Performance-limit criteria for the design of fast-response servo-actuation systems
Analysis of a typical nonlinear electrohydraulic servo-model establishes the dynamic-performance capabilities of servo-actuation systems.
Zeller, J. R.↗
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Direct adaptive control of manipulators in Cartesian space
A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.
Seraji, H.↗
An adaptive Cartesian control scheme for manipulators
A adaptive control scheme for direct control of manipulator end-effectors to achieve trajectory tracking in Cartesian space is developed. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for online implementation with high sampling rates.
Seraji, H.↗
Cerebellar dynamic state estimation for biomorphic robot arm
The cerebellum has been called the brain's 'engine of agility'. This paper presents a cerebellar-inspired neural network that performs dynamic state estimation and predictive control.
dynamic state estimation↗
The application of model-referenced adaptive control to robotic manipulators
The achievement of quality dynamic performance in manipulator systems is difficult using conventional control methods because of both the inherent geometric nonlinearities of these systems and the dependence of the system dynamics on the characteristics of manipulated objects. A model-referenced adaptive control law is developed for maintaining uniformly good performance over a wide range of motions and payloads. The effectiveness of the approach is demonstrated in several simulations and the system stability as a function of input is investigated. Also developed is a 'learning signal' approach designed to minimize initial transients arising from abrupt changes in the inertial payload.
Dubowsky, S.↗
Numerical study of implosion instability mitigation in magnetically driven solid liner dynamic screw pinches
Magnetized liner inertial fusion experiments on the Z accelerator suffer from magneto-Rayleigh–Taylor instabilities (MRTI) that compromise integrity of the imploding cylindrical liner, limiting achievable fusion fuel conditions and ultimately reducing magneto-inertial fusion target performance. Dynamic screw pinches (DSP) provide a method to reduce MRTI in-flight via application of magnetic field line tension to the imploding liner outer surface. In contrast with z-pinches that drive implosions with an azimuthal magnetic field, dynamic screw pinches enforce an additional axial drive magnetic field component, making the overall drive magnetic field helical. As the liner implodes, cumulative MRTI development is reduced by dynamically shifting the orientation of the fastest growing instability modes. Three-dimensional magnetohydrodynamic simulations show that the DSP mechanism effectively stabilizes initially solid cylindrical liner implosions driven by Z-scale current pulses, indicating that MRTI mitigation increases with the ratio of axial to azimuthal drive magnetic field components (i.e., the drive field ratio). We also performed a spectral analysis of the simulated imploding density distributions, extracting wavelength and pitch angle of the simulated MRTI structures to study their dynamics during the implosion. Simulations of liners initially perturbed with drive-field-aligned sinusoidal structures indicate that MRTI mitigation in DSP implosions decreases with perturbation wavelength, once again suggestive of magnetic field line tension effects.
70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
Generalized dynamic engine simulation techniques for the digital computers
Recently advanced simulation techniques have been developed for the digital computer and used as the basis for development of a generalized dynamic engine simulation computer program, called DYNGEN. This computer program can analyze the steady state and dynamic performance of many kinds of aircraft gas turbine engines. Without changes to the basic program, DYNGEN can analyze one- or two-spool turbofan engines. The user must supply appropriate component performance maps and design point information. Examples are presented to illustrate the capabilities of DYNGEN in the steady state and dynamic modes of operation. The analytical techniques used in DYNGEN are briefly discussed, and its accuracy is compared with a comparable simulation using the hybrid computer. The impact of DYNGEN and similar digital programs on future engine simulation philosophy is also discussed.
Sellers, J.↗
Characterization of Axial Inducer Cavitation Instabilities via High Speed Video Recordings
Sub-scale water tests were undertaken to assess the viability of utilizing high resolution, high frame-rate digital video recordings of a liquid rocket engine turbopump axial inducer to characterize cavitation instabilities. These high speed video (HSV) images of various cavitation phenomena, including higher order cavitation, rotating cavitation, alternating blade cavitation, and asymmetric cavitation, as well as non-cavitating flows for comparison, were recorded from various orientations through an acrylic tunnel using one and two cameras at digital recording rates ranging from 6,000 to 15,700 frames per second. The physical characteristics of these cavitation forms, including the mechanisms that define the cavitation frequency, were identified. Additionally, these images showed how the cavitation forms changed and transitioned from one type (tip vortex) to another (sheet cavitation) as the inducer boundary conditions (inlet pressures) were changed. Image processing techniques were developed which tracked the formation and collapse of cavitating fluid in a specified target area, both in the temporal and frequency domains, in order to characterize the cavitation instability frequency. The accuracy of the analysis techniques was found to be very dependent on target size for higher order cavitation, but much less so for the other phenomena. Tunnel-mounted piezoelectric, dynamic pressure transducers were present throughout these tests and were used as references in correlating the results obtained by image processing. Results showed good agreement between image processing and dynamic pressure spectral data. The test set-up, test program, and test results including H-Q and suction performance, dynamic environment and cavitation characterization, and image processing techniques and results will be discussed.
Arellano, Patrick↗
Nonadiabatic Molecular Dynamics by Multiconfiguration Pair-Density Functional Theory
Herein, we present the first implementation of multiconfiguration pair-density functional theory (MC-PDFT) ab initio molecular dynamics. MC-PDFT is a multireference electronic structure method that in many cases has a similar accuracy (or even better accuracy) the complete active space second-order perturbation theory (CASPT2) at a significantly lower computational cost. In this study, we introduced MC-PDFT analytical gradients into the SHARC molecular dynamics program for ab initio, nonadiabatic molecular dynamics simulations. We verify our implementation by examining the intersystem crossing dynamics of thioformaldehyde, and we observe excellent agreement with recent CASPT2 and experimental findings. Moreover, with MC-PDFT, we could perform dynamics simulations with the 12 electron in 10 orbitals active space that was computationally too expensive for direct dynamics with CASPT2.
37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
Generalized dynamic engine simulation techniques for the digital computer
Recently advanced simulation techniques have been developed for the digital computer and used as the basis for development of a generalized dynamic engine simulation computer program, called DYNGEN. This computer program can analyze the steady state and dynamic performance of many kinds of aircraft gas turbine engines. Without changes to the basic program DYNGEN can analyze one- or two-spool turbofan engines. The user must supply appropriate component performance maps and design-point information. Examples are presented to illustrate the capabilities of DYNGEN in the steady state and dynamic modes of operation. The analytical techniques used in DYNGEN are briefly discussed, and its accuracy is compared with a comparable simulation using the hybrid computer. The impact of DYNGEN and similar all-digital programs on future engine simulation philosophy is also discussed.
Sellers, J.↗
Generalized dynamic engine simulation techniques for the digital computer
Recently advanced simulation techniques have been developed for the digital computer and used as the basis for development of a generalized dynamic engine simulation computer program, called DYNGEN. This computer program can analyze the steady state and dynamic performance of many kinds of aircraft gas turbine engines. Without changes to the basic program, DYNGEN can analyze one- or two-spool turbofan engines. The user must supply appropriate component performance maps and design-point information. Examples are presented to illustrate the capabilities of DYNGEN in the steady state and dynamic modes of operation. The analytical techniques used in DYNGEN are briefly discussed, and its accuracy is compared with a comparable simulation using the hybrid computer. The impact of DYNGEN and similar all-digital programs on future engine simulation philosophy is also discussed.
Sellers, J.↗
Starvation effects on the hydrodynamic lubrication of rigid nonconformal contacts in combined rolling and normal motion
The effect of inlet starvation on the hydrodynamic lubrication of lightly loaded rigid nonconformal contacts in combined rolling and normal motion is determined through a numerical solution of the Reynolds' equation for an isoviscous, incompressible lubricant. Starvation is effected by systematically reducing the fluid inlet level. The pressures are taken to be ambient at the inlet meniscus boundary and Reynolds' boundary condition is applied for film rupture in the exit region. Results are presented for the dynamic performance of the starved contacts in combined rolling and normal motion for both normal approach and separation. During normal approach the dynamic load ratio (i.e. ratio of dynamic to steady state load capacity) increases considerably with increase in the inlet starvation. The effect of starvation on the dynamic peak pressure ratio is relatively small. Further, it has been observed that with increasing starvation, film thickness effects become significant in the dynamic behavior of the nonconformal contacts. For significantly starved contacts the dynamic load ratio increases with increase in film thickness during normal approach and a similar reduction is observed during separation. A similar effect is noted for the dynamic peak pressure ratio.
Ghosh, M. K.↗
Starvation effects on the hydrodynamic lubrication of rigid nonconformal contacts in combined rolling and normal motion
The effect of inlet starvation on the hydrodynamic lubrication of lightly loaded rigid nonconformal contacts in combined rolling and normal motion is determined through a numerical solution of the Reynolds' equation for an isoviscous, incompressible lubricant. Starvation is effected by systematically reducing the fluid inlet level. The pressures are taken to be ambient at the inlet meniscus boundary and Reynolds' boundary condition is applied for film rupture in the exit region. Results are presented for the dynamic performance of the starved contacts in combined rolling and normal motion for both normal approach and separation. During normal approach the dynamic load ratio (i.e. ratio of dynamic to steady state load capacity) increases considerably with increase in the inlet starvation. The effect of starvation on the dynamic peak pressure ratio is relatively small. Further, it has been observed that with increasing starvation, film thickness effects become significant in the dynamic behavior of the nonconformal contacts. For significantly starved contacts the dynamic load ratio increases with increase in film thickness during normal approach and a similar reduction is observed during separation. A similar effect is noted for the dynamic peak pressure ratio.
Ghosh, M. K.↗
Fluid dynamic and thermal performance of a slotted cylinder at low Reynolds number
The fluid dynamic and thermal performance of a circular cylinder with a slot parallel to the flow is numerically investigated. The study utilized the semi-implicit finite volume multi-material algorithm MPM-ICE, a component of the Uintah framework. The normalized slot width s/D ranges from 0.1 - 0.3, introducing an additional heat transfer surface area between ~ 10 and ~ 50%, and a mass reduction between ~ 13 and ~ 38% in the cylinder. We assumed two-dimensional incompressible flow and simulated a Reynolds number Re D between 100 and 1000. The slotted cylinders are found to have a total drag force reduction up to ~ 45%, compared to a solid cylinder despite the additional viscous drag force in the slot. Convection heat transfer is enhanced up to ~ 70%. Further, the slotted cylinder performance index, defined as the ratio of the heat rate to the drag force, increases up to maximum of ~ 3, indicating better overall thermal fluid performance. An entropy analysis showed the best performance index occurs at the highest Re D . Correlations for drag coefficient and Nusselt number are proposed along with an entropy optimization method.
42 ENGINEERING↗
Effects of Combined Linear and Vibratory Accelerations on Human Body Dynamics and Pilot Performance Capabilities.
Combined linear and vibratory accelerations effects on human body dynamics and pilot performance capabilities
Dolkas, C. B.↗
Space Station Freedom (SSF) Data Management System (DMS) performance model data base
The purpose of this document was originally to be a working document summarizing Space Station Freedom (SSF) Data Management System (DMS) hardware and software design, configuration, performance and estimated loading data from a myriad of source documents such that the parameters provided could be used to build a dynamic performance model of the DMS. The document is published at this time as a close-out of the DMS performance modeling effort resulting from the Clinton Administration mandated Space Station Redesign. The DMS as documented in this report is no longer a part of the redesigned Space Station. The performance modeling effort was a joint undertaking between the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) Flight Data Systems Division (FDSD) and the NASA Ames Research Center (ARC) Spacecraft Data Systems Research Branch. The scope of this document is limited to the DMS core network through the Man Tended Configuration (MTC) as it existed prior to the 1993 Clinton Administration mandated Space Station Redesign. Data is provided for the Standard Data Processors (SDP's), Multiplexer/Demultiplexers (MDM's) and Mass Storage Units (MSU's). Planned future releases would have added the additional hardware and software descriptions needed to describe the complete DMS. Performance and loading data through the Permanent Manned Configuration (PMC) was to have been included as it became available. No future releases of this document are presently planned pending completion of the present Space Station Redesign activities and task reassessment.
Stovall, John R.↗
Vibration mitigation using an inerter-based isolation system
Extreme dynamic environments can result in the failure of structures and equipment. To mitigate these effects, isolation systems can be used. In recent years, inerters have been studied as a part of different structural control methods. The inerter is attractive for many structural control methods because it can produce large mass effects despite having a small physical mass through the transformation of translational motion to the rotational motion of a flywheel. While inerters have been considered in structural control, experimental studies of isolation systems featuring inerters has been limited. This project seeks to study the ability of the addition of an inerter to improve the dynamic performance of isolation systems when considering a random vibration environment. The results of this study demonstrate that the inerter can have a large impact on the dynamic properties of an isolated system, including shifting the isolation mode frequency lower while reducing its amplitude. High frequency noise did result from the inclusion of the inerter but may not be of significant concern depending on the frequency range of interest. The strong performance of the inerter in a simplified isolation system observed during this work motivates future studies of inerters in isolation systems.
S.S. Abolghasemi↗
Damage-Mitigating Control of Space Propulsion Systems for High Performance and Extended Life
A major goal in the control of complex mechanical system such as spacecraft rocket engine's advanced aircraft, and power plants is to achieve high performance with increased reliability, component durability, and maintainability. The current practice of decision and control systems synthesis focuses on improving performance and diagnostic capabilities under constraints that often do not adequately represent the materials degradation. In view of the high performance requirements of the system and availability of improved materials, the lack of appropriate knowledge about the properties of these materials will lead to either less than achievable performance due to overly conservative design, or over-straining of the structure leading to unexpected failures and drastic reduction of the service life. The key idea in this report is that a significant improvement in service life could be achieved by a small reduction in the system dynamic performance. The major task is to characterize the damage generation process, and then utilize this information in a mathematical form to synthesize a control law that would meet the system requirements and simultaneously satisfy the constraints that are imposed by the material and structural properties of the critical components. The concept of damage mitigation is introduced for control of mechanical systems to achieve high performance with a prolonged life span. A model of fatigue damage dynamics is formulated in the continuous-time setting, instead of a cycle-based representation, for direct application to control systems synthesis. An optimal control policy is then formulated via nonlinear programming under specified constraints of the damage rate and accumulated damage. The results of simulation experiments for the transient upthrust of a bipropellant rocket engine are presented to demonstrate efficacy of the damage-mitigating control concept.
Ray, Asok↗