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NASA NTRS1973

Liapunov stability analysis of hybrid dynamical systems in the neighborhood of nontrivial equilibrium

This paper is concerned with the stability of a hybrid dynamical system in the neighborhood of a nontrivial equilibrium, where the system consists of one rigid part and n elastic members. The body moves in a central-force field with its mass center describing a circular orbit. The nontrivial equilibrium is defined by steady rotation of the system at an angular velocity equal to the orbital velocity, with the elastic members being in deformed state. A Liapunov stability analysis is performed by assuming small perturbations about the nontrivial equilibrium, where the latter is generally defined by nonlinear differential equations. The theory is applied to a gravity-gradient stabilized satellite with flexible appendages.

Meirovitch, L.↗

NASA NTRS1978

A computer program to automatically generate state equations and macro-models

A computer program, PROSE, that produces nonlinear state equations from a simple topological description of an electrical or mechanical network is described. Unnecessary states are also automatically eliminated, so that a simplified terminal circuit model is obtained. The program also prints out the eigenvalues of a linearized system and the sensitivities of the eigenvalue of largest magnitude.

Garrett, S. J.↗

NASA NTRS1987

Dynamics of spacecraft control laboratory experiment (SCOLE) slew maneuvers

This is the first of two reports on the dynamics and control of slewing maneuvers of the NASA Spacecraft Control Laboratory Experiment (SCOLE). In this report, the dynamics of slewing maneuvers of SCOLE are developed in terms of an arbitrary maneuver about any given axis. The set of dynamical equations incorporate rigid-body slew maneuver and three-dimensional vibrations of the complete assembly comprising the rigid shuttle, the flexible beam, and the reflector with an offset mass. The analysis also includes kinematic nonlinearities of the entire assembly during the maneuver and the dynamics of the interaction between the rigid shuttle and the flexible appendage. The final set of dynamical equations obtained for slewing maneuvers is highly nonlinear and coupled in terms of the flexible modes and the rigid-body modes. The equations are further simplified and evaluated numerically to include the first ten flexible modes and the SCOLE data to yield a model for designing control systems to perform slew maneuvers.

Kakad, Y. P.↗

NASA NTRS1987

Deterministic representation of chaos with application to turbulence

Chaotic motions of nonlinear dynamical systems are decomposed into mean components and fluctuations. The approach is based upon the concept that the fluctuations driven by the instability of the original (unperturbed) motion grow until a new stable state is approached. The Reynolds-type equations written for continuous as well as for finite-degrees-of-freedom dynamical systems are closed by using this stabilization principle. The theory is applied to conservative systems, to strange attractors and to turbulent motions.

Zak, M.↗

NASA NTRS1989

Computational study of 3-D Benard convection with gravitational modulation

In this numerical study the effects of a modulated gravitational field on three-dimensional Rayleigh-Benard convection with heating from above or from below is investigated. The full, nonlinear, time-dependent, Boussinesq Navier-Stokes equations and the energy equation are solved by a semiimplicit, pseudo-spectral procedure. This study has been motivated by the need to better understand the effects of vibration (G-Jitter) on fluids systems especially in the low gravity environment.

Biringen, S.↗

NASA NTRS1990

The route to chaos for the Kuramoto-Sivashinsky equation

The results of extensive numerical experiments of the spatially periodic initial value problem for the Kuramoto-Sivashinsky equation. This paper is concerned with the asymptotic nonlinear dynamics at the dissipation parameter decreases and spatio-temporal chaos sets in. To this end the initial condition is taken to be the same for all numerical experiments (a single sine wave is used) and the large time evolution of the system is followed numerically. Numerous computations were performed to establish the existence of windows, in parameter space, in which the solution has the following characteristics as the viscosity is decreased: a steady fully modal attractor to a steady bimodal attractor to another steady fully modal attractor to a steady trimodal attractor to a periodic attractor, to another steady fully modal attractor, to another periodic attractor, to a steady tetramodal attractor, to another periodic attractor having a full sequence of period-doublings (in parameter space) to chaos. Numerous solutions are presented which provide conclusive evidence of the period-doubling cascades which precede chaos for this infinite-dimensional dynamical system. These results permit a computation of the length of subwindows which in turn provide an estimate for their successive ratios as the cascade develops. A calculation based on the numerical results is also presented to show that the period doubling sequences found here for the Kuramoto-Sivashinsky equation, are in complete agreement with Feigenbaum's universal constant of 4,669201609... . Some preliminary work shows several other windows following the first chaotic one including periodic, chaotic, and a steady octamodal window; however, the windows shrink significantly in size to enable concrete quantitative conclusions to be made.

Papageorgiou, Demetrios T.↗

NASA NTRS1991

The route to chaos for the Kuramoto-Sivashinsky equation

The results of extensive numerical experiments of the spatially periodic initial value problem for the Kuramoto-Sivashinsky equation. This paper is concerned with the asymptotic nonlinear dynamics at the dissipation parameter decreases and spatio-temporal chaos sets in. To this end the initial condition is taken to be the same for all numerical experiments (a single sine wave is used) and the large time evolution of the system is followed numerically. Numerous computations were performed to establish the existence of windows, in parameter space, in which the solution has the following characteristics as the viscosity is decreased: a steady fully modal attractor to a steady bimodal attractor to another steady fully modal attractor to a steady trimodal attractor to a periodic attractor, to another steady fully modal attractor, to another periodic attractor, to a steady tetramodal attractor, to another periodic attractor having a full sequence of period-doublings (in parameter space) to chaos. Numerous solutions are presented which provide conclusive evidence of the period-doubling cascades which precede chaos for this infinite-dimensional dynamical system. These results permit a computation of the length of subwindows which in turn provide an estimate for their successive ratios as the cascade develops. A calculation based on the numerical results is also presented to show that the period doubling sequences found here for the Kuramoto-Sivashinsky equation, are in complete agreement with Feigenbaum's universal constant of 4,669201609 .... Some preliminary work shows several other windows following the first chaotic one including periodic, chaotic, and a steady octamodal window; however, the windows shrink significantly in size to enable concrete quantitative conclusions to be made.

Papageorgiou, Demetrios T.↗

NASA NTRS1993

Nonlinear evolution of magnetic flux ropes. I - Low-beta limit

We study the nonlinear self-similar evolution of a cylindrical magnetic flux tube with two components of the magnetic field, axial and azimuthal. We restrict ourselves to the case of a plasma of low beta. Introducing a special class of configurations we call 'separable fields', we reduce the problem to an ordinary differential equation. Two cases are to be distinguished: (1) when the total field minimizes on the symmetry axis, the magnetic configuration inexorably collapses, and (2) when, on the other hand, the total field maximizes on the symmetry axis, the magnetic configuration behaves analogously to a nonlinear oscillator. Here we focus on the latter case. The effective potential of the motion contains two terms: a strong repulsive term and a weak restoring term associated with the pinch. We solve the nonlinear differential equation of motion numerically and find that the period of oscillations grows exponentially with the energy of the oscillator. Our treatment emphasizes the role of the force-free configuration as the lowest potential energy state about which the system oscillates.

Osherovich, V. A.↗

NASA NTRS1997

Identification of Linear and Nonlinear Aerodynamic Impulse Responses Using Digital Filter Techniques

This paper discusses the mathematical existence and the numerically-correct identification of linear and nonlinear aerodynamic impulse response functions. Differences between continuous-time and discrete-time system theories, which permit the identification and efficient use of these functions, will be detailed. Important input/output definitions and the concept of linear and nonlinear systems with memory will also be discussed. It will be shown that indicial (step or steady) responses (such as Wagner's function), forced harmonic responses (such as Tbeodorsen's function or those from doublet lattice theory), and responses to random inputs (such as gusts) can all be obtained from an aerodynamic impulse response function. This paper establishes the aerodynamic impulse response function as the most fundamental, and, therefore, the most computationally efficient, aerodynamic function that can be extracted from any given discrete-time, aerodynamic system. The results presented in this paper help to unify the understanding of classical two-dimensional continuous-time theories with modem three-dimensional, discrete-time theories. First, the method is applied to the nonlinear viscous Burger's equation as an example. Next the method is applied to a three-dimensional aeroelastic model using the CAP-TSD (Computational Aeroelasticity Program - Transonic Small Disturbance) code and then to a two-dimensional model using the CFL3D Navier-Stokes code. Comparisons of accuracy and computational cost savings are presented. Because of its mathematical generality, an important attribute of this methodology is that it is applicable to a wide range of nonlinear, discrete-time problems.

Silva, Walter A.↗

NASA NTRS1997

Identification of Linear and Nonlinear Aerodynamic Impulse Responses Using Digital Filter Techniques

This paper discusses the mathematical existence and the numerically-correct identification of linear and nonlinear aerodynamic impulse response functions. Differences between continuous-time and discrete-time system theories, which permit the identification and efficient use of these functions, will be detailed. Important input/output definitions and the concept of linear and nonlinear systems with memory will also be discussed. It will be shown that indicial (step or steady) responses (such as Wagner's function), forced harmonic responses (such as Theodorsen's function or those from doublet lattice theory), and responses to random inputs (such as gusts) can all be obtained from an aerodynamic impulse response function. This paper establishes the aerodynamic impulse response function as the most fundamental, and, therefore, the most computationally efficient, aerodynamic function that can be extracted from any given discrete-time, aerodynamic system. The results presented in this paper help to unify the understanding of classical two-dimensional continuous-time theories with modern three-dimensional, discrete-time theories. First, the method is applied to the nonlinear viscous Burger's equation as an example. Next the method is applied to a three-dimensional aeroelastic model using the CAP-TSD (Computational Aeroelasticity Program - Transonic Small Disturbance) code and then to a two-dimensional model using the CFL3D Navier-Stokes code. Comparisons of accuracy and computational cost savings are presented. Because of its mathematical generality, an important attribute of this methodology is that it is applicable to a wide range of nonlinear, discrete-time problems.

Silva, Walter A.↗

NASA NTRS1972

Estimation of nonlinear pilot model parameters including time delay.

Investigation of the feasibility of using a Kalman filter estimator for the identification of unknown parameters in nonlinear dynamic systems with a time delay. The problem considered is the application of estimation theory to determine the parameters of a family of pilot models containing delayed states. In particular, the pilot-plant dynamics are described by differential-difference equations of the retarded type. The pilot delay, included as one of the unknown parameters to be determined, is kept in pure form as opposed to the Pade approximations generally used for these systems. Problem areas associated with processing real pilot response data are included in the discussion.

Schiess, J. R.↗

NASA NTRS1990

Minimum Weight Design of a Leaf Spring Tapered in Thickness and Width for the Hubble Space Telescope-Space Support Equipment

A linear elastic solution to the problem of minimum weight design of cantilever beams with variable width and depth is presented. The solution shown is for the specific application of the Hubble Space Telescope maintenance mission hardware. During these maintenance missions, delicate instruments must be isolated from the potentially damaging vibration environment of the space shuttle cargo bay during the ascent and descent phases. The leaf springs are designed to maintain the isolation system natural frequency at a level where load transmission to the instruments in a minimum. Nonlinear programming is used for the optimization process. The weight of the beams is the objective function with the deflection and allowable bending stress as the constraint equations. The design variables are the width and depth of the beams at both the free and the fixed ends.

Rodriguez, P. I.↗

NASA NTRS1992

A non-linearly stable implicit finite element algorithm for hypersonic aerodynamics

A generalized curvilinear coordinate Taylor weak statement implicit finite element algorithm is developed for the two-dimensional and axisymmetric compressible Navier-Stokes equations for ideal and reacting gases. For accurate hypersonic simulation, air is modeled as a mixture of five perfect gases, i.e., molecular and atomic oxygen and nitrogen as well as nitric oxide. The associated pressure is then determined via Newton solution of the classical chemical equilibrium equation system. The directional semidiscretization is achieved using an optimal metric data Galerkin finite element weak statement, on a developed 'companion conservation law system', permitting classical test and trial space definitions. Utilizing an implicit Runge-Kutta scheme, the terminal algorithm is then nonlinearly stable, and second-order accurate in space and time on arbitrary curvilinear coordinates. Subsequently, a matrix tensor product factorization procedure permits an efficient numerical linear algebra handling for large Courant numbers. For ideal- and real-gas hypersonic flows, the algorithm generates essentially nonoscillatory numerical solutions in the presence of strong detached shocks and boundary layer-inviscid flow interactions.

Iannelli, G. S.↗

NASA NTRS1992

Discrete time learning control in nonlinear systems

In this paper digital learning control methods are developed primarily for use in single-input, single-output nonlinear dynamic systems. Conditions for convergence of the basic form of learning control based on integral control concepts are given, and shown to be satisfied by a large class of nonlinear problems. It is shown that it is not the gross nonlinearities of the differential equations that matter in the convergence, but rather the much smaller nonlinearities that can manifest themselves during the short time interval of one sample time. New algorithms are developed that eliminate restrictions on the size of the learning gain, and on knowledge of the appropriate sign of the learning gain, for convergence to zero error in tracking a feasible desired output trajectory. It is shown that one of the new algorithms can give guaranteed convergence in the presence of actuator saturation constraints, and indicate when the requested trajectory is beyond the actuator capabilities.

Longman, Richard W.↗

NASA NTRS1993

Control of nonlinear systems represented in quasilinear form

Methods to synthesize controllers for nonlinear systems are developed by exploiting the fact that under mild differentiability conditions, systems of the form: x-dot = f(x) + G(x)u can be represented in quasilinear form, viz: x-dot = A(x)x + B(x)u. Two classes of control methods are investigated. The first is zero-look-ahead control, where the control input depends only on the current values of A(x) and B(x). For this case the control input is computed by continuously solving a matrix Riccati equation as the system progresses along a trajectory. The second is controllers with look-ahead, where the control input depends on the future behavior of A(x) and B(x). These controllers use the similarity between quasilinear systems and linear time varying systems to find approximate solutions to optimal control type problems. The methods that are developed are not guaranteed to be globally stable. However in simulation studies they were found to be useful alternatives for synthesizing control laws for a general class of nonlinear systems.

Coetsee, Josef A.↗

NASA NTRS1987

Selection principles and pattern formation in fluid mechanics and nonlinear shell theory

Wave theories of vortex breakdown were studied. A setting which involved dynamical systems and bifurcations of homoclinic and heteroclinic orbits in infinite-dimensional spaces was investigated. The determination of axisymmetric inviscid flows bifurcating from the primary flow lead to the study of a system of ordinary differential equations. The problem of rotating plane Couette flow was solved by means of the structure parameter approach.

Sather, Duane P.↗

NASA NTRS1988

The dynamics and control of large-flexible space structures, part 10

A mathematical model is developed to predict the dynamics of the proposed orbiting Spacecraft Control Laboratory Experiment (SCOLE) during the station keeping phase. The equations of motion are derived using a Newton-Euler formulation. The model includes the effects of gravity, flexibility, and orbital dynamics. The control is assumed to be provided to the system through the Shuttle's three torquers, and through six actuators located by pairs at two points on the mast and at the mass center of the reflector. The modal shape functions are derived using the fourth order beam equation. The generic mode equations are derived to account for the effects of the control forces on the modal shape and frequencies. The equations are linearized about a nominal equilibrium position. The linear regulator theory is used to derive control laws for both the linear model of the rigidized SCOLE as well as that of the actual SCOLE including the first four flexible modes. The control strategy previously derived for the linear model of the rigidized SCOLE is applied to the nonlinear model of the same configuration of the system and preliminary single axis slewing maneuvers conducted. The results obtained confirm the applicability of the intuitive and appealing two-stage control strategy which would slew the SCOLE system, as if rigid to its desired position and then concentrate on damping out the residual flexible motions.

Bainum, Peter M.↗

NASA NTRS1974

Rotation in vibration, optimization, and aeroelastic stability problems

The effects of rotation in the areas of vibrations, dynamic stability, optimization, and aeroelasticity were studied. The governing equations of motion for the study of vibration and dynamic stability of a rapidly rotating deformable body were developed starting from the nonlinear theory of elasticity. Some common features such as the limitations of the classical theory of elasticity, the choice of axis system, the property of self-adjointness, the phenomenon of frequency splitting, shortcomings of stability methods as applied to gyroscopic systems, and the effect of internal and external damping on stability in gyroscopic systems are identified and discussed, and are then applied to three specific problems.

Kaza, K. R. V.↗