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Coil springs wound with maximum initial tension in a three-truss, closed loop structure form a collapsible truss structure. The truss automatically expands and provides excellent rigidity and close dimensional tolerance when expanded.
The structure and stability of Maclaurin spheroids embedded in rigid uniform-density oblate spheroidal halos are determined by the tensor virial-equation method. These spheroid-halo systems can be thought of as crude fluid analogs of disk galaxies with halos. The halos are assumed to have the same center, the same axis of symmetry, and the same equatorial radius as the Maclaurin spheroids. Only halos with lower eccentricity than the Maclaurin spheroids are considered. The dynamic instability of the toroidal (barlike) modes is suppressed when m, the ratio of the halo mass to Maclaurin spheroid mass, is greater than 3 pi/8 for spherical halos and when m is greater than 1/2 for halos congruent to the Maclaurin spheroids. Intermediate halo flattenings yield intermediate critical m-values. On the other hand, a neutral point of the toroidal modes in the rotating and inertial frames occurs for all m and for all allowed halo flattenings. Growth rates for secular instability beyond the neutral point are calculated, and the eigenfrequencies of all second-harmonic modes are given for select cases. The Ostriker-Peebles (1973) conjecture concerning the stability of disk galaxies against barlike perturbations appears to be incorrect.
The dynamics and stability of large orbiting flexible beams, and platforms and dish type structures oriented along the local horizontal are treated both analytically and numerically. It is assumed that such structures could be gravitationally stabilized by attaching a rigid light-weight dumbbell at the center of mass by a spring loaded hinge which also could provide viscous damping. For the beam, the small amplitude inplane pitch motion, dumbbell librational motion, and the anti-symmetric elastic modes are all coupled. The three dimensional equations of motion for a circular flat plate and shallow spherical shell in orbit with a two-degree-of freedom gimballed dumbbell are also developed and show that only those elastic modes described by a single nodal diameter line are influenced by the dumbbell motion. Stability criteria are developed for all the examples and a sensitivity study of the system response characteristics to the key system parameters is carried out.
The dynamics and stability of large orbiting flexible beams and platforms oriented along the local horizontal are treated both analytically and numerically. It is assumed that such structures could be gravitationally stabilized by attaching a rigid lightweight dumbbell at the center of mass by a spring loaded hinge which also could provide viscous damping. For the beam it is seen that the small amplitude inplane pitch motion, dumbbell librational motion, and the anti-symmetric elastic modes are all coupled. The three dimensional equations of motion for a circular flat plate in orbit with a two-degree-of-freedom gimballed dumbbell are also developed and show that only those elastic modes described by a single nodal diameter line are influenced by the dumbbell motion. Stability criteria are developed for both examples and a parametric study of the least damped mode characteristics together with numerically simulated transient responses are carried out.
This paper surveys computational issues for large-scale simulation of dynamics and controls of space structures, which involve structural elements that are capable of large combined rigid and flexible motions, accurate and efficient treatment of constraints, robust integration of both translational and large rotational motions in the equations of motion, modular interface with active control synthesis packages, and a capability from wave motions to slowly varying transient responses. A particular feature of the present survey is a partitioned solution (or divide-and-conquer) procedure that can handle the numerical solution of multidisciplinary simulation problems by relying on individual modular solution packages that treat each aspect of simulation requirements.
A preliminary formulation of a large space structure is presented. The system consists of a (rigid) massive body, which may play the role of experimental modules located at the center of the space station and a flexible configuration, consisting of several beams, which is rigidly attached to the main body. The equations that govern the motion of the complete system consist of several partial differential equations with boundary conditions describing the vibration of flexible components coupled with six ordinary differential equations that describe the rotational and translational motion of the central body. The problem of (feedback) stabilization of the system is discussed. This study is expected to provide an insight into the complexity of design and stabilization of actual space stations.
The design and evaluation of an attitude control/momentum management system for highly asymmetric spacecraft configurations are presented. The preliminary development and application of a nonlinear control system design methodology for tracking control of uncertain systems, such as spacecraft payload pointing systems are also presented. Control issues relevant to both linear and nonlinear rigid-body spacecraft dynamics are addressed, whereas any structural flexibilities are not taken into consideration. Results from the first task indicate that certain commonly used simplifications in the equations of motions result in unstable attitude control systems, when used for highly asymmetric spacecraft configurations. An approach is suggested circumventing this problem. Additionally, even though preliminary results from the second task are encouraging, the proposed nonlinear control system design method requires further investigation prior to its application and use as an effective payload pointing system design technique.
The theory for predicting helicopter inflow-wake velocities called flat wake theory was correlated with several sets of experimental data. The theory was developed by V. E. Baskin of the USSR, and a computer code known as DOWN was developed at Princeton University to implement the theory. The theory treats the wake geometry as rigid without interaction between induced velocities and wake structure. The wake structure is assumed to be a flat sheet of vorticity composed of trailing elements whose strength depends on the azimuthal and radial distributions of circulation on a rotor blade. The code predicts the three orthogonal components of flow velocity in the field surrounding the rotor. The predictions can be utilized in rotor performance and helicopter real-time flight-path simulation. The predictive capability of the coded version of flat wake theory provides vertical inflow patterns similar to experimental patterns.
The influence of propulsion system variations and elastic fuselage behavior on the flight control system of an airbreathing hypersonic vehicle is investigated. Thrust vector magnitude and direction changes due to angle of attack variations affect the pitching moment. Low structural vibration frequencies may occur close to the rigid body modes influencing the angle of attack and lead to possible cross coupling. These effects are modeled as uncertainties in the context of a robust control study of a hypersonic vehicle model accelerating through Mach 8 using H-infinity and mu synthesis techniques. Various levels of uncertainty are introduced into the system. Both individual and simultaneous appearance of uncertainty are considered. The results indicate that the chosen design technique is suitable for this kind of problem provided that a fairly good knowledge of the effects mentioned above is available. The order of the designed controller is reduced but robust performance is lost which shows the need for fixed order design techniques.
Ultrasail is a complete sail system for the launch, deployment, stabilization and control of very large solar sails enabling reduced mission times for interplanetary and deep space spacecraft. Ultrasail is an innovative, non-traditional approach to propulsion technology achieved by combining propulsion and control systems developed for formation-flying microsatellites with an innovative solar sail architecture to achieve sq km-class controllable sail areas, sail subsystem area densities of 1 gm per sq m, and thrust levels equivalent to 400 kW ion thruster systems used for comparable deep space missions. Ultrasail can conceivably even achieve outer planetary rendezvous, a deep space capability now reserved for high-mass nuclear and chemical systems. Ultrasail is a Delta IV-launched multi-blade spin-stabilized system with blade lengths as long as 50 km, reminiscent of the MacNeal Heliogyro. The primary innovation is the near-elimination of sail supporting structures by attaching the sail tip to a rigid formation-flying microsatellite truss which deploys the sail blade, and which then articulates the blade to provide attitude control, including spin stabilization and precession of the spin axis. These tip microsatellites are controlled by a solar-powered 3-axis microthruster system (electric or cold gas) to maintain proper sail film tension during deployment and spin-up. The satellite mass also provides a stabilizing centrifugal force on the blade while in rotation. Understanding the dynamics of individual blades is key to the overall dynamics of Ultrasail. Forces and torques that must be modeled include those due to solar pressure, those generated by the microsatellite at the blade tip and by torques applied at the blade root. Centrifugal forces also play a significant role in the deployment and maintenance of the sail configuration. To capture the dynamics of the overall system, the equations of motion for the blades have been derived. Using these differential equations, a control law will be derived to maneuver Ultrasail. This law involves the pitching of the individual blades thereby moving the distribution of the radiation pressure on each individual blade and inducing a resultant torque on the system. The direction of the angular momentum vector and its rate of precession can be controlled through the pitch angle of the blades. The Ultrasail trajectory is also being studied. Optimal or near-optimal trajectories are being generated to showcase Ultrasail performance. Various missions, e.g. outer planet and solar polar missions for observation of the Sun, are currently being investigated to demonstrate the performance enhancements generated by Ultrasail technology. Calculus-of-variations-based optimization software is used to produce optimal Ultrasail trajectories. The performance of these trajectories is being compared to optimal results generated with other propulsion models, including chemical propulsion, ion propulsion, and competing solar sail concepts. Results of these studies will quantify the performance of Ultrasail compared to existing solar sail concepts for high energy missions.
A modified design and fabrication sequence has been devised to improve the performance of a cloverleaf vibratory microgyroscope that includes an axial rod or post rigidly attached to the center of the cloverleaf structure. The basic concepts of cloverleaf vibratory microgyroscopes, without and with rods or posts, were described in two prior articles in NASA Tech Briefs, Vol. 21, No. 9 (September 1997): Micromachined Planar Vibratory Microgyroscopes (NPO-19713), page 68 and Planar Vibratory Microgyroscope: Alternative Configuration (NPO-19714), page 70. As described in more detail in the second-mentioned prior article, the cloverleaf-shaped structure and the rod or post are parts of a vibratory element that senses rotation via the effect of the Coriolis force upon its vibrations. Heretofore, the posts for devices of this type have been fabricated separately, then assembled manually onto the cloverleaf structures. The resulting imperfections in the assembled units have given rise to asymmetric stresses in the cloverleaf structures and, consequently, to changes in resonant frequencies of vibration and in shapes of vibration modes. These changes, in turn, have caused variations in performance among nominally identical devices. The modified design provides for the fabrication of the upper half of the post as an integral part of the cloverleaf structure; this is accomplished by reactive-ion etching of a single-piece half-post-and-cloverleaf structure from a wafer of silicon. The lower half of the post and a baseplate are also a single piece made by reactive-ion etching from a wafer of silicon. The two pieces are bonded together (see figure) by a thermal-compression metal-to-metal bonding technique to form a cloverleaf gyroscope with an integrated post structure..
An analysis and computer program were prepared to realistically simulate the dynamic behavior of a class of space stations consisting of two end bodies separated by a connecting structure. The shape and mass distribution of the flexible end bodies are arbitrary; the connecting structure is flexible but massless and is capable of deployment and retraction. Fluid flowing in a piping system and rigid moving masses, representing a cargo elevator or crew members, have been modeled. Connecting structure characteristics, control systems, and externally applied loads are modeled in easily replaced subroutines. Subroutines currently available include a telescopic beam-type connecting structure as well as attitude, deployment, spin, and wobble control. In addition, a unique mass balance control system was developed to sense and balance mass shifts due to the motion of a cargo elevator. The mass of the cargo may vary through a large range. Numerical results are discussed for various types of runs.
An analysis and computer program were prepared to realistically simulate the dynamic behavior of a class of satellites consisting of two end bodies separated by a connecting structure. The shape and mass distribution of the flexible end bodies are arbitrary; the connecting structure is flexible but massless and is capable of deployment and retraction. Fluid flowing in a piping system and rigid moving masses, representing a cargo elevator or crew members, have been modeled. Connecting structure characteristics, control systems, and externally applied loads are modeled in easily replaced subroutines. Subroutines currently available include a telescopic beam-type connecting structure as well as attitude, deployment, spin and wobble control. In addition, a unique mass balance control system was developed to sense and balance mass shifts due to the motion of a cargo elevator. The mass of the cargo may vary through a large range. Numerical results are discussed for various types of runs.
The effect of microcracking in the phenolic matrix of a three-dimensional woven thermal protection system (TPS) and the resulting material stiffness reduction was studied via a comparison of finite element analysis results from a linear analysis and an iterative linear analysis. A TPS is necessary to protect space vehicles from the aerodynamic heating of planetary entry. The Heatshield for Extreme Entry Environment Technology (HEEET) project has developed a TPS for use in high heat-flux and pressure missions. The material is a dual-layer continuous dry weave, which is then infiltrated with a low-density phenolic resin matrix to form a rigid ablator. The phenolic resin matrix does not have structural load transfer requirements, and testing has shown that the phenolic resin can fully satisfy thermal requirements when the matrix contains microcracks. Due to high stresses in the through-the-thickness direction of the material, phenolic microcracks may form in the matrix material, which would result in a reduction of stiffness. An exploratory study was conducted to determine if reduction in material stiffness would change the load paths and/or decrease the structural margins. A comparison was performed between a linear finite element analysis that did not take into account phenolic microcracking and an iterative linear finite element analysis that accounted for propagation of phenolic microcracking. Four subcases using varying assumptions were analyzed and the results indicate that the assumed strength at which the phenolic microcracking propagates was the critical parameter for determining the extent of microcracking in the phenolic matrix. Phenolic microcracking does not have an adverse effect on the structural response of the test article and is not a critical failure.
A system composed of several interconnected elastic components that may experience large angular motion relative to each other during operation is referred to as a flexible multibody structure. Several formulations were proposed for the determination of the dynamic response of controlled flexible multibody structures. In general, these formulations consist of superposing elastic deformations of the component body onto the large rigid body motion of the component. It was shown that this particular methodology for combining linear structural deformations with nonlinear kinematics can lead to erroneous response predictions when either the beam member is very flexible or the rotational speed is high. In addition, previous formulations introduce constraint equations to define the interrelations among system components. This approach increases the number of equations that must be solved, and may result in contraint violation when numerical error accumulates during the integration process. In order to overcome the difficulties, a new approach was suggested. The approach is essentially a finite element formulation which takes advantage of the fact that many multibody structures are joint dominated. The Large Angle Transient Dynamic Analysis (LATDYN) program for clarity of documentation, ease of use, user friendliness, modeling generality, and accuracy of results was evaluated. This required gaining a working familiarity with the code and performing several case studies.
A stand-alone, crash-energy absorbing structure and fabrication method are provided. A plurality of adjoining rigid cells are each constructed of resin-cured fiber reinforcement and are arranged in a geometric configuration. The fiber reinforcement can be in the form of a fabric or braided fibers wrapped about a core that is either left in place or removed from the ultimate cured structure. The geometric configuration of cells is held together with more fiber reinforcement (in the form of fabric or braided fibers) in order to integrate the cells in the geometric configuration. The additional fiber reinforcement is resin-cured to the cells. Curing of the cells and ultimate structure can occur in a single step. In applications where post-crash integrity is necessary, ductile fibers can be used to integrate the cells in the geometric configuration. The novelty of the present invention is that simple fabrication techniques are used to create structures that can be formed in a variety of net stable shapes without additional reinforcement and can withstand combined loading while crushing in a desired direction.
An alignment positioning mechanism for correcting and compensating for misalignment of structures to be coupled is disclosed. The mechanism comprises a power screw with a base portion and a threaded shank portion. A mounting fixture is provided for rigidly coupling said base portion to the mounting interface of a supporting structure with the axis of the screw perpendicular thereto. A traveling ball nut threaded on the power screw is formed with an external annular arcuate surface configured in the form of a spherical segment and enclosed by a ball nut housing with a conforming arcuate surface for permitting gimballed motion thereon. The ball nut housing is provided with a mounting surface which is positionable in cooperable engagement with the mounting interface of a primary structure to be coupled to the supporting structure. Cooperative means are provided on the ball nut and ball nut housing, respectively, for positioning the ball nut and ball nut housing in relative gimballed position within a predetermined range of relative angular relationship whereby severe structural stresses due to unequal loadings and undesirable bending moments on the mechanism are avoided.
A comparison is made between the relative levels of aircraft interior noise related to structureborne and airborne paths for the same propeller source. A simple, but physically meaningful, model of the structure treats the fuselage interior as a rectangular cavity with five rigid walls. The sixth wall, the fuselage sidewall, is a stiffened panel. The wing is modeled as a simple beam carried into the fuselage by a large discrete stiffener representing the carry-through structure. The fuselage interior is represented by analytically-derived acoustic cavity modes and the entire structure is represented by structural modes derived from a finite element model. The noise source for structureborne noise is the unsteady lift generation on the wing due to the rotating trailing vortex system of the propeller. The airborne noise source is the acoustic field created by a propeller model consistent with the vortex representation. Comparisons are made on the basis of interior noise over a range of propeller rotational frequencies at a fixed thrust.