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At least 199 records · Page 11

Experimental validation of Order (n) DISCOS

An order (n) algorithm is developed for use in the industry-standard DISCOS (Dynamics Interaction Simulation of Controls and Structures) program for flexible multibody system dynamics simulation. This version should be more computationally efficient than conventional DISCOS for problems where a large number of bodies are involved. Program-dependent changes to DISCOS are described for reducing the number of bodies required to model gear reduction and nonlinear stiffness as internal effects. The gear reduction modification can be extended to general applications, such as gear box, rack and pinion, lever joint, and screw rotation models. Upgrading DISCOS for future use include the addition of robotics capabilities such as event-driven topology changes, surface sliding, pick-and-place, and multiarm hand-off.

Chun, Hon M.↗

Stability and 3-D spatial dynamics analysis of a three cable crane

A 3-cable crane mechanism has been designed for incorporation into a highly loaded Lunar crane for planetary construction. This 3-cable crane must maintain a positive stability margin in all phases of the loading/unloading, assembly, or installation operations. A 2D kinematic curvature theory is applied to: (1) derive a general stability criterion to prevent the 3-cable crane from instability; and (2) determine a simple equation of natural frequency for two planar models of 3-cable crane. Investigation of the 2D vibrational characteristics of the planar models provides valuable insight toward understanding of 3D dynamic behavior of the 3-cable crane. Also, precision in natural frequency from this simple kinematic equation due to the exclusion of the radius-of-gyration of a suspended article is discussed. Multibody dynamics of the 3D 3-cable crane is presented and simulated to study the resulting vibrational characteristics under external disturbances and to verify the feasibility of the stability criterion for the 3-cable crane.

Yang, Li-Farn↗

CFD flowfield simulation of Delta Launch Vehicles in a power-on configuration

This paper summarizes recent work at McDonnell Douglas Aerospace (MDA) to develop and validate computational fluid dynamic (CFD) simulations of under expanded rocket plume external flowfields for multibody expendable launch vehicles (ELVs). Multi engine reacting gas flowfield predictions of ELV base pressures are needed to define vehicle base drag and base heating rates for sizing external nozzle and base region insulation thicknesses. Previous ELV design programs used expensive multibody power-on wind tunnel tests that employed chamber/nozzle injected high pressure cold or hot-air. Base heating and pressure measurements were belatedly made during the first flights of past ELV's to correct estimates from semi-empirical engineering models or scale model tests. Presently, CFD methods for use in ELV design are being jointly developed at the Space Transportation Division (MDA-STD) and New Aircraft Missiles Division (MDA-NAMD). An explicit three dimensional, zonal, finite-volume, full Navier-Stokes (FNS) solver with finite rate hydrocarbon/air and aluminum combustion kinetics was developed to accurately compute ELV power-on flowfields. Mississippi State University's GENIE++ general purpose interactive grid generation code was chosen to create zonal, finite volume viscous grids. Axisymmetric, time dependent, turbulent CFD simulations of a Delta DSV-2A vehicle with a MB-3 liquid main engine burning RJ-1/LOX were first completed. Hydrocarbon chemical kinetics and a k-epsilon turbulence model were employed and predictions were validated with flight measurements of base pressure and temperature. Zonal internal/external grids were created for a Delta DSV-2C vehicle with a MB-3 and three Castor-1 solid motors burning and a Delta-2 with an RS-27 main engine (LOX/RP-1) and 9 GEM's attached/6 burning. Cold air, time dependent FNS calculations were performed for DSV-2C during 1992. Single phase simulations that employ finite rate hydrocarbon and aluminum (solid fuel) combustion chemistry are currently in progress. Reliable and efficient Eulerian algorithms are needed to model two phase (solid-gas) momentum and energy transfer mechanisms for solid motor fuel combustion products.

Pavish, D. L.↗

Recursive linearization of multibody dynamics equations of motion

The equations of motion of a multibody system are nonlinear in nature, and thus pose a difficult problem in linear control design. One approach is to have a first-order approximation through the numerical perturbations at a given configuration, and to design a control law based on the linearized model. Here, a linearized model is generated analytically by following the footsteps of the recursive derivation of the equations of motion. The equations of motion are first written in a Newton-Euler form, which is systematic and easy to construct; then, they are transformed into a relative coordinate representation, which is more efficient in computation. A new computational method for linearization is obtained by applying a series of first-order analytical approximations to the recursive kinematic relationships. The method has proved to be computationally more efficient because of its recursive nature. It has also turned out to be more accurate because of the fact that analytical perturbation circumvents numerical differentiation and other associated numerical operations that may accumulate computational error, thus requiring only analytical operations of matrices and vectors. The power of the proposed linearization algorithm is demonstrated, in comparison to a numerical perturbation method, with a two-link manipulator and a seven degrees of freedom robotic manipulator. Its application to control design is also demonstrated.

Lin, Tsung-Chieh↗

Granular Simulation of NEO Anchoring

NASA is interested in designing a spacecraft capable of visiting a Near Earth Object (NEO), performing experiments, and then returning safely. Certain periods of this mission will require the spacecraft to remain stationary relative to the NEO. Such situations require an anchoring mechanism that is compact, easy to deploy and upon mission completion, easily removed. The design philosophy used in the project relies on the simulation capability of a multibody dynamics physics engine. On Earth it is difficult to create low gravity conditions and testing in low gravity environments, whether artificial or in space is costly and therefore not feasible. Through simulation, gravity can be controlled with great accuracy, making it ideally suited to analyze the problem at hand. Using Chrono::Engine [1], a simulation package capable of utilizing massively parallel GPU hardware, several validation experiments will be performed. Once there is sufficient confidence, modeling of the NEO regolith interaction will begin after which the anchor tests will be performed and analyzed. The outcome of this task is a study with an analysis of several different anchor designs, along with a recommendation on which anchor is better suited to the task of anchoring. With the anchors tested against a range of parameters relating to soil, environment and anchor penetration angles/velocities on a NEO.

multibody dynamics↗

A generic multibody simulation

Described is a dynamic simulation package which can be configured for orbital test scenarios involving multiple bodies. The rotational and translational state integration methods are selectable for each individual body and may be changed during a run if necessary. Characteristics of the bodies are determined by assigning components consisting of mass properties, forces, and moments, which are the outputs of user-defined environmental models. Generic model implementation is facilitated by a transformation processor which performs coordinate frame inversions. Transformations are defined in the initialization file as part of the simulation configuration. The simulation package includes an initialization processor, which consists of a command line preprocessor, a general purpose grammar, and a syntax scanner. These permit specifications of the bodies, their interrelationships, and their initial states in a format that is not dependent on a particular test scenario.

Hopping, K. A.↗

Pinhole occulter experiment

Viewgraphs and charts from a briefing summarize the accomplishments, results, conclusions, and recommendations of a feasibility study using the Pinhole Occulter Facility (POF). Accomplishments for 1986 include: (1) improved IPS Gimbal Model; (2) improved Crew Motion Disturbance Model; (3) use of existing shuttle on-orbit simulation to study the effects of orbiter attitude deadband size on POF performance; (4) increased understanding of maximum performance expected from current actuator/sensor set; (5) use of TREETOPS nonlinear time domain program to obtain system dynamics describing the complex multibody flexible structures; (6) use of HONEY-X design tool to design and evaluate multivariable compensator for stability, robustness, and performance; (7) application of state-of-the-art compensator design methodology Linear Quadratic Gaussian/Loop Transfer Recovery (LQG/LTR); and (8) examination of tolerance required on knowledge of the POF boom flexible mode frequencies to insure stability, using structure uncertainty analysis.

Ring, Jeff↗

Implementation of 3-D isoparametric finite elements on supercomputer for the formulation of recursive dynamical equations of multi-body systems

A computational algorithmic procedure is developed and implemented for the dynamic analysis of a multibody system with rigid/flexible interconnected bodies. The algorithm takes into consideration the large rotation/translation and small elastic deformations associated with the rigid-body degrees of freedom and the flexibility of the bodies in the system respectively. Versatile three-dimensional isoparametric brick elements are employed for the modeling of the geometric configurations of the bodies. The formulation of the recursive dynamical equations of motion is based on the recursive Kane's equations, strain energy concepts, and the techniques of component mode synthesis. In order to minimize CPU-intensive matrix multiplication operations and speed up the execution process, the concepts of indexed arrays is utilized in the formulation of the equations of motion. A spin-up maneuver of a space robot with three flexible links carrying a solar panel is used as an illustrative example.

Shareef, N. H.↗

Computer simulation of multigrid body dynamics and control

The objective is to set up and analyze benchmark problems on multibody dynamics and to verify the predictions of two multibody computer simulation codes. TREETOPS and DISCOS have been used to run three example problems - one degree-of-freedom spring mass dashpot system, an inverted pendulum system, and a triple pendulum. To study the dynamics and control interaction, an inverted planar pendulum with an external body force and a torsional control spring was modeled as a hinge connected two-rigid body system. TREETOPS and DISCOS affected the time history simulation of this problem. System state space variables and their time derivatives from two simulation codes were compared.

Swaminadham, M.↗

Comparison of Wind-Tunnel and Flight Unsteady Pressure Stochastic Characteristics for the Space Launch System Artemis I Flight

Over the course of more than ten years, numerous wind-tunnel tests have been conducted to acquire data for characterizing the unsteady pressure environments expected to act on the Space Launch System Block 1 crew launch vehicle during ascent. These wind-tunnel tests of highly-instrumented rigid models are the current standard for the estimation of unsteady environments. Following the successful launch of the Artemis I mission, the extensive flight data acquired can be analyzed to evaluate the accuracy of unsteady pressure environments predicted in subscale wind-tunnel testing in comparison to the flight test data. In this paper, analyses focusing on data from several Space Launch System wind-tunnel tests and the Artemis I flight test are presented, including assessments of test-to-test, tunnel-to-tunnel, and tunnel-to-flight stochastic characteristics and preflight modeling validity based on wind-tunnel testing. In general, the fluctuating pressure environments measured during the several preflight subscale wind-tunnel tests compare favorably and provide relatively accurate estimates of the environments measured during flight. Discrepancies in fluctuating magnitudes, spatial extent of regions of unsteadiness, and narrowband frequency peaks are noted in the multibody region aft of the solid rocket booster forward attachment to the core stage.

wind-tunnel↗

Comparison of Wind-Tunnel and Flight Unsteady Pressure Stochastic Characteristics for the Space Launch System Artemis I Flight

Over the course of more than ten years, numerous wind-tunnel tests have been conducted to acquire data for characterizing the unsteady pressure environments expected to act on the Space Launch System Block 1 crew launch vehicle during ascent. These wind-tunnel tests of highly-instrumented rigid models are the current standard for the estimation of unsteady environments. Following the successful launch of the Artemis I mission, the extensive flight data acquired can be analyzed to evaluate the accuracy of unsteady pressure environments predicted in subscale wind-tunnel testing in comparison to the flight test data. In this paper, analyses focusing on data from several Space Launch System wind-tunnel tests and the Artemis I flight test are presented, including assessments of test-to-test, tunnel-to-tunnel, and tunnel-to-flight stochastic characteristics and preflight modeling validity based on wind-tunnel testing. In general, the fluctuating pressure environments measured during the several preflight subscale wind-tunnel tests compare favorably and provide relatively accurate estimates of the environments measured during flight. Discrepancies in fluctuating magnitudes, spatial extent of regions of unsteadiness, and narrowband frequency peaks are noted in the multibody region aft of the solid rocket booster forward attachment to the core stage.

wind-tunnel↗

Model reduction in the simulation of interconnected flexible bodies

Given the control system specifications for a system of interconnected rigid and flexible bodies, methods now exist for determining the system modes that do not interact 'strongly' with the controller. Once these important system modes are known, there still remains the problem of determining the modes of individual bodies that should be retained, since, in the final analysis, it is the modal information at the component level that must be fed into any multibody simulation code. Systematic identification of these component modes is achieved through a two-phase matrix diagonalization process starting with judiciously chosen submatrices of the system modal matrix.

Eke, Fidelis O.↗

Spatial operator approach to flexible multibody system dynamics and control

The inverse and forward dynamics problems for flexible multibody systems were solved using the techniques of spatially recursive Kalman filtering and smoothing. These algorithms are easily developed using a set of identities associated with mass matrix factorization and inversion. These identities are easily derived using the spatial operator algebra developed by the author. Current work is aimed at computational experiments with the described algorithms and at modelling for control design of limber manipulator systems. It is also aimed at handling and manipulation of flexible objects.

Rodriguez, G.↗

Dynamics of A Vibration Isolation System Including Inertia of the Human Body

Using an exercise device in a spacecraft is liable to transmit an unacceptable amount of vibration to that vehicle. This is commonly mitigated by a Vibration Isolation System (VIS), whose dynamics must be analyzed to confirm that the oscillatory forces on the spacecraft remain within allowed range, both from a structural and microgravity perspective (see, e.g., [1]). When modeling a VIS for countermeasures devices, one common approach is to record forces and moments applied on the floor while exercising, and then drive the VIS simulation by applying these recorded loads to the exercise platform part of the VIS mechanical model. This approach misses the fact that when exercising on a moving platform, the force and moment on it will differ from that on the stationary floor due to inertial effects involving the human body. For example, standing up on a platform as it gives under the subject’s feet reduces the foot force on it, and such inertial effects are especially complex for rotational motion. In principle, one could model both the motion of the human body and dynamics of the VIS mechanism in a single combined simulation, e.g., employing a tool such as the commonly used biomechanical simulation OpenSim. Here, the joints of the human body would be driven kinematically along prescribed exercise trajectories while the dynamics engine computed the response of the VIS degrees of freedom. However, mechanism designers and biomechanics experts have their own established tools, making it very desirable to have a way of decoupling the biomechanics from the VIS modeling, simulation, and analyses. We have derived a set of equations that rigorously accomplishes this goal, and have implemented them as an interface function that provides an alternative driving mechanism for an existing force-based VIS analysis simulation. When enabled, the simulated human/VIS system dynamics is now driven by this function, instead of the recorded force methodology described above. The function is designed to accept input from a data file containing the required time-stamped human motion and inertia terms corresponding to the specific exercise in question. This data file is generated by an OpenSim plugin written for that purpose. The existing VIS analytical simulation is developed using NASA’s Trick Simulation Environment [2], as well as its MBDyn multibody dynamics [3] package. The presentation will provide a detailed overview of the mathematical formulation, assumptions, plugin implementation, software interfaces, and results for a sample set of representative exercises. The results from this work aim to better inform VIS design efforts, as well as countermeasure device/protocol designs with respect to exercise type and frequency effects on vehicle structural and microgravity restrictions.

Countermeasures↗

Estimation of Lower-Body Kinetics from Loading Profile and Kinematics Alone, Without Measured Ground Reaction Forces

Biomechanical models of human motion can estimate kinetic outcomes, such as joint moments, joint forces and muscle forces. Typically, one performs an inverse dynamics (ID) analysis to compute joint moments from joint angles and measured external forces. Sometimes it is impractical to measure ground reaction forces and moments (GRF&M). We devised an empirical method for performing ID analysis of resistance exercises without measured GRF&M. The method solves the multibody dynamics equations of motion with four key assumptions about the GRF&M that reduce the number of unknowns. The assumptions are 1) negligible ground reaction moments, 2) fixed lateral/medial location of the center of pressure (COP), 3) equal fore/aft location of the COP between the feet, and 4) constant angle of the GRF vector relative to the vertical axis in the frontal plane. We used evaluation trials from a spaceflight countermeasure resistance training device to test this approach. Four participants performed squat and deadlift exercises at various loads. We compared results from traditional ID analysis to results without measured GRF&M using our method. We found that joint moment trajectories in the sagittal plane were qualitatively similar in shape between the two methods, and the amount of root mean squared error (RMSE), measured by difference in joint moment impulse, was typically under 10 percent. Non-sagittal joint moment trajectories, which are much lower in overall magnitude, were not qualitatively similar in shape between the two methods. Non-sagittal moments displayed much higher RMSE, with typical values well over 50 percent. These findings were further supported by validation metrics (Sprague and Geers' P and M metrics, Pearson's r correlation coefficient). Based on these findings, we concluded that useful kinetic results are obtained from ID analysis of squat and deadlift exercises, even when GRF&M are not measured, as long as the outcomes of interest lie in the sagittal plane.

computational modeling↗

Partial Validation of Multibody Program to Optimize Simulated Trajectories II (POST II) Parachute Simulation With Interacting Forces

A capability to simulate trajectories Of Multiple interacting rigid bodies has been developed. This capability uses the Program to Optimize Simulated Trajectories II (POST II). Previously, POST II had the ability to simulate multiple bodies without interacting forces. The current implementation is used for the Simulation of parachute trajectories, in which the parachute and suspended bodies can be treated as rigid bodies. An arbitrary set of connecting lines can be included in the model and are treated as massless spring-dampers. This paper discusses details of the connection line modeling and results of several test cases used to validate the capability.

Raiszadeh, Ben↗

Robust control of nonlinear flexible multibody systems using quaternion feedback and dissipative compensation

Global asymptotic stability of a class of nonlinear multibody flexible space structures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore, for the second case, the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems, including flexible space structures with articulated flexible appendages.

Kelkar, Atul G.↗

Robust control of nonlinear flexible multibody systems using quaternion feedback and dissipative compensation

Global asymptotic stability of a class of nonlinear multibody flexible space-stnuctures under dissipative compensation is established. Two cases are considered. The first case allows unlimited nonlinear motions of the entire system and uses quaternion feedback. The second case assumes that the central body motion is in the linear range although the other bodies can undergo unrestricted nonlinear motion. The stability is proved to be robust to the inherent modeling nonlinearities and uncertainties. Furthermore for the second case the stability is also shown to be robust to certain actuator and sensor nonlinearities. The stability proofs use the Lyapunov approach and exploit the inherent passivity of such systems. The results are applicable to a wide class of systems including flexible space-structures with articulated flexible appendages.

Kelkar, Atul G.↗