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NASA NTRS1986

Sensitivity analysis and approximation methods for general eigenvalue problems

Optimization of dynamic systems involving complex non-hermitian matrices is often computationally expensive. Major contributors to the computational expense are the sensitivity analysis and reanalysis of a modified design. The present work seeks to alleviate this computational burden by identifying efficient sensitivity analysis and approximate reanalysis methods. For the algebraic eigenvalue problem involving non-hermitian matrices, algorithms for sensitivity analysis and approximate reanalysis are classified, compared and evaluated for efficiency and accuracy. Proper eigenvector normalization is discussed. An improved method for calculating derivatives of eigenvectors is proposed based on a more rational normalization condition and taking advantage of matrix sparsity. Important numerical aspects of this method are also discussed. To alleviate the problem of reanalysis, various approximation methods for eigenvalues are proposed and evaluated. Linear and quadratic approximations are based directly on the Taylor series. Several approximation methods are developed based on the generalized Rayleigh quotient for the eigenvalue problem. Approximation methods based on trace theorem give high accuracy without needing any derivatives. Operation counts for the computation of the approximations are given. General recommendations are made for the selection of appropriate approximation technique as a function of the matrix size, number of design variables, number of eigenvalues of interest and the number of design points at which approximation is sought.

Murthy, D. V.↗

NASA NTRS1987

Modal sensitivity for structural systems with repeated frequencies

Repeated or closely packed modal frequencies are common physical occurrences for vibrating structures which are complex or possess multi-planes of symmetry. The computation of the sensitivity to structural modifications for these frequencies and mode shapes is made difficult by the fact that the mode shapes are not unique, since any linear combination of eigenvectors corresponding to a repeated eigenvalue is also an eigenvector. The work of Chen and Pan is extended, who used modal expansion techniques for accommodating the sensitivity analysis of structures with repeated eigenvalues. Starting with a discussion of the physical significance of sensitivity analysis for repeated frequency modes, a derivation is presented of the governing equations for the derivatives of a repeated eigenvalue. This is followed with a small example to illustrate the results. An efficient computation procedure, based upon an expansion of Nelson's ideas for large banded systems, is then proposed for systems with repeated or closely spaced eigenvalues.

Ojalvo, I. U.↗

NASA NTRS1987

Investigation, development and application of optimal output feedback theory. Vol. 4: Measures of eigenvalue/eigenvector sensitivity to system parameters and unmodeled dynamics

Some measures of eigenvalue and eigenvector sensitivity applicable to both continuous and discrete linear systems are developed and investigated. An infinite series representation is developed for the eigenvalues and eigenvectors of a system. The coefficients of the series are coupled, but can be obtained recursively using a nonlinear coupled vector difference equation. A new sensitivity measure is developed by considering the effects of unmodeled dynamics. It is shown that the sensitivity is high when any unmodeled eigenvalue is near a modeled eigenvalue. Using a simple example where the sensor dynamics have been neglected, it is shown that high feedback gains produce high eigenvalue/eigenvector sensitivity. The smallest singular value of the return difference is shown not to reflect eigenvalue sensitivity since it increases with the feedback gains. Using an upper bound obtained from the infinite series, a procedure to evaluate whether the sensitivity to parameter variations is within given acceptable bounds is developed and demonstrated by an example.

Halyo, Nesim↗

NASA NTRS1988

An application of eigenspace methods to symmetric flutter suppression

An eigenspace assignment approach to the design of parameter insensitive control laws for linear multivariable systems is presented. The control design scheme utilizes flexibility in eigenvector assignments to reduce control system sensitivity to changes in system parameters. The methods involve use of the singular value decomposition to provide an exact description of allowable eigenvectors in terms of a minimum number of design parameters. In a design example, the methods are applied to the problem of symmetric flutter suppression in an aeroelastic vehicle. In this example the flutter mode is sensitive to changes in dynamic pressure and eigenspace methods are used to enhance the performance of a stabilizing minimum energy/linear quadratic regulator controller and associated observer. Results indicate that the methods provide feedback control laws that make stability of the nominal closed loop systems insensitive to changes in dynamic pressure.

Fennell, Robert E.↗

NASA NTRS1987

Direct numerical simulation of buoyantly driven turbulence

Numerical simulations of homogeneous turbulence subject to buoyant forcing were performed. The presence of a mean temperature gradient combined with a gravitational field results in a forcing term in the momentum equations. The development of the turbulence was studied and compared to the decay of similar fields in the absence of gravity. In the buoyantly driven field, the vorticity is preferentially aligned with the intermediate eigenvector of the strain-rate tensor and the local temperature gradient is more likely to be aligned with the most compressive eigenvector. These relationships are qualitatively similar to those observed in previous shear flow results studied by Ashurst (1987). A tensor diffusivity model for passive scalar transport developed from shear flow results in Rogers, Moin, and Reynolds (1986) also predicts this buoyant scalar transport, indicating that the relationship between the scalar flux and the Reynolds stress is similar in both flows.

Ashurst, William T.↗

NASA NTRS1988

Reduced order models for nonlinear aerodynamics

Reduced order models are needed for reliable, efficient and accurate prediction of aerodynamic forces to analyze fluid structure interaction problems in turbomachinery, including propfans. Here, a finite difference, time marching Navier-Stokes code is validated for unsteady airfoil motion by comparing results with those from classical potential flow. The Navier-Stokes code is then analyzed for calculation of primitive and exact estimates of eigenvalues and eigenvectors associated with fluid-airfoil interaction. A variational formulation for the Euler equations and Navier-Stokes equations will be the basis for reduction of order through an eigenvector transformation.

Mahajan, Aparajit J.↗

NASA NTRS1988

Multiple boundary condition test (MBCT) - Identification with mode shapes

The multiple boundary condition test (MBCT) approach is a ground test method to test a class of large flexible structures which cannot be ground tested by state-of-the-art test methods due to the adverse terrestrial environment. The ultimate objective of a ground test is considered to be the validation and update of a mathematical model of the structure. The research to date has indicated the MBCT does work on numerical simulations and on experimental laboratory hardware. To date only the eigenvalue has been used in the model correlation/update by inclusion of the information in the nonlinear terms resulting from the difference between the analytical and measured eigenvectors. This paper presents the results of utilizing additional information, namely the difference in the analytical and the test eigenvectors, in the validation and update of the mathematical model.

Kuo, C. P.↗

NASA NTRS1988

An application of eigenspace methods to symmetric flutter suppression

An eigenspace assignment approach to the design of parameter insensitive control laws for linear multivariable systems is presented. The control design scheme utilizes constrained optimization techniques to exploit the flexibility in eigenvector assignments to reduce control system sensitivity to changes in system parameters while maintaining performance requirements; it thus provides a systematic approach for choosing values for eigensystem design variables. The methods involve use of the singular value decomposition to provide an exact description of allowable eigenvectors in terms of a minimum number of design parameters. In a design example, the methods are applied to the problem of symmetric flutter suppression in an aeroelastic vehicle. In this example the flutter mode is sensitive to changes in dynamic pressure and eigenspace methods are used to enhance the performance of a stabilizing minimum energy/linear quadratic regulator controller and associated observer. Numerical results indicate that the methods provide feedback control laws that make the stability of the nominal closed loop systems less sensitive to changes in dynamic pressure, while maintaining acceptable control power and robustness constraints.

Fennell, Robert E.↗

NASA NTRS1989

Stability robustness improvement of direct eigenspace assignment based feedback systems using singular value sensitivities

A methodology to improve the stability robustness of feedback control systems designed using direct eigenspace assignment techniques is presented. The method consists of considering the sensitivity of the minimum singular value of the return difference transfer matrix at the plant input to small changes in the desired closed-loop eigenvalues and the specified elements of the desired closed-loop eigenvectors. Closed-form expressions for the gradient of the minimum return difference singular value with respect to desired closed-loop eigenvalue and eigenvector parameters are derived. Closed-form expressions for the gradients of the control feedback gains with respect to the specified eigenspace parameters are obtained as an intermediate step. The use of the gradient information to improve the guaranteed gain and phase margins in eigenspace assignment based designs is demonstrated by application to an advanced fighter aircraft.

Garg, Sanjay↗

NASA NTRS1988

An improved V-Lambda solution of the matrix Riccati equation

The authors present an improved algorithm for computing the V-Lambda solution of the matrix Riccati equation. The improvement is in the reduction of the computational load, results from the orthogonality of the eigenvector matrix that has to be solved for. The orthogonality constraint reduces the number of independent parameters which define the matrix from n-squared to n (n - 1)/2. The authors show how to specify the parameters, how to solve for them and how to form from them the needed eigenvector matrix. In the search for suitable parameters, the analogy between the present problem and the problem of attitude determination is exploited, resulting in the choice of Rodrigues parameters.

Bar-Itzhack, Itzhack Y.↗

NASA NTRS1989

Stability robustness improvement of direct eigenspace assignment based feedback systems using singular value sensitivities

Garg, Sanjay↗

NASA NTRS1990

More About Multiple-Boundary-Condition Testing

Measured shapes of vibrational modes used to update mathematical models. Report extends discussion of multiple-boundary-condition vibrational testing techniques. Emphasis on further refinement of mathematical model by use of differences between measured eigenvectors and eigenvectors predicted by model to be refined.

Kuo, Chin-Po↗

NASA NTRS1990

Computational aspects of sensitivity calculations in linear transient structural analysis

A study was performed focusing on the calculation of sensitivities of displacements, velocities, accelerations, and stresses in linear, structural, transient response problems. One significant goal of the study was to develop and evaluate sensitivity calculation techniques suitable for large-order finite element analyses. Accordingly, approximation vectors such as vibration mode shapes are used to reduce the dimensionality of the finite element model. Much of the research focused on the accuracy of both response quantities and sensitivities as a function of number of vectors used. Two types of sensitivity calculation techniques were developed and evaluated. The first type of technique is an overall finite difference method where the analysis is repeated for perturbed designs. The second type of technique is termed semi-analytical because it involves direct, analytical differentiation of the equations of motion with finite difference approximation of the coefficient matrices. To be computationally practical in large-order problems, the overall finite difference methods must use the approximation vectors from the original design in the analyses of the perturbed models. In several cases this fixed mode approach resulted in very poor approximations of the stress sensitivities. Almost all of the original modes were required for an accurate sensitivity and for small numbers of modes, the accuracy was extremely poor. To overcome this poor accuracy, two semi-analytical techniques were developed. The first technique accounts for the change in eigenvectors through approximate eigenvector derivatives. The second technique applies the mode acceleration method of transient analysis to the sensitivity calculations. Both result in accurate values of the stress sensitivities with a small number of modes and much lower computational costs than if the vibration modes were recalculated and then used in an overall finite difference method.

Greene, William H.↗

NASA NTRS1990

Dynamic substructuring by the boundary flexibility vector method of component mode synthesis

Component mode synthesis (CMS) is a method of dynamic analysis, for structures having a large number of degrees of freedom (DOF). These structures often required lengthy computer CPU time and large computer memory resources, if solved directly by the finite-element method (FEM). In CMS, the structure is divided into independent components in which the DOF are defined by a set of generalized coordinates defined by displacement shapes. The number of the generalized coordinates are much less than the original number of physical DOF, in the component. The displacement shapes are used to transform the component property matrices and any applied external loads, to a reduced system of coordinates. Reduced system property matrices are assembled, and any type of dynamic analysis is carried out in the reduced coordinate system. Any obtained results are back transformed to the original component coordinate systems. In all conventional methods of CMS, the mode shapes used for components are dynamic mode shapes, supplemented by static deflected shapes. Historically, all the dynamic mode shapes used in conventional CMS are the natural modes (eigenvectors) of components. A new method of CMS, namely the boundary flexibility vector method of CMS, is presented. The method provides for the incorporation of a set of static Ritz vectors, referred to as boundary flexibility vectors, as a replacement and/or supplement to conventional eigenvectors, as displacement shapes for components. The generation of these vectors does not require the solution of a costly eigenvalue problem, as in the case of natural modes in conventional CMS, and hence a substantial saving in CPU time can be achieved. The boundary flexibility vectors are generated from flexibility (or stiffness) properties of components. The formulation presented is for both free and fixed-interface components, and for both the free and forced vibration problems. Free and forced vibration numerical examples are presented to verify the accuracy of the method and the saving in CPU time. Compared to conventional methods of CMS, the results indicate that by using the new method, more accurate results can be obtained with a substantial saving in CPU time.

Abdallah, Ayman Ahmed↗

NASA NTRS1990

Parameter identification of aeroelastic modes of rotary wings from transient time histories

A novel moving-block technique is presented for parameter-identification tasks concerning the aeroelastic modes of rotary wings, using a least-squares solver in the time domain to estimate dampings and eigenvector components. The least-squares moving-block (LSMB) technique is shown to yield superior estimates to those of the previous moving-block technique for four different analytical test cases. An additional advantage of the LSMB approach is its ability to estimate eigenvector components with good accuracy; this feature is useful in assessing the coupling of the different modes. The method can also be used to perform periodic modal identification, and is applicable to experimental data for the extraction of modal information.

Amrani, Ahmed Omar↗

NASA NTRS1992

Robust Assignment Of Eigensystems For Flexible Structures

Improved method for placement of eigenvalues and eigenvectors of closed-loop control system by use of either state or output feedback. Applied to reduced-order finite-element mathematical model of NASA's MAST truss beam structure. Model represents deployer/retractor assembly, inertial properties of Space Shuttle, and rigid platforms for allocation of sensors and actuators. Algorithm formulated in real arithmetic for efficient implementation. Choice of open-loop eigenvector matrix and its closest unitary matrix believed suitable for generating well-conditioned eigensystem with small control gains. Implication of this approach is that element of iterative search for "optimal" unitary matrix appears unnecessary in practice for many test problems.

Juang, Jer-Nan↗

NASA NTRS1992

Conservative-variable average states for equilibrium gas multi-dimensional fluxes

Modern split component evaluations of the flux vector Jacobians are thoroughly analyzed for equilibrium-gas average-state determinations. It is shown that all such derivations satisfy a fundamental eigenvalue consistency theorem. A conservative-variable average state is then developed for arbitrary equilibrium-gas equations of state and curvilinear-coordinate fluxes. Original expressions for eigenvalues, sound speed, Mach number, and eigenvectors are then determined for a general average Jacobian, and it is shown that the average eigenvalues, Mach number, and eigenvectors may not coincide with their classical pointwise counterparts. A general equilibrium-gas equation of state is then discussed for conservative-variable computational fluid dynamics (CFD) Euler formulations. The associated derivations lead to unique compatibility relations that constrain the pressure Jacobian derivatives. Thereafter, alternative forms for the pressure variation and average sound speed are developed in terms of two average pressure Jacobian derivatives. Significantly, no additional degree of freedom exists in the determination of these two average partial derivatives of pressure. Therefore, they are simultaneously computed exactly without any auxiliary relation, hence without any geometric solution projection or arbitrary scale factors. Several alternative formulations are then compared and key differences highlighted with emphasis on the determination of the pressure variation and average sound speed. The relevant underlying assumptions are identified, including some subtle approximations that are inherently employed in published average-state procedures. Finally, a representative test case is discussed for which an intrinsically exact average state is determined. This exact state is then compared with the predictions of recent methods, and their inherent approximations are appropriately quantified.

Iannelli, G. S.↗

NASA NTRS1990

Intercomparison between microwave and infrared observations of precipitable water

The possible utility of observations by the TIROS-N Vertical Sounder system as a data base for a global climatology of atmospheric precipitable water is assessed. A comparison is described between the atmospheric precipitable water content (PWC) derived from IR observations by the High-Resolution Infrared Radiation Sounder (HIRS/2) of the TOVS system using the eigenvector regression technique and derived from microwave observations by the Special Sensor Microwave/Imager (SSM/I). It is suggested that the difference between the two data sets can largely be attributed to the eigenvector method used to retrieve PWC from the HIRS/2 observations. It is shown that in the regions of subsidence associated with the air motion around the subtropical zone of high pressure, the HIRS/2 tends to overestimate the PWC.

Tjemkes, Stephen A.↗