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NASA NTRS1999

Proper Orthogonal Decomposition in Optimal Control of Fluids

In this article, we present a reduced order modeling approach suitable for active control of fluid dynamical systems based on proper orthogonal decomposition (POD). The rationale behind the reduced order modeling is that numerical simulation of Navier-Stokes equations is still too costly for the purpose of optimization and control of unsteady flows. We examine the possibility of obtaining reduced order models that reduce computational complexity associated with the Navier-Stokes equations while capturing the essential dynamics by using the POD. The POD allows extraction of certain optimal set of basis functions, perhaps few, from a computational or experimental data-base through an eigenvalue analysis. The solution is then obtained as a linear combination of these optimal set of basis functions by means of Galerkin projection. This makes it attractive for optimal control and estimation of systems governed by partial differential equations. We here use it in active control of fluid flows governed by the Navier-Stokes equations. We show that the resulting reduced order model can be very efficient for the computations of optimization and control problems in unsteady flows. Finally, implementational issues and numerical experiments are presented for simulations and optimal control of fluid flow through channels.

Ravindran, S. S.↗
NASA NTRS1999

Optimal Frequency-Domain System Realization with Weighting

Several approaches are presented to identify an experimental system model directly from frequency response data. The formulation uses a matrix-fraction description as the model structure. Frequency weighting such as exponential weighting is introduced to solve a weighted least-squares problem to obtain the coefficient matrices for the matrix-fraction description. A multi-variable state-space model can then be formed using the coefficient matrices of the matrix-fraction description. Three different approaches are introduced to fine-tune the model using nonlinear programming methods to minimize the desired cost function. The first method uses an eigenvalue assignment technique to reassign a subset of system poles to improve the identified model. The second method deals with the model in the real Schur or modal form, reassigns a subset of system poles, and adjusts the columns (rows) of the input (output) influence matrix using a nonlinear optimizer. The third method also optimizes a subset of poles, but the input and output influence matrices are refined at every optimization step through least-squares procedures.

Juang, Jer-Nan↗
NASA NTRS1994

Analytic Sensitivities for Shape Optimization in Equivalent Plate Structural Wing Models

Equivalent plate modeling techniques based on Ritz analysis with simple polynomials prove to be efficient tools for structural modeling of wings in the preliminary design stage. Accuracy problems are encountered, however, when these models are used to obtain finite difference behavior sensitivities with respect to planform shape. The accuracy problems are associated with the poor numerical conditioning of static and eigenvalue equations. As higher-order polynomials are being used to Improve the analysis itself, the more sensitive is the finite difference derivative to the step size used. This article describes a formulation of wing equivalent plate modeling in which it is simple to obtain analytic, explicit expressions for stiffness and mass matrix elements without the need to perform numerical integration. This formulation leads naturally to analytic expressions for the derivatives of displacements, stresses, and natural frequencies with respect to shape design variables. This article examines the accuracy of finite difference derivatives compared with the analytic derivatives, and shows that In some cases it is impossible to obtain any information of value by finite differences. Analytic sensitivities, in this case, are still sufficiently accurate for design optimization.

Livne, Eli↗
NASA NTRS1999

Robust Passification via Optimal Sensor Blending and Control Allocation

Robust passification is considered for uncertain linear, time invariant, systems having redundant actuators and sensors. The approach is to obtain optimal sensor blending and control allocation matrices that maximize the region in the parameter space in which the system remains passive. The approach results in a generalized eigenvalue problem consisting of a number of linear matrix inequalities (LMIs). Reduction of the number of LMIs is investigated, and a numerical example is given for demonstrating the approach.

Joshi, S. M.↗
NASA NTRS1999

How to Estimate Attitude from Vector Observations

The most robust estimators minimizing Wahba's loss function are Davenport's q method and the Singular Value Decomposition (SVD) method. The q method is faster than the SVD method with three or more measurements. The other algorithms are less robust since they solve the characteristic polynomial equation to find the maximum eigenvalue of Davenport's K matrix. They are only preferable when speed or processor power is an important consideration. Of these, Fast Optimal Attitude Matrix (FOAM) is the most robust and faster than the q method. Robustness is only an issue for measurements with widely differing accuracies, so the fastest algorithms, Quaternion ESTimator (QUEST), EStimator of the Optimal Quaternion (ESOQ), and ESOQ2, are well suited to star sensor applications.

Markley, F. Landis↗
NASA NTRS1999

Robust Passification via Optimal Sensor Blending and Control Allocation

Robust passification is considered for uncertain linear, time invariant systems having redundant actuators and sensors. The approach is to obtain optimal sensor blending and control allocation matrices that maximize the region in the parameter space in which the system remains passive. The approach results in a generalized eigenvalue problem consisting of a number of linear matrix inequalities (LMIs). Reduction of the number of LMIs is investigated, and a numerical example is given for demonstrating the approach.

Joshi, S. M.↗
NASA NTRS1994

The Topology of Three-Dimensional Symmetric Tensor Fields

We study the topology of 3-D symmetric tensor fields. The goal is to represent their complex structure by a simple set of carefully chosen points and lines analogous to vector field topology. The basic constituents of tensor topology are the degenerate points, or points where eigenvalues are equal to each other. First, we introduce a new method for locating 3-D degenerate points. We then extract the topological skeletons of the eigenvector fields and use them for a compact, comprehensive description of the tensor field. Finally, we demonstrate the use of tensor field topology for the interpretation of the two-force Boussinesq problem.

Lavin, Yingmei↗
NASA NTRS1999

Cg/Stability Map for the Reference H Cycle 3 Supersonic Transport Concept Along the High Speed Research Baseline Mission Profile

A comparison is made between the results of trimming a High Speed Civil Transport (HSCT) concept along a reference mission profile using two trim modes. One mode uses the stabilator. The other mode uses fore and aft placement of the center of gravity. A comparison is make of the throttle settings (cruise segments) or the total acceleration (ascent and descent segments) and of the drag coefficient. The comparative stability of trimming using the two modes is also assessed by comparing the stability margins and the placement of the lateral and longitudinal eigenvalues.

Giesy, Daniel P.↗
NASA NTRS2000

Application of a Reduced Order Kalman Filter to Initialize a Coupled Atmosphere-Ocean Model: Impact on the Prediction of El Nino

A reduced order Kalman Filter, based on a simplification of the Singular Evolutive Extended Kalman (SEEK) filter equations, is used to assimilate observed fields of the surface wind stress, sea surface temperature and sea level into the nonlinear coupled ocean-atmosphere model. The SEEK filter projects the Kalman Filter equations onto a subspace defined by the eigenvalue decomposition of the error forecast matrix, allowing its application to high dimensional systems. The Zebiak and Cane model couples a linear reduced gravity ocean model with a single vertical mode atmospheric model of Zebiak. The compatibility between the simplified physics of the model and each observed variable is studied separately and together. The results show the ability of the model to represent the simultaneous value of the wind stress, SST and sea level, when the fields are limited to the latitude band 10 deg S - 10 deg N. In this first application of the Kalman Filter to a coupled ocean-atmosphere prediction model, the sea level fields are assimilated in terms of the Kelvin and Rossby modes of the thermocline depth anomaly. An estimation of the error of these modes is derived from the projection of an estimation of the sea level error over such modes. This method gives a value of 12 for the error of the Kelvin amplitude, and 6 m of error for the Rossby component of the thermocline depth. The ability of the method to reconstruct the state of the equatorial Pacific and predict its time evolution is demonstrated. The method is shown to be quite robust for predictions I up to six months, and able to predict the onset of the 1997 warm event fifteen months before its occurrence.

Ballabrera-Poy, Joaquim↗
NASA NTRS2000

Application of a Reduced Order Kalman Filter to Initialize a Coupled Atmosphere-Ocean Model: Impact on the Prediction of El Nino

A reduced order Kalman Filter, based on a simplification of the Singular Evolutive Extended Kalman (SEEK) filter equations, is used to assimilate observed fields of the surface wind stress, sea surface temperature and sea level into the nonlinear coupled ocean-atmosphere model of Zebiak and Cane. The SEEK filter projects the Kalman Filter equations onto a subspace defined by the eigenvalue decomposition of the error forecast matrix, allowing its application to high dimensional systems. The Zebiak and Cane model couples a linear reduced gravity ocean model with a single vertical mode atmospheric model of Zebiak. The compatibility between the simplified physics of the model and each observed variable is studied separately and together. The results show the ability of the model to represent the simultaneous value of the wind stress, SST and sea level, when the fields are limited to the latitude band 10 deg S - 10 deg N In this first application of the Kalman Filter to a coupled ocean-atmosphere prediction model, the sea level fields are assimilated in terms of the Kelvin and Rossby modes of the thermocline depth anomaly. An estimation of the error of these modes is derived from the projection of an estimation of the sea level error over such modes. This method gives a value of 12 for the error of the Kelvin amplitude, and 6 m of error for the Rossby component of the thermocline depth. The ability of the method to reconstruct the state of the equatorial Pacific and predict its time evolution is demonstrated. The method is shown to be quite robust for predictions up to six months, and able to predict the onset of the 1997 warm event fifteen months before its occurrence.

Ballabrera-Poy, J.↗
NASA NTRS2000

Reusable Launch Vehicle Control In Multiple Time Scale Sliding Modes

A reusable launch vehicle control problem during ascent is addressed via multiple-time scaled continuous sliding mode control. The proposed sliding mode controller utilizes a two-loop structure and provides robust, de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of bounded external disturbances and plant uncertainties. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues placement. Overall stability of a two-loop control system is addressed. An optimal control allocation algorithm is designed that allocates torque commands into end-effector deflection commands, which are executed by the actuators. The dual-time scale sliding mode controller was designed for the X-33 technology demonstration sub-orbital launch vehicle in the launch mode. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in presence of external disturbances and vehicle inertia uncertainties. This is a significant advancement in performance over that achieved with linear, gain scheduled control systems currently being used for launch vehicles.

Shtessel, Yuri↗
NASA NTRS2000

Sliding Mode Control of the X-33 with an Engine Failure

Ascent flight control of the X-3 is performed using two XRS-2200 linear aerospike engines. in addition to aerosurfaces. The baseline control algorithms are PID with gain scheduling. Flight control using an innovative method. Sliding Mode Control. is presented for nominal and engine failed modes of flight. An easy to implement, robust controller. requiring no reconfiguration or gain scheduling is demonstrated through high fidelity flight simulations. The proposed sliding mode controller utilizes a two-loop structure and provides robust. de-coupled tracking of both orientation angle command profiles and angular rate command profiles in the presence of engine failure, bounded external disturbances (wind gusts) and uncertain matrix of inertia. Sliding mode control causes the angular rate and orientation angle tracking error dynamics to be constrained to linear, de-coupled, homogeneous, and vector valued differential equations with desired eigenvalues. Conditions that restrict engine failures to robustness domain of the sliding mode controller are derived. Overall stability of a two-loop flight control system is assessed. Simulation results show that the designed controller provides robust, accurate, de-coupled tracking of the orientation angle command profiles in the presence of external disturbances and vehicle inertia uncertainties, as well as the single engine failed case. The designed robust controller will significantly reduce the time and cost associated with flying new trajectory profiles or orbits, with new payloads, and with modified vehicles

Shtessel, Yuri B.↗
NASA NTRS2000

Ordering Unstructured Meshes for Sparse Matrix Computations on Leading Parallel Systems

The ability of computers to solve hitherto intractable problems and simulate complex processes using mathematical models makes them an indispensable part of modern science and engineering. Computer simulations of large-scale realistic applications usually require solving a set of non-linear partial differential equations (PDES) over a finite region. For example, one thrust area in the DOE Grand Challenge projects is to design future accelerators such as the SpaHation Neutron Source (SNS). Our colleagues at SLAC need to model complex RFQ cavities with large aspect ratios. Unstructured grids are currently used to resolve the small features in a large computational domain; dynamic mesh adaptation will be added in the future for additional efficiency. The PDEs for electromagnetics are discretized by the FEM method, which leads to a generalized eigenvalue problem Kx = AMx, where K and M are the stiffness and mass matrices, and are very sparse. In a typical cavity model, the number of degrees of freedom is about one million. For such large eigenproblems, direct solution techniques quickly reach the memory limits. Instead, the most widely-used methods are Krylov subspace methods, such as Lanczos or Jacobi-Davidson. In all the Krylov-based algorithms, sparse matrix-vector multiplication (SPMV) must be performed repeatedly. Therefore, the efficiency of SPMV usually determines the eigensolver speed. SPMV is also one of the most heavily used kernels in large-scale numerical simulations.

Oliker, Leonid↗
NASA NTRS2001

Investigation of Nonlinear Pressurization and Model Restart in MSC/NASTRAN for Modeling Thin Film Inflatable Structures

This paper is written for the purpose of providing an introduction and set of guidelines for the use of a methodology for NASTRAN eigenvalue modeling of thin film inflatable structures. It is hoped that this paper will spare the reader from the problems and headaches the authors were confronted with during their investigation by presenting here not only an introduction and verification of the methodology, but also a discussion of the problems that this methodology can ensue. Our goal in this investigation was to verify the basic methodology through the creation and correlation of a simple model. An overview of thin film structures, their history, and their applications is given. Previous modeling work is then briefly discussed. An introduction is then given for the method of modeling. The specific mechanics of the method are then discussed in parallel with a basic discussion of NASTRAN s implementation of these mechanics. The problems encountered with the method are then given along with suggestions for their work-a-rounds. The methodology is verified through the correlation between an analytical model and modal test results of a thin film strut. Recommendations are given for the needed advancement of our understanding of this method and ability to accurately model thin film structures. Finally, conclusions are drawn regarding the usefulness of the methodology.

Smalley, Kurt B.↗
NASA NTRS2000

Finite Element Analysis of Reverberation Chambers

The primary motivating factor behind the initiation of this work was to provide a deterministic means of establishing the validity of the statistical methods that are recommended for the determination of fields that interact in -an avionics system. The application of finite element analysis to reverberation chambers is the initial step required to establish a reasonable course of inquiry in this particularly data-intensive study. The use of computational electromagnetics provides a high degree of control of the "experimental" parameters that can be utilized in a simulation of reverberating structures. As the work evolved there were four primary focus areas they are: 1. The eigenvalue problem for the source free problem. 2. The development of a complex efficient eigensolver. 3. The application of a source for the TE and TM fields for statistical characterization. 4. The examination of shielding effectiveness in a reverberating environment. One early purpose of this work was to establish the utility of finite element techniques in the development of an extended low frequency statistical model for reverberation phenomena. By employing finite element techniques, structures of arbitrary complexity can be analyzed due to the use of triangular shape functions in the spatial discretization. The effects of both frequency stirring and mechanical stirring are presented. It is suggested that for the low frequency operation the typical tuner size is inadequate to provide a sufficiently random field and that frequency stirring should be used. The results of the finite element analysis of the reverberation chamber illustrate io-W the potential utility of a 2D representation for enhancing the basic statistical characteristics of the chamber when operating in a low frequency regime. The basic field statistics are verified for frequency stirring over a wide range of frequencies. Mechanical stirring is shown to provide an effective frequency deviation.

Bunting, Charles F.↗
NASA NTRS2001

Spatial Linear Instability of Confluent Wake/Boundary Layers

The spatial linear instability of incompressible confluent wake/boundary layers is analyzed. The flow model adopted is a superposition of the Blasius boundary layer and a wake located above the boundary layer. The Orr-Sommerfeld equation is solved using a global numerical method for the resulting eigenvalue problem. The numerical procedure is validated by comparing the present solutions for the instability of the Blasius boundary layer and for the instability of a wake with published results. For the confluent wake/boundary layers, modes associated with the boundary layer and the wake, respectively, are identified. The boundary layer mode is found amplified as the wake approaches the wall. On the other hand, the modes associated with the wake, including a symmetric mode and an antisymmetric mode, are stabilized by the reduced distance between the wall and the wake. An unstable mode switching at low frequency is observed where the antisymmetric mode becomes more unstable than the symmetric mode when the wake velocity defect is high.

Liou, William W.↗
NASA NTRS2001

Additive Runge-Kutta Schemes for Convection-Diffusion-Reaction Equations

Additive Runge-Kutta (ARK) methods are investigated for application to the spatially discretized one-dimensional convection-diffusion-reaction (CDR) equations. First, accuracy, stability, conservation, and dense output are considered for the general case when N different Runge-Kutta methods are grouped into a single composite method. Then, implicit-explicit, N = 2, additive Runge-Kutta ARK2 methods from third- to fifth-order are presented that allow for integration of stiff terms by an L-stable, stiffly-accurate explicit, singly diagonally implicit Runge-Kutta (ESDIRK) method while the nonstiff terms are integrated with a traditional explicit Runge-Kutta method (ERK). Coupling error terms are of equal order to those of the elemental methods. Derived ARK2 methods have vanishing stability functions for very large values of the stiff scaled eigenvalue, z(exp [I]) goes to infinity, and retain high stability efficiency in the absence of stiffness, z(exp [I]) goes to zero. Extrapolation-type stage-value predictors are provided based on dense-output formulae. Optimized methods minimize both leading order ARK2 error terms and Butcher coefficient magnitudes as well as maximize conservation properties. Numerical tests of the new schemes on a CDR problem show negligible stiffness leakage and near classical order convergence rates. However, tests on three simple singular-perturbation problems reveal generally predictable order reduction. Error control is best managed with a PID-controller. While results for the fifth-order method are disappointing, both the new third- and fourth-order methods are at least as efficient as existing ARK2 methods while offering error control and stage-value predictors.

Kennedy, Christopher A.↗
NASA NTRS1967

Matrix Analysis of Longitudinal and Torsional Vibrations in Nonuniform Multibranch Beams

Since longitudinal modes and frequencies provide basic data for dynamic analyses of arbitrary beam-like structures and since closed-form solutions for the modes are generally not feasible to obtain, an approximate method is developed for computing the natural frequencies and the corresponding mode shapes for a variable-section, unconstrained multibranch beam. A lumped mass analogy employing influence coefficients is used to represent the beam. The simultaneous equations of motion for the lumped mass system are derived in matrix form and algebraically manipulated to yield a classical eigenvalue equation solvable by standard procedures. The orthogonality relationship of the natural modes is derived and used to form the basis of an orthogonal sweeping process for determination of modes above the fundamental. Numerical examples including an application to a solid-fuel launch system are presented. Also, a detailed discussion is devoted to the theoretical verifications of the approximate modes and frequencies.

Wingate, Robert T.↗