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After showing that a complex dynamic system with a competitive structure has highly reliable stability, a class of noncompetitive dynamic systems for which competitive models can be constructed is defined. It is shown that such a construction is possible in the context of the hierarchic stability analysis. The scheme is based on the comparison principle and vector Liapunov functions.
The paper deals with the problem of expressing the robustness (stability) property of a linear quadratic state feedback (LQSF) design quantitatively in terms of bounds on the perturbations (modeling errors or parameter variations) in the system matrices so that the closed-loop system remains stable. Nonlinear time-varying and linear time-invariant perturbations are considered. The only computation required in obtaining a measure of the robustness of an LQSF design is to determine the eigenvalues of two symmetric matrices determined when solving the algebraic Riccati equation corresponding to the LQSF design problem. Results are applied to a complex dynamic system consisting of the flare control of a STOL aircraft. The design of the flare control is formulated as an LQSF tracking problem.
It is proposed that line-of-sight gravity measurements derived from spacecraft-tracking data can be used for quantitative subsurface density modeling by suitable orbit simulation procedures. Such an approach avoids complex dynamic reductions and is analogous to the modeling of conventional surface gravity data. This procedure utilizes the vector calculations of a given gravity model in a simplified trajectory integration program that simulates the line-of-sight gravity. Solutions from an orbit simulation inversion and a dynamic inversion on Doppler observables compare well (within 1% in mass and size), and the error sources in the simulation approximation are shown to be quite small. An application of this technique is made to lunar crater gravity anomalies by simulating the complete Bouguer correction to several large young lunar craters. It is shown that the craters all have negative Bouguer anomalies.
The major elements of the structural acoustics program for the B-1 aircraft are considered. Acoustic pressures measured at 280 sites on the surface of the vehicle were used to develop pressure models for a resizing of airframe components for aircraft No. 4 (A/C4). Acoustical fatigue design data for two dynamically complex structural configurations were acquired in laboratory programs, the conceptions for and executions of which detailed significant departures from the conventional. Design requirements for mechanical fasteners for configurations other than these two made use of analytical extensions of regrettably limited available information.
Two stand-alone analyzers constructed for real time simulation of the complex dynamic characteristics of horizontal-axis wind energy systems are described. Mathematical models for an aeroelastic rotor, including nonlinear aerodynamic and elastic loads, are implemented with high speed digital and analog circuitry. Models for elastic supports, a power train, a control system, and a rotor gimbal system are also included. Limited correlation efforts show good comparisons between results produced by the analyzers and results produced by a large digital simulation. The digital simulation results correlate well with test data.
A procedure for sizing an airframe for flutter-free performance is demonstrated on a large, flexible supersonic transport aircraft. The procedure is based on using a two level reduced basis or modal technique for reducing the computational cost of performing the repetitive flutter analyses. The supersonic transport aircraft exhibits complex dynamic behavior, has a well-known flutter problem and requires a large finite element model to predict the vibratory and flutter response. Flutter-free designs were produced with small mass increases relative to the wing structural weight and aircraft payload.
This paper briefly reviews the problems of defining and measuring the 'mental workload' of aircraft pilots and other human operators of complex dynamic systems. Of the alternative approaches the author indicates a clear preference for the use of subjective scaling. Some recent experiments from MIT and elsewhere are described which utilize subjective mental workload scales in conjunction with human decision and control tasks in the laboratory. Finally a new three-dimensional mental workload rating scale, under current development for use by IFR aircraft pilots, is presented.
The Voyager 1 planetary radio astronomy experiment detected two distinct kinds of radio emissions from Saturn. The first, Saturn kilometric radiation, is strongly polarized, bursty, tightly correlated with Saturn's rotation, and exhibits complex dynamic spectral features somewhat reminiscent of those in Jupiter's radio emission. It appears in radio frequencies below about 1.2 megahertz. The second kind of radio emission, Saturn electrostatic discharge, is unpolarized, extremely impulsive, loosely correlated with Saturn's rotation, and very broadband, appearing throughout the observing range of the experiment (20.4 kilohertz to 40.2 megahertz). Its sources appear to lie in the planetary rings.
Control of a slowly responding complex dynamic system such as a large supertanker poses special problems for the human. Experienced ship's crew members maneuvered a simulated ship in real time. The simulation was performed using a graphics display run by a DPD 11/40 minicomputer. The maneuvers consisted of piloting a large ship along a narrow waterway. Preliminary results suggest that the human operates as a feedforward controller utilizing the preview information for 'gross changes' in heading, and as a feedback controller for correcting small deviations. The instruments displayed on the deck do not seem to be helpful in all situations. In fact, evidence seems to indicate that some of the displays might even interfere with the pilot's attempt to form a good internal model.
A procedure for sizing an airframe for flutter-free performance is demonstrated on a large, flexible supersonic transport aircraft. The procedure is based on using a two-level reduced basis or modal technique for reducing the computational cost of performing the repetitive flutter analyses. The supersonic transport aircraft exhibits complex dynamic behavior, has a well-known flutter problem and requires a large finite-element model to predict the vibratory and flutter response. Flutter-free designs are produced with small mass increases relative to the wing structural weight and aircraft payload. In view of the ability of the resizing procedure to handle this supersonic transport configuration, it seems likely that the method could be used for many other aircraft.
A methodology for the study of human planning behavior in complex dynamic systems is presented and applied to the study of aircraft pilot behavior in normal, abnormal and emergency situations. The method measures the depth of planning, that is the level of detail employed with respect to a specific task, according to responses to a verbal questionnaire, and compares planning depth with variables relating to time, task criticality and the probability of increased task difficulty. In two series of experiments, depth of planning was measured on a five- or ten-point scale during various phases of flight in a HFB-320 simulator under normal flight conditions, abnormal scenarios involving temporary runway closure due to snow removal or temporary CAT-III conditions due to a dense fog, and emergency scenarios involving engine shut-down or hydraulic pressure loss. Results reveal a dichotomy between event-driven and time-driven planning, different effects of automation in abnormal and emergency scenarios and a low correlation between depth of planning and workload or flight performance.
A general approach for distributed parameter modeling of complex dynamical systems is described. The method consists of dividing the system in parts which can be modeled by simple partial differential equations and coupling the equations thus obtained by applying Hamilton's variational formalism to the entire system. The modeling of a large, offset-fed, wrap-rib antenna is presented to illustrate the approach. Although such models are perhaps not as precise as finite element models, they can be useful for initial physical insight and parametric design.
A finite element method of discretizing beam segments of pretwisted rotating blades is presented. Employing the matrix displacement method, stiffness and mass properties are developed from basic mechanics of a pretwisted beam theory. By introducing the proper displacement functions, the effect of rotor blade rotational motion on the stiffness matrix is obtained systematically from the kinetic energy expression. Comparing with other beam elements the derivation of this element is more fundamental. This allows one to apply the same approach to more complicated problems including nonlinear effects or complex dynamic motions. Illustrative examples are given comparing numerical results with available data and other numerical solutions from rotating and nonrotating force fields. These examples show that accurate prediction of vibration frequencies for pretwisted blades can be obtained by employing a quite modest number of degrees of freedom.
It is for the plasmaspheric flux tube regions of the magnetospheric flux tubes that the greatest likelihood exists for a near-term, complete description of the plasma, since the magnetic field geometry is relatively well behaved and the plasma source and boundary conditions are specifiable with reasonable accuracy. It may be speculated that this emerging understanding may be useful in the study of the more complex dynamical behavior of plasma couplings within such other 'closed flux tube' geometries as the plasma sheet flux tubes, where ionospheric ions flow up to populate the flux tubes and precipitating particles from them produce the diffuse aurora.
The increasing reliance of state-of-the art, high performance aircraft on high authority stability and command augmentation systems, in order to obtain satisfactory performance and handling qualities, has made critical the achievement of a better understanding of human capabilities, limitations, and preferences during interactions with complex dynamic systems that involve task allocation between man and machine. An analytical and experimental study has been undertaken to investigate human interaction with a simple, multiloop dynamic system in which human activity was systematically varied by changing the levels of automation. Task definition has led to a control loop structure which parallels that for any multiloop manual control system, and may therefore be considered a stereotype.
Fault-tolerant computer structure called RAMPS (for redundant asynchronous microprocessor system) has simplicity of static redundancy but offers intermittent-fault handling ability of complex, dynamically redundant systems. New structure useful wherever several microprocessors are employed for control - in aircraft, industrial processes, robotics, and automatic machining, for example.
The Galileo mission and spacecraft, consisting of a Jupiter-orbiter and an atmospheric entry probe, are discussed. Components will include: magnetometers and plasma-wave antennas on a boom, high-gain antenna, probe vehicle, two different bus electronics packages, and a radioisotope thermoelectric generator. Instruments, investigators and objectives are tabulated for both probe science and orbiter science investigations. Requirements in the design of the attitude and articulation control system are very stringent because of the complex dynamics, flexible body effects, the need for autonomy, and the severe radiation environment in the Jupiter nighborhood. Galileo was intended to be ready for launch via Space Shuttle in May of 1986.
The author presents a novel approach to adaptive control of manipulators to achieve trajectory tracking by the joint angles. The central concept in this approach is the utilization of the manipulator inverse as a feedforward controller. The desired trajectory is applied as an input to the feedforward controller which behaves as the inverse of the manipulator at any operating point; the controller output is used as the driving torque for the manipulator. The controller gains are then updated by an adaptation algorithm derived from MRAC (model reference adaptive control) theory to cope with variations in the manipulator inverse due to changes of the operating point. An adaptive feedback controller and an auxiliary signal are also used to enhance closed-loop stability and to achieve faster adaptation. The proposed control scheme is computationally fast and does not require a priori knowledge of the complex dynamic model or the parameter values of the manipulator or the payload.