pilot by performing computations, obtaining data, and completing procedural tasks. The pilot display must contain enough information so that the pilot can correctly predict the aircraft's behavior, while not overloading the pilot with unnecessary information. Human-automation interaction is currently evaluated through extensive simulation. In this paper, using both hybrid and discrete-event system techniques, we show how one could mathematically verify that an interface contains enough information for the pilot to safely and unambiguously complete a desired maneuver. We first develop a nonlinear, hybrid model for the longitudinal dynamics of a large civil jet aircraft in an autoland/go-around maneuver. We find the largest controlled subset of the aircraft's flight envelope for which we can guarantee both safe landing and safe go-around. We abstract a discrete procedural model using this result, and verify a discrete formulation of the pilot display against it. An interface which fails this verification could result in nondeterministic or unpredictable behavior from the pilot's point of view.

Oishi, Meeko↗

NASA NTRSDate not supplied

Systems Health Management and Prognostics Approaches for Electric Aircrafts

As more and more electric vehicles emerge in our daily operation progressively, a very critical challenge lies in the prediction of remaining driving flying time/distance for the flying vehicles. This information is important, particularly in the case of auto vehicles, because such vehicles can become self-aware, autonomously compute its own capabilities, and identify how to best plan and successfully complete vehicular missions safely. In case of electric aircrafts, computing the remaining flying time is also safety-critical, since an aircraft that runs out of power (battery charge) while in the air will eventually lose control leading to catastrophe. To facilitate and solve the prediction problem, awareness of the current health state of the system is key, since it is necessary to perform condition-based predictions. To accurately predict the future state of any system, it is required to possess knowledge of its current health state and future operational conditions. Latest achievements of data-driven algorithms in regression of complex nonlinear functions and classification tasks have generated a growing interest in artificial intelligence for industrial applications. Complex multi-physics models as well as digital twins, once purely built on physics and corresponding simplified lumped parameter iterations, can now benefit from machine learning algorithms to mitigate the lack of understanding of some complex behavior. Given models of the current and future system behavior, a general approach of model-based prognostics can solve the prediction problem and further decision-making. A systematic prediction framework is implemented to identify all possible sources of uncertainty, quantify each of them individually, and mathematically estimate their combined effect on the system-level quantity of interest, in this case, the remaining flying time/distance of the unmanned aircraft. Note - This presentation contains all previously published information.

Systems Health Managent↗

NASA NTRSDate not supplied

Health Monitoring and Prognostics for Electric Aircrafts

As more and more electric vehicles emerge in our daily operation progressively, a very critical challenge lies in the prediction of remaining driving flying time/distance for the flying vehicles. This information is important, particularly in the case of auto vehicles, because such vehicles can become self-aware, autonomously compute its own capabilities, and identify how to best plan and successfully complete vehicular missions safely. In case of electric aircrafts, computing the remaining flying time is also safety-critical, since an aircraft that runs out of power (battery charge) while in the air will eventually lose control leading to catastrophe. To facilitate and solve the prediction problem, awareness of the current health state of the system is key, since it is necessary to perform condition-based predictions. To accurately predict the future state of any system, it is required to possess knowledge of its current health state and future operational conditions. Latest achievements of data-driven algorithms in regression of complex nonlinear functions and classification tasks have generated a growing interest in artificial intelligence for industrial applications. Complex multi-physics models as well as digital twins, once purely built on physics and corresponding simplified lumped parameter iterations, can now benefit from machine learning algorithms to mitigate the lack of understanding of some complex behavior. Given models of the current and future system behavior, a general approach of model-based prognostics can solve the prediction problem and further decision-making. A systematic prediction framework is implemented to identify all possible sources of uncertainty, quantify each of them individually, and mathematically estimate their combined effect on the system-level quantity of interest, in this case, the remaining flying time/distance of the unmanned aircraft. Note - This presentation contains all previously approved and published information.

Systems Health Managent↗

NASA NTRSDate not supplied

Numerical Simulation of An Aspect Ratio 13.5 Common Research Model with Trailing Edge Mini-Flaps

This paper presents an aeroelastic modeling study of an aspect ratio 13.5 wind tunnel scale Common Research Model (CRM) with trailing edge mini-flaps. FUN3D is used for the aeroelastic steady and unsteady simulations at Mach 0.85 and dynamic pressure 230 psf. The aeroelastic simulation results are compared with the in-house developed VSPAERO aeroelastic model results. The incremental aerodynamic coefficients predicted by FUN3D and VSPAERO are close except when the mini-flap deflection angle is 10˚. The control reversal behavior is observed for the wing tip mini-flap. A series of dynamic pressure sweep simulations are performed to determine the control reversal onset point. Unsteady simulation results show that there is no buffet phenomenon observed at angle of attacks 0˚ and 2˚ when the mini-flap is deflected 10˚. The mini-flap oscillation simulations show the nonlinear behavior appears when the deflection angle is about 4˚.

Mini-flap↗

NASA NTRS1986

Structural dynamics research in a full-scale transport aircraft crash test

A remotely piloted air-to-ground crash test of a full-scale transport aircraft was conducted for the first time for two purposes: (1) to demonstrate performance of an antimisting fuel additive in suppressing fire in a crash environment, and (2) to obtain structural dynamics data under crash conditions for comparison with analytical predictions. The test, called the Controlled Impact Demonstration (CID), was sponsored by FAA and NASA with cooperation of industry, the Department of Defense, and the British and French governments. The test aircraft was a Boeing 720 jet transport. The aircraft impacted a dry lakebed at Edwards Air Force Base, CA. The purpose of this paper is to discuss the structural aspects of the CID. The fuselage section tests and the CID itself are described. Structural response data from these tests are presented and discussed. Nonlinear analytical modeling efforts are described, and comparisons between analytical results and experimental results are presented.

Mccomb, H. G., Jr.↗

NASA NTRS1984

Pattern selection in solidification

Directional solidification of alloys produces a wide variety of cellular or lamellar structures which, depending upon growth conditions, may be reproducibly regular or may behave chaotically. It is not well understood how these patterns are selected and controlled or even whether there ever exist sharp selection mechanisms. A related phenomenon is the spatial propagation of a pattern into a system which has been caused to become unstable against pattern-forming deformations. This phenomenon has some features in common with the propagation of sidebranching modes in dendritic solidification. In a class of one-dimensional models, the nonlinear system can be shown to select the propagating mode in which the leading edge of the pattern is just marginally stable. This stability principle, when applicable, predicts both the speed of propagation and the geometrical characteristics of the pattern which forms behind the moving front. A boundary-layer model for fully two or three dimensional solidification problems appears to exhibit similar mathematical behavior.

Langer, J. S.↗

NASA NTRS1990

An overview of selected NASP aeroelastic studies at the NASA Langley Research Center

Following an initial discussion of the NASP flight environment, the results of recent aeroelastic testing of NASP-type highly swept delta-wing models in Langley's Transonic Dynamics Tunnel (TDT) are summarized. Subsonic and transonic flutter characteristics of a variety of these models are described, and several analytical codes used to predict flutter of these models are evaluated. These codes generally provide good, but conservative predictions of subsonic and transonic flutter. Also, test results are presented on a nonlinear transonic phenomena known as aileron buzz which occurred in the wind tunnel on highly swept delta wings with full-span ailerons. An analytical procedure which assesses the effects of hypersonic heating on aeroelastic instabilities (aerothermoelasticity) is also described. This procedure accurately predicted flutter of a heated aluminum wing on which experimental data exists. Results are presented on the application of this method to calculate the flutter characteristics of a fine-element model of a generic NASP configuration. Finally, it is demonstrated analytically that active controls can be employed to improve the aeroelastic stability and ride quality of a generic NASP vehicle flying at hypersonic speeds.

Spain, Charles V.↗

NASA NTRS2009

Roughness Based Crossflow Transition Control: A Computational Assessment

A combination of parabolized stability equations and secondary instability theory has been applied to a low-speed swept airfoil model with a chord Reynolds number of 7.15 million, with the goals of (i) evaluating this methodology in the context of transition prediction for a known configuration for which roughness based crossflow transition control has been demonstrated under flight conditions and (ii) of analyzing the mechanism of transition delay via the introduction of discrete roughness elements (DRE). Roughness based transition control involves controlled seeding of suitable, subdominant crossflow modes, so as to weaken the growth of naturally occurring, linearly more unstable crossflow modes. Therefore, a synthesis of receptivity, linear and nonlinear growth of stationary crossflow disturbances, and the ensuing development of high frequency secondary instabilities is desirable to understand the experimentally observed transition behavior. With further validation, such higher fidelity prediction methodology could be utilized to assess the potential for crossflow transition control at even higher Reynolds numbers, where experimental data is currently unavailable.

Li, Fei↗

NASA NTRS2011

Computational Study of Laminar Flow Control on a Subsonic Swept Wing Using Discrete Roughness Elements

A combination of parabolized stability equations and secondary instability theory has been applied to a low-speed swept airfoil model with a chord Reynolds number of 7.15 million, with the goals of (i) evaluating this methodology in the context of transition prediction for a known configuration for which roughness based crossflow transition control has been demonstrated under flight conditions and (ii) of analyzing the mechanism of transition delay via the introduction of discrete roughness elements (DRE). Roughness based transition control involves controlled seeding of suitable, subdominant crossflow modes, so as to weaken the growth of naturally occurring, linearly more unstable crossflow modes. Therefore, a synthesis of receptivity, linear and nonlinear growth of stationary crossflow disturbances, and the ensuing development of high frequency secondary instabilities is desirable to understand the experimentally observed transition behavior. With further validation, such higher fidelity prediction methodology could be utilized to assess the potential for crossflow transition control at even higher Reynolds numbers, where experimental data is currently unavailable.

Li, Fei↗

NASA NTRS2024

A Koopman-based residual modeling approach for the control of a soft robot arm

Soft robots are challenging to model and control due to their poorly defined kinematics and nonlinear dynamics. Recently, Koopman operator theory has been shown capable of constructing control-oriented soft robot models from data. However, building these models requires extensive data collection and they do not necessarily generalize well outside of the training observations. This paper presents a more data-efficient and generalizable approach to soft robot modeling that first identifies a physics-based Koopman model then supplements it with a data-driven residual Koopman model. The resulting combined model is linear and thus compatible with real-time model-based control techniques such as Model Predictive Control (MPC). The efficacy of the approach is demonstrated on several simulated systems and on a real soft robot arm, where it is shown to generate models that are more accurate than purely physics-based models and require less data to construct than purely data-driven models. Using a model-based controller, the soft arm is able to successfully track end effector trajectories, perform a pick-and-place task, and write on a dry-erase board, showcasing the applicability of this framework to increase the capabilities of soft robotic systems.

Daniel Bruder↗

NASA NTRS1999

A Hysteresis Model for Piezoceramic Materials

This paper addresses the modeling of nonlinear constitutive relations and hysteresis inherent to piezoceramic materials at moderate to high drive levels. Such models are, necessary to realize the, full potential of the materials in high performance control applications, and a necessary prerequisite is the development of techniques which permit control implementation. The approach employed here is based on the qualification of reversible and irreversible domain wall motion in response to applied electric fields. A comparison with experimental data illustrates that because the resulting ODE model is physics-based, it can be employed for both characterization and prediction of polarization levels throughout the range of actuator operation. Finally, the ODE formulation is amenable to inversion which facilitates the development of an inverse compensator for linear control design.

Smith, Ralph C.↗

NASA NTRS2003

A Nonlinear Model for Fuel Atomization in Spray Combustion

Most gas turbine combustion codes rely on ad-hoc statistical assumptions regarding the outcome of fuel atomization processes. The modeling effort proposed in this project is aimed at developing a realistic model to produce accurate predictions of fuel atomization parameters. The model involves application of the nonlinear stability theory to analyze the instability and subsequent disintegration of the liquid fuel sheet that is produced by fuel injection nozzles in gas turbine combustors. The fuel sheet is atomized into a multiplicity of small drops of large surface area to volume ratio to enhance the evaporation rate and combustion performance. The proposed model will effect predictions of fuel sheet atomization parameters such as drop size, velocity, and orientation as well as sheet penetration depth, breakup time and thickness. These parameters are essential for combustion simulation codes to perform a controlled and optimized design of gas turbine fuel injectors. Optimizing fuel injection processes is crucial to improving combustion efficiency and hence reducing fuel consumption and pollutants emissions.

Liu, Nan-Suey↗

NASA NTRS1997

Linearized Poststall Aerodynamic and Control Law Models of the X-31A Aircraft and Comparison with Flight Data

The X-31A aircraft has a unique configuration that uses thrust-vector vanes and aerodynamic control effectors to provide an operating envelope to a maximum 70 deg angle of attack, an inherently nonlinear portion of the flight envelope. This report presents linearized versions of the X-31A longitudinal and lateral-directional control systems, with aerodynamic models sufficient to evaluate characteristics in the poststall envelope at 30 deg, 45 deg, and 60 deg angle of attack. The models are presented with detail sufficient to allow the reader to reproduce the linear results or perform independent control studies. Comparisons between the responses of the linear models and flight data are presented in the time and frequency domains to demonstrate the strengths and weaknesses of the ability to predict high-angle-of-attack flight dynamics using linear models. The X-31A six-degree-of-freedom simulation contains a program that calculates linear perturbation models throughout the X-31A flight envelope. The models include aerodynamics and flight control system dynamics that are used for stability, controllability, and handling qualities analysis. The models presented in this report demonstrate the ability to provide reasonable linear representations in the poststall flight regime.

Stoliker, Patrick C.↗

NASA NTRS2003

Modeling Aircraft Wing Loads from Flight Data Using Neural Networks

Neural networks were used to model wing bending-moment loads, torsion loads, and control surface hinge-moments of the Active Aeroelastic Wing (AAW) aircraft. Accurate loads models are required for the development of control laws designed to increase roll performance through wing twist while not exceeding load limits. Inputs to the model include aircraft rates, accelerations, and control surface positions. Neural networks were chosen to model aircraft loads because they can account for uncharacterized nonlinear effects while retaining the capability to generalize. The accuracy of the neural network models was improved by first developing linear loads models to use as starting points for network training. Neural networks were then trained with flight data for rolls, loaded reversals, wind-up-turns, and individual control surface doublets for load excitation. Generalization was improved by using gain weighting and early stopping. Results are presented for neural network loads models of four wing loads and four control surface hinge moments at Mach 0.90 and an altitude of 15,000 ft. An average model prediction error reduction of 18.6 percent was calculated for the neural network models when compared to the linear models. This paper documents the input data conditioning, input parameter selection, structure, training, and validation of the neural network models.

Allen, Michael J.↗