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103 records · Page 6

All sources NASA NTRS DOE OSTI

NASA NTRS2024

A Systematic Methodology for Modeling and Attitude Control of Multi-body Space Telescopes

This paper derives a symbolic multi-body rigid nonlinear model for a space telescope using Stoneking’s implementation of Kane’s method. This symbolic nonlinear model is linearized using Matlab symbolic functions diff and inv because the analytic linearization is intractable for manual derivation. The linearized system model is then used to design the controllers using both linear quadratic regulator (LQR) and robust pole assignment methods. The closed-loop systems for the two designs are simulated using both the rigid model as well as a second model containing flexible modes. The performances of the two designs are compared based on the simulation testing results. Our conclusion is that the robust pole assignment design offers better performance than that of the LQR system in terms of actuator usage and pointing accuracy. However, the LQR approach remains an effective first design step that can inform the selection of real eigenvalues for robust pole assignment. The proposed method may be used for the modeling and controller designs for various multi-body systems.

Modeling↗

NASA NTRS2019

Free-Flight CFD Simulations of Ballistic Range and Flight Tests

Free-Flight CFD capability has been implemented into the finite-volume solver US3D under the Entry Systems Modeling project. Several simulations of ballistic range experiments have been performed in order to validate the simulation software and methodology. Extension of the software to flight scale trajectories with varying freestream conditions has been carried out. Results show promising ability to predict vehicle behavior as compared to flight. Finally, a multi-body free-flight capability has been developed to generalize the single-body free-flight solver to study multiple bodies in proximal flight.

Brock, Joseph M.↗

NASA NTRS2004

Simulation and Analyses of Staging Maneuvers of Next Generation Reusable Launch Vehicles

NASA has initiated a comprehensive stage separation tool development activity to address the technology needed for successful development and operation of next generation reusable launch vehicles. As a part of this activity, ConSep simulation tool is being developed. This paper discusses the application of this tool to the staging maneuvers of two-stage-to-orbit (TSTO) vehicles. Simulation and analyses are performed for two bimese TSTO concepts, one staging at Mach 3 and the other at Mach 6. The TSTO bimese vehicles used in this study are sized for international space station class payload. The proximity and isolated aerodynamic databases used in the simulation were generated using the data from wind tunnel tests conducted at NASA Langley Research Center. ConSep is a MATLAB-based front end to the commercially available ADAMS solver, an industry standard package for solving multi-body dynamic problems.

Pamadi, Bandu N.↗

NASA NTRS1991

Controls for orbital assembly of large space structures

The topics covered are presented in viewgraph form and include the following: flexible structure control; decentralized control for flexible multi-body systems; control of structures during assembly; decentralized control using structural partitioning; reduced-orded model-based controller design; ROM/residual mode filters (RMF) control of large flexible structures;RMF in a distributed parameter system (DPS); LSS active control simulation; 3-D truss beam; mobile transporter with RMS; and flexible robot manipulator.

Balas, Mark J.↗

NASA NTRS2014

Verification, Validation and Credibility Assessment of a Computational Model of the Advanced Resistive Exercise Device (ARED)

The Advanced Resistive Exercise Device (ARED) is the resistive exercise device used by astronauts on the International Space Station (ISS) to mitigate bone loss and muscle atrophy due to extended exposure to microgravity (micro g). The Digital Astronaut Project (DAP) has developed a multi-body dynamics model of biomechanics models for use in spaceflight exercise physiology research and operations. In an effort to advance model maturity and credibility of the ARED model, the DAP performed verification, validation and credibility (VV and C) assessment of the analyses of the model in accordance to NASA-STD-7009 'Standards for Models and Simulations'.

Werner, C. R.↗

DOE OSTI2023

Rigid-flexible coupling multi-body dynamics modeling of a semi-submersible floating offshore wind turbine

A 14-degree-of-freedom (14-DOF) flexible multibody dynamics model is developed and verified for a semi-submersible floating offshore wind turbine (FOWT). The model considers the coupled dynamics of the platform, tower, nacelle, blades, and mooring subjected to external wind and wave loads. The platform is simplified as a rigid body connected to the seabed by the mooring system. The tower and blade are modeled as flexible cantilever beams. The energy method is used to derive the governing equations of motion, where the kinetic energy, potential energy, and work done by external wind-wave forces are all deduced in a global coordinate system. The 5-MW baseline semi-submersible FOWT is used to verify the derived model against the results simulated from FAST developed by the US National Renewable Energy Laboratory (NREL) at two scenarios: free decay state and different wind-wave load cases. Results show that the established FOWT model can well reflect the vibration characteristics of FAST model. The application of the model to the control of platform pitch with a tuned mass damper is studied. Furthermore, the simplified model could provide a low-order method for the structural dynamics analysis and advanced vibration control design for the multi-body components of the semi-submersible FOWT in the future.

17 WIND ENERGY↗

NASA NTRS1991

Passive dynamic controllers for nonlinear mechanical systems

A methodology for model-independant controller design for controlling large angular motion of multi-body dynamic systems is outlined. The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system and at the same time suppress the vibration due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameter, even if the controlled system is nonlinear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach to a flexible six-degree-of-freedom manipulator.

Juang, Jer-Nan↗

NASA NTRS1991

Passive dynamic controllers for non-linear mechanical systems

A methodology for model-independent controller design for controlling large angular motion of multi-body dynamic systems is outlined.The controlled system may consist of rigid and flexible components that undergo large rigid body motion and small elastic deformations. Control forces/torques are applied to drive the system, and at the same time suppress the vibrations due to flexibility of the components. The proposed controller consists of passive second-order systems which may be designed with little knowledge of the system parameters, even if the controlled system is non-linear. Under rather general assumptions, the passive design assures that the closed loop system has guaranteed stability properties. Unlike positive real controller design, stabilization can be accomplished without direct velocity feedback. In addition, the second-order passive design allows dynamic feedback controllers with considerable freedom to tune for desired system response, and to avoid actuator saturation. After developing the basic mathematical formulation of the design methodology, simulation results are presented to illustrate the proposed approach applied to a flexible six-degree-of-freedom manipulator.

Juang, Jer-Nan↗

NASA NTRS2005

Momentum-Based Dynamics for Spacecraft with Chained Revolute Appendages

An efficient formulation is presented for a sub-class of multi-body dynamics problems that involve a six degree-of-freedom base body and a chain of N rigid linkages connected in series by single degree-of-freedom revolute joints. This general method is particularly well suited for simulations of spacecraft dynamics and control that include the modeling of an orbiting platform with or without internal degrees of freedom such as reaction wheels, dampers, and/or booms. In the present work, particular emphasis is placed on dynamic simulation of multi-linkage robotic manipulators. The differential equations of motion are explicitly given in terms of linear and angular momentum states, which can be evaluated recursively along a serial chain of linkages for an efficient real-time solution on par with the best of the O(N3) methods.

Queen, Steven↗

NASA NTRS2009

Integrated Modeling of Spacecraft Touch-and-Go Sampling

An integrated modeling tool has been developed to include multi-body dynamics, orbital dynamics, and touch-and-go dynamics for spacecraft covering three types of end-effectors: a sticky pad, a brush-wheel sampler, and a pellet gun. Several multi-body models of a free-flying spacecraft with a multi-link manipulator driving these end-effectors have been tested with typical contact conditions arising when the manipulator arm is to sample the surface of an asteroidal body. The test data have been infused directly into the dynamics formulation including such information as the mass collected as a function of end-effector longitudinal speed for the brush-wheel and sticky-pad samplers, and the mass collected as a function of projectile speed for the pellet gun sampler. These data represent the realistic behavior of the end effector while in contact with a surface, and represent a low-order model of more complex contact conditions that otherwise would have to be simulated. Numerical results demonstrate the adequacy of these multibody models for spacecraft and manipulator- arm control design. The work contributes to the development of a touch-and-go testbed for small body exploration, denoted as the GREX Testbed (GN&C for Rendezvous-based EXploration). The GREX testbed addresses the key issues involved in landing on an asteroidal body or comet; namely, a complex, low-gravity field; partially known terrain properties; possible comet outgassing; dust ejection; and navigating to a safe and scientifically desirable zone.

Quadrelli, Marco↗

NASA NTRS2015

Forward Bay Cover Separation Modeling and Testing for the Orion Multi-Purpose Crew Vehicle

Spacecraft multi-body separation events during atmospheric descent require complex testing and analysis to validate the flight separation dynamics models used to verify no re-contact. The NASA Orion Multi-Purpose Crew Vehicle (MPCV) architecture includes a highly-integrated Forward Bay Cover (FBC) jettison assembly design that combines parachutes and piston thrusters to separate the FBC from the Crew Module (CM) and avoid re-contact. A multi-disciplinary team across numerous organizations examined key model parameters and risk areas to develop a robust but affordable test campaign in order to validate and verify the FBC separation event for Exploration Flight Test-1 (EFT-1). The FBC jettison simulation model is highly complex, consisting of dozens of parameters varied simultaneously, with numerous multi-parameter interactions (coupling and feedback) among the various model elements, and encompassing distinct near-field, mid-field, and far-field regimes. The test campaign was composed of component-level testing (for example gas-piston thrusters and parachute mortars), ground FBC jettison tests, and FBC jettison air-drop tests that were accomplished by a highly multi-disciplinary team. Three ground jettison tests isolated the testing of mechanisms and structures to anchor the simulation models excluding aerodynamic effects. Subsequently, two air-drop tests added aerodynamic and parachute elements, and served as integrated system demonstrations, which had been preliminarily explored during the Orion Pad Abort-1 (PA-1) flight test in May 2010. Both ground and drop tests provided extensive data to validate analytical models and to verify the FBC jettison event for EFT-1. Additional testing will be required to support human certification of this separation event, for which NASA and Lockheed Martin are applying knowledge from Apollo and EFT-1 testing and modeling to develop a robust human-rated FBC separation event.

Ali, Yasmin↗

NASA NTRS2016

Effect of Surface Pressure Integration Methodology on Launch Vehicle Buffet Forcing Functions

The 2014 test of the Space Launch System (SLS) Rigid Buffet Model conducted at the NASA Langley Transonic Dynamics Tunnel employed an extremely high number of unsteady pressure transducers. The high channel count provided an opportunity to examine the effect of transducer placement on the resulting buffet forcing functions (BFFs). Rings of transducers on the forward half of the model were employed to simulate a single-body vehicle. The impact of transducer density, circumferential distribution, and loss of a single transducer on the resulting BFFs were examined. Rings of transducers on the aft half of the SLS model were employed to examine the effect of transducer density and circumferential distribution on BFFs for a multi-body configuration. Transducer placement considerations with respect to model size, facility infrastructure, and data acquisition system capabilities, which affect the integration process, are also discussed.

Sekula, Martin K.↗

NASA NTRSDate not supplied

Application and use of Multi Body Dynamic Simulations for In Space Mechanisms

The Thermal and Mechanical Analysis Branch of the Space System Department (ES22) is actively growing and expanding a new mechanical analysis capability. In recent years, there has been an increase in the demand for Multi Body Dynamics (MBD) analysis to support small ESPA ring size spacecraft, cubesats, lunar surface operations and large spacecraft with complex operations or deployables. Requirements can be balanced for both needs to ensure mechanism is verified for launch. Multi-body dynamics is the study of multiple rigid or flexible bodies that are linked together or are in contact and the associated kinematics and dynamics of the system. The typical outputs include performance information, loads, and deflections of mechanical systems. They routinely support the development of robotic mechanisms, deployment mechanisms, landing simulations, control systems, and conops planning.

Multi Body Dynamics Analysis↗