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At least 73 records · Page 4

A general dynamic model of flexible robot arms for control

Hamilton's principle is used to derive the dynamic model for a large class of flexible robot arms. The resultant dynamic model consists of a system of partial differential-integral equations and the dynamic boundary conditions associated with it. Some properties of the model are observed, and its application to control is discussed. This model represents an infinite-dimensional nonlinear dynamic system and yet can be turned into a finite-dimensional system that could be obtained by modal expansion, if it is desired. This provides more flexibility for control purposes as well as for the analysis of the system.

Ding, X.

A Comparison of Three Random Number Generators for Aircraft Dynamic Modeling Applications

Three random number generators, which produce Gaussian white noise sequences, were compared to assess their suitability in aircraft dynamic modeling applications. The first generator considered was the MATLAB (registered) implementation of the Mersenne-Twister algorithm. The second generator was a website called Random.org, which processes atmospheric noise measured using radios to create the random numbers. The third generator was based on synthesis of the Fourier series, where the random number sequences are constructed from prescribed amplitude and phase spectra. A total of 200 sequences, each having 601 random numbers, for each generator were collected and analyzed in terms of the mean, variance, normality, autocorrelation, and power spectral density. These sequences were then applied to two problems in aircraft dynamic modeling, namely estimating stability and control derivatives from simulated onboard sensor data, and simulating flight in atmospheric turbulence. In general, each random number generator had good performance and is well-suited for aircraft dynamic modeling applications. Specific strengths and weaknesses of each generator are discussed. For Monte Carlo simulation, the Fourier synthesis method is recommended because it most accurately and consistently approximated Gaussian white noise and can be implemented with reasonable computational effort.

Grauer, Jared A.

Coupled Vortex-Lattice Flight Dynamic Model with Aeroelastic Finite-Element Model of Flexible Wing Transport Aircraft with Variable Camber Continuous Trailing Edge Flap for Drag Reduction

This paper presents a coupled vortex-lattice flight dynamic model with an aeroelastic finite-element model to predict dynamic characteristics of a flexible wing transport aircraft. The aircraft model is based on NASA Generic Transport Model (GTM) with representative mass and stiffness properties to achieve a wing tip deflection about twice that of a conventional transport aircraft (10% versus 5%). This flexible wing transport aircraft is referred to as an Elastically Shaped Aircraft Concept (ESAC) which is equipped with a Variable Camber Continuous Trailing Edge Flap (VCCTEF) system for active wing shaping control for drag reduction. A vortex-lattice aerodynamic model of the ESAC is developed and is coupled with an aeroelastic finite-element model via an automated geometry modeler. This coupled model is used to compute static and dynamic aeroelastic solutions. The deflection information from the finite-element model and the vortex-lattice model is used to compute unsteady contributions to the aerodynamic force and moment coefficients. A coupled aeroelastic-longitudinal flight dynamic model is developed by coupling the finite-element model with the rigid-body flight dynamic model of the GTM.

Flexible Aicraft

Dynamic model of the Earth's upper atmosphere

An initial modification to the MSF/J70 Thermospheric Model, in which the variations due to sudden geomagnetic disturbances upon the Earth's upper atmospheric density structure were modeled is presented. This dynamic model of the geomagnetic variation included is an improved version of one which SAO developed from the analysis of the ESRO 4 mass spectrometer data that was incorporated in the Jacchia 1977 model. The variation with geomagnetic local time as well as with geomagnetic latitude are included, and also the effects due to disturbance of the temperature profiles in the region of energy deposition.

Slowey, J. W.

Recursive Linearization Of Dynamical Models Of Manipulators

Report shows how spatial-operator algebra developed by authors used to derive linearized mathematical models of dynamics of robotic manipulators. Aspects of spatial-operator algebra also described in "Robot Control Based On Spatial-Operator Algebra" (NPO-17918), "Unified Formulation Of Dynamics Of Robot Arms" (NPO-18040), and "Spatial-Operator Algebra For Robotic Manipulators" (NPO-17770).

Jain, Abhinandan

Real-Time Dynamic Modeling - Data Information Requirements and Flight Test Results

Practical aspects of identifying dynamic models for aircraft in real time were studied. Topics include formulation of an equation-error method in the frequency domain to estimate non-dimensional stability and control derivatives in real time, data information content for accurate modeling results, and data information management techniques such as data forgetting, incorporating prior information, and optimized excitation. Real-time dynamic modeling was applied to simulation data and flight test data from a modified F-15B fighter aircraft, and to operational flight data from a subscale jet transport aircraft. Estimated parameter standard errors and comparisons with results from a batch output-error method in the time domain were used to demonstrate the accuracy of the identified real-time models.

Morelli, Eugene A.

Real-Time Dynamic Modeling - Data Information Requirements and Flight Test Results

Practical aspects of identifying dynamic models for aircraft in real time were studied. Topics include formulation of an equation-error method in the frequency domain to estimate non-dimensional stability and control derivatives in real time, data information content for accurate modeling results, and data information management techniques such as data forgetting, incorporating prior information, and optimized excitation. Real-time dynamic modeling was applied to simulation data and flight test data from a modified F-15B fighter aircraft, and to operational flight data from a subscale jet transport aircraft. Estimated parameter standard errors, prediction cases, and comparisons with results from a batch output-error method in the time domain were used to demonstrate the accuracy of the identified real-time models.

Morelli, Eugene A.

The mid-quarternary climatic transition as the free response of a three-variable dynamical model

A simplified version of a previously described dynamical model governing global ice mass, atmospheric carbon dioxide, and mean ocean temperature is shown to possess solutions, in a realistic parameter range, that can replicate the main features of the climatic variations implied by the full, two million years, Quaternary delta-O-18 record. These variations include a major 'transition' between a low-ice delta-O-18, low variance mode before roughly 900 kyr BP to a high-ice, high (near 100 kyr period) variance mode after that time to the present. The model contains only three free parameters in this simplified form. No external earth-orbital forcing is prescribed; i.e., the model represents only internal dynamics. From the previous studies it seems clear that additional variance representing such features as the 'rapid' deglaciation and the phase of the major Quaternary oscillation can be largely explained with no more than four additional parameters representing an internal asymmetry and the external perodic forcing. The present results, therefore, constitute a first-order account for the existence of the 'ice age' fluctuations over the last two million years, including the concomitant variations of atmospheric CO2.

Saltzman, Barry

A Generic T-Tail Transport Airplane Simulation for High-Angle-Of-Attack Dynamics Modeling Investigations

A preliminary simulation of a generic T-tail transport airplane configuration has been developed at the National Aeronautics and Space Administration Langley Research Center. The primary purpose of this piloted simulation is to assess aerodynamic model fidelity requirements for training airline pilots to recognize and recover from full-stall flight conditions in a T-tail airplane. As a result, significant flexibility has been designed into the flight dynamics model. The flight dynamics model is based on newly acquired static and dynamic stability and control data from sources that include: wind tunnel, water tunnel, and computational fluid dynamics. Preliminary results for initial stall show an unstable stall pitch break (if the stick pusher is inhibited), un-commanded motions due to stall asymmetries, significantly reduced dynamic roll stability, and decreased control effectiveness. Preliminary studies indicated an insensitivity to the fidelity of the pitch damping model.

Cunningham, Kevin

Orion Active Thermal Control System Dynamic Modeling Using Simulink/MATLAB

This paper presents dynamic modeling of the crew exploration vehicle (Orion) active thermal control system (ATCS) using Simulink (Simulink, developed by The MathWorks). The model includes major components in ATCS, such as heat exchangers and radiator panels. The mathematical models of the heat exchanger and radiator are described first. Four different orbits were used to validate the radiator model. The current model results were compared with an independent Thermal Desktop (TD) (Thermal Desktop, PC/CAD-based thermal model builder, developed in Cullimore & Ring (C&R) Technologies) model results and showed good agreement for all orbits. In addition, the Orion ATCS performance was presented for three orbits and the current model results were compared with three sets of solutions- FloCAD (FloCAD, PC/CAD-based thermal/fluid model builder, developed in C&R Technologies) model results, SINDA/FLUINT (SINDA/FLUINT, a generalized thermal/fluid network-style solver ) model results, and independent Simulink model results. For each case, the fluid temperatures at every component on both the crew module and service module sides were plotted and compared. The overall agreement is reasonable for all orbits, with similar behavior and trends for the system. Some discrepancies exist because the control algorithm might vary from model to model. Finally, the ATCS performance for a 45-hr nominal mission timeline was simulated to demonstrate the capability of the model. The results show that the ATCS performs as expected and approximately 2.3 lb water was consumed in the sublimator within the 45 hr timeline before Orion docked at the International Space Station.

Wang, Xiao-Yen J.

A Nonlinear Dynamic Model and Free Vibration Analysis of Deployable Mesh Reflectors

This paper presents a dynamic model of deployable mesh reflectors, in which geometric and material nonlinearities of such a space structure are fully described. Then, by linearization around an equilibrium configuration of the reflector structure, a linearized model is obtained. With this linearized model, the natural frequencies and mode shapes of a reflector can be computed. The nonlinear dynamic model of deployable mesh reflectors is verified by using commercial finite element software in numerical simulation. As shall be seen, the proposed nonlinear model is useful for shape (surface) control of deployable mesh reflectors under thermal loads.

mesh reflectors

Dynamic model verification of large structural systems

The objective of the present methodology is two-fold: (1) to process test data obtained from either modal survey tests, or slow sine-sweep tests, to extract a set of orthogonal modes best matching the test data while being commensurate with the dynamic model, and (2) to modify submatrices of the dynamic model mass and stiffness matrices to adjust the model to best fit the test data. The method has been implemented using a linear statistical sequential estimator for computation on a CDC computer. Demonstration problems involving Space Shuttle quarter-scale vibration test data and dynamic models have been run. This paper will discuss the general methodology and experience to date.

Lee, L. T.

Simplified truss-beam modeling - Dynamic analysis

A model of the truss-beam has been developed and a set of algorithms provided to determine the flexibility matrix. Using lumped masses at the panel juncture, and applying the flexibility matrix in the equation of motion for the system, the dynamic characteristics are readily determined. An interactive computer program has been developed both in Basic and in Fortran for the IMB PC and other compatible micro-computers. This method is used to determine the lower natural frequencies of two truss-beams, and the results compared with those found by others.

Abu-Saba, Elias G.

Dynamic models of flux tubes in the interpretation of polarization measurements

Recent observations of Stokes parameter profiles indicate the presence of mass motions with large velocity gradients associated with small-scale magnetic elements. Dynamic models of flux tubes were used in order to interpret observations of unresolved elements. It is clear that the physical picture of the dynamic models will be quite different from the hydrostatic ones since there is a strong coupling between the magnetic and the velocity field. Polarization measurements have to be interpreted in terms of dynamic models. Two-D steady flow solutions in slender magnetic tubes have been worked out. It was found that the main properties of the intensity line profiles as well as the asymmetries of the V Stokes profiles can be explained best in terms of magnetic elements with moderate field strength.

Ribes-Nesme, E.

Quantification of Dynamic Model Validation Metrics Using Uncertainty Propagation from Requirements

The Space Launch System, NASA's new large launch vehicle for long range space exploration, is presently in the final design and construction phases, with the first launch scheduled for 2019. A dynamic model of the system has been created and is critical for calculation of interface loads and natural frequencies and mode shapes for guidance, navigation, and control (GNC). Because of the program and schedule constraints, a single modal test of the SLS will be performed while bolted down to the Mobile Launch Pad just before the first launch. A Monte Carlo and optimization scheme will be performed to create thousands of possible models based on given dispersions in model properties and to determine which model best fits the natural frequencies and mode shapes from modal test. However, the question still remains as to whether this model is acceptable for the loads and GNC requirements. An uncertainty propagation and quantification (UP and UQ) technique to develop a quantitative set of validation metrics that is based on the flight requirements has therefore been developed and is discussed in this paper. There has been considerable research on UQ and UP and validation in the literature, but very little on propagating the uncertainties from requirements, so most validation metrics are "rules-of-thumb;" this research seeks to come up with more reason-based metrics. One of the main assumptions used to achieve this task is that the uncertainty in the modeling of the fixed boundary condition is accurate, so therefore that same uncertainty can be used in propagating the fixed-test configuration to the free-free actual configuration. The second main technique applied here is the usage of the limit-state formulation to quantify the final probabilistic parameters and to compare them with the requirements. These techniques are explored with a simple lumped spring-mass system and a simplified SLS model. When completed, it is anticipated that this requirements-based validation metric will provide a quantified confidence and probability of success for the final SLS dynamics model, which will be critical for a successful launch program, and can be applied in the many other industries where an accurate dynamic model is required.

Brown, Andrew M.

Transport characteristics of a finite-difference dynamics model combined with a spectral transport model of the middle atmosphere

A three-dimensional off-line spectral transport model has been combined with a global, mechanistic, finite-difference dynamics model of the middle atmosphere in order to study transport and photochemistry in the middle atmosphere for specific, observed episodes. In this paper, the basic transport characteristics of the combined models are examined, first using steady, idealized flow fields and second using time-dependent flow fields closely related to observed atmospheric behavior. Transport conducted with the combined models is found to compare favorably with transport conducted on-line in the dynamics model, given appropriate time averaging of the flow fields and suitable choice of artificial diffusion.

Duncan, T.