1 9 9 2 A C C / F M 2

DA M A GE-M mGA TING C ONTROL OF A EROSPA C E SYSTEM S

F OR H IGH PERF ORM A NC E A ND EXTENDED UF Et
A ok Ra y
M i r -K u a mg W u
M u c a y a p i n o
Pmma f
a Sta e Un i -e s t
Ui v e r s i ty Pa r k, PA 1 6 8 0
A BSTRA C T
Th
c on c e p t of g -mi ti a ti n g c on tr ol i s to mi n i i z e
fa ti g u e ( a s w e l l a s c r e e p a n d c oi on ) d a ma g e of c r i c a l
c omp on e n ts of i s tr e s w h l e s i mu l l y
ma x i mi z i n g th e s y s te m d y n a mi c p e r for ma n c e . Gi v e n a
d y n a mi c mod e l of th e
p l a n t ( for e x a mp th e f e n g e ,
a n d fr a me of a d v a n e d a i r c r a ft, or th e r e l s a b l e r oc ke g i n e
for s p c e
u l s i on ) a n d th e for p e r fom
a n d a i t ta s k i s to s tIzs a tr ol kw
th a t w ou me e Ut
s y s tm r q u i r e me n n a t te s a mt
ti n ,
s a ts fy th e os t th a t a i mp os b y th e n a te i a l
a n d s tr u c tu r l
p r oe r s of th e c r i a l
Th i s p a p e r p r s e n ts th e c on c e p t of d a ma g e -mi ti g a tg
c on tr ol s e ms d i g n w i th th e fol ow i n g c e s : ( 1 ) to
a c h i e v e w i th a
p l on d )
to s y s te m l y u p d a th e c on tr ol l a s U n e w t
of a d v a n c e d me r a l s e v ol v e s . Th e ma j or c h a l e g e i s to
-e x tr t th e th e ma te r i a l p a n d th
u ti l i z e th i s i oa ti on i n sfa om s u c h th a t i t c a n
b e d i r c ty a p p l i e d to r ob u s t c on tr ol for a n i c a l
s y s te ms .
INTRODUC TION
On e of th e ma j or g oa l s of th e Ite l l i g e n t C on tr o Sy s te m
( IC S) for a d v a n c e d a h i r r a ft a n d mu s a b l e s p a c e p r op u l s i on
s y s te ms i s to a c h i e v e h i g h p e r for ma n c e w i th i n c r e a s e d
r e l i a b i t, a b i l i ty , a n d M a i n ty [ 1 ). To e x te n d th e
u s e fu l i e of a e r os p a c e s s ms a n d i n c r e a s e te a n n ti n t
b e tw e e n c on s e c u ti v e mi n tn a n c e on s , th e IC S n e e d s to
b e d e s i g n e d b y ta c i n g p e r for ma n c e a n d l i fe s p a n , mi s on
ob j e c ti v e s , a n d ma i n te n a n c e c os ts i n to c on s i d e a ton . Th 1 e
c u e n t s ta te -of-th e -a n of IC S d e s i g n foc u s s on
d y n a mi c
p e r fa n c e u n d d th e n a i s th a t d oa n orofte n
y te l y
r e p r e s e t th e p h y s i c a
p r Or teofth mtr a l s . Th e r e a s o
i s th a t c on tr l e n g i n e e r s a r e u s u a l l y u n a w a r e of th e ma i a l
p r op e r ti e s a n d th e tr d i ti on a l d e s i g n i s b a s e d u p on th e
a s s u mp ti on of s ta n d a r d ma te r i a l s w i th w e l l -kn ow n
c h a r a c te r i s ti c s . In v i e w of h i g h p e r for ma n c e r e q u i r e me n ts a n d
a v a i l a b i l i ty of v a s d y i mp r ov e d ma te r i a l s ( th a t ma y h a v e
s i g n i fi c a n tl y d i ffe r e n t d a ma g e c h a r c te r i s ti c s r e l a ti v e to
c on v e n ti on a l ma te r i a l s ), th e l a c k of a te kn ow l e d g e
a b ou t th e p r op e r ti e s of th e s e ma te r i a l s w i l l l e a d to e i th e r ( i )
l e s s th a n a c h i e v a b l e p e r for ma n c e d u e to
ov e r l y c on s a v a ti v e
d e s i g n , or ( i i ) ov e r -s tr a i n i n g of th e s tr u c tu e a n d
th e r e b y
d r a s ti c a l l y r e d u c i n g th e u s e fu l l i fe s p a n . F or
e x a mp l e ,
r e u s a b l e r oc ke t e n g i n e s p r e s e n t a
s i g n i fi c a n tl y d i ffe r e n t
p r ob l e m i n c on tr A s to e x p e n d a b l e p r op u l s i on s y s te n s
th a t a r e
d e s i g n e d on th e b a s i s of mi n i mi z a ti on of w e i g h t a n d
a c q u i s i ti on c os t u n d e r th e c on s tr a i n t of s p e c i fi e d s y s te m
r e l i a b i l i ty . In th e r oc ke t e n g i n e s , mu l ti p l e s ta r t-s top c y c l e s
c a u s e l a r g e th e r ma l s tr a i n s ; s te a d y -s ta te s tr e s s e s g e n e r a te
i n e l a s ti c s tr a i n s ; a n d d y n a mi c l oa d s i n d u c e
h i g h c y c l i c s tr a i n
l e a d i n g to fa ti g u e fa i l u r e s . Th e or i g i n a l d e s i g n g oa l
ot
th e
Sp a c e Sh u tfl e M a i n En g i n e ( SSM E) c a l l e d for 5 5 fl i g h ts
t Th i s r e s e a r c h w a s s u w p p or te d i n
p a Nt b y
NA SA Le w i s Re a r c h C e n te r u n d e r Gr a n No. NA G 3 -1 2 4 0 .
C a r l P. Ln n e z o
W a h e r C M e r l i e n
NA SA Le w i s Re s e n d s C
C l e v e l a u l , OH 4 4 1 3 5
b e for e
a n y ma j o ma i te b u , tx h c n u s p r a ti c e s S to
d i s a s s e n a n e n g i n fi r e a c h fl i g h t [ 2
A n oth e r e x a ml e i s th d e s i g n of th e F -IS
a i r c r a ft a s a r e s u l t of c of Ut fg c on tr ol Ps y s m
m a n og to
d i g i ta l , w h i c h w l d l a d to a s g n i a n t
c h a n p g
i n Ut l a s c tr u m on tb e a mn s e - 3 In
th i s c a s d e s i g i U c on tr l s y s te m c a n b e v i e w e d a a
tr a d e -off b e d fl i g h t u n r a b i i ty a n th e
ov e r a l l
l i e c y c l e c os t.
A l th ou g h a
s i g n i i n t a mou n t of r e s a r c h h a s b e e n
c d te d i n Ut i n d i v i d u a l a r e a s oc w n tr ol s y n th e i s , a n d d
a n a l y s i s a n d p r e d i c ti on of ma te r i a l o i n te g r a to of
th e s e tw o d i s c i p l i n e s h u w a s t o r e c e i d mu c h a tte n d on .
Re c e n tl y , Nol l e t a l . [ 3 ] h a v e p oi n te d ou t Ut n e e d for
i n te r d i s c i p l i n a r y r e s a r c h i n th e fi e l d s of a c ti v e c on tr ol
te c h n ol og y a n d s tu c a l
i n te g r i ty , s p e c i fi c a l l y fa ti g u e Efe
a n a l y s s , i n v i e w of th e te g r a te d s t a n d
fl i g h t c on tr ol
of a d v a n c e d a i r r a fL a M d M e r r i l l [ 4 ] h a v e s e d a
c on c e p t
of l fe e x tn g c on tr ol for r e u s a b l e r oc ke t e n a s
a n a u g me n ta ti on to th e i n te l l i g e n t s p a c e p r op u l s i on c on tr ol
s y s te m. In th i s
a p p r oa c h , l i fe i s d e f i n te r ms of
me c h a n i c a l fa d g u e a n d Ut ob j w d e v e of e c on tr s y e m i s to
ma x i mi z e th e s y s w m d y n a mi c p e for ma n c e w h i l e mi n i i z i n g
th e fa ti g u e -b a s e d d a ma g e i n c r i ti l c o ts
Th e r e s e a r c h
r e p or te d i n th s p a e r i s a n e x tc e s i on f th e
w or k of La e n z o a n d M e r r i l l ( 4 ] , a n d foc u s e s on th e
c on c e p t
of a c on tr ol s y n th e s i s me th od ol og y a n d
p r e l i mi ma q
d e v e l op me n t of a c on ti n u ou s -ti me d a ma g e mod e l w i th th e
fol l ow i n g
ob j e c i v e s :
*
To a c h i e h i g h p e r for n c e Ita p r ol g e d l i fe s a ;
* To c on ti n u a l y u p d a te th e c on tr ol s y s e ms a s n e w
te c h n ol og i e s
of a d v a n c e d ma te i a l s e v ol v e s
Th e ke y i d e a i s th a t a s i g n fi n t i mp r ov e mn t i n l i fe s p a n
c ou l d b e a c h i e v e d
b y
a s ma l l r i n p e for ma n c e . Si n c e
th e s c i e n c e a n d te c h r n l og y of ma ti a l s for a e r os p a c e
s y s te m
c omp on e n ts a r e e x p e c te d to b e c on ti n u a l y e v ol v i n g , th e
d a ma g e -mi ti g a ti n g c on tr ol e r d e s i g n n r h d d ol og y mu s t h a v e
t c a p a b i l i t to i y a n a te
e p r e s ta -
i on of ma te r i a p s r e q u r s a u g me n ta ti on of th e
c u r r e n t s y s te m- c tn i q u for c on l e r d e i g th
g ov e r n i n g e q u a ti on s a n d i n e q t c on s tr a i n ts th a t w ou l d
mod e l th e p r d te s of th e ma te i a l s for th e
p u r p n e
of fa ti g u e
r e p r e s e n ta ti on . Th e ma j or c h a l l e n g e i n i s r e s e a c h i s to
e x a c t tti on fr om th e ma te r i a l
p r p te s a n d th e n
u ti z e ti s i n for ma ti on i n s fo s u c h d f i t c a
b e
d i r l y a p p l i e d to r ob u s t c on tr ol s y n th e s i s for me c h a n i c a l
s y s e Th e d a ma g e -mi fi g a tn on r l e i s n t t b e a n
i n te g r a l p a r t of Uth e i n te l i g e n t c on tr l s s te m th a t mu s t b e
tol e r a n t of a v a i e ty of c e r os th a t mi h u l t fr m z p a r a me ti c
a n d
n on -p a r me tr i c u n c e r ta i n ti s i n p l a n t n g ,
i n te a l
a n d e x te r n a l d s tu r b a n c e s , a n d th e a t d a ma g e ov e
th e p e r i od b e tw e e n c on s e c u ti v e ma i n te n a n c e a c ti on s a s w e l l .
H ow e v e r , th i s d a ma g e -mi ti g a ti n g c on tr ol p p r oa c h i s n ot
r e s tr i c te d to i n te l l g e n t otr ol s y s , a n d c a n b e a p p l e d to
a n y s y s te m w h e r e
d u r a b i l ty i s a n s mj Er tw i t i s e .
3 0 5 2
DA M A GE-M ITIGA TING C ONTROL SYSTEM
Th e g oa l of th e d a ma g e -mi ti g a ti n g c on tr ol s y s te m i s to
a c h i e v e h i g h p e ma n c e a n d s i mu l ta n e ou s l y ma i n ta i n th e
d a ma g e of th e c r i td c a l p a n t c omon e n t( s ) w i i n a p i b e d
l i n i t Gi v e n a n i n i ti c on d ti on , th e op e n -l oop c on tr ol p ol i c y
i s ob ta i n e d v i a n on l i n e a r p r og r a n g b y mi n i mi z i n g a
s p e c i fi e d ob j e c i v e
u n c I u tn a i n p e d d
c on s ta i n ts . Th e c on c e p t of a n op e n -l oop c on tr ol s tr u c r e
w i th d a ma g e c omp u ta ti on i s i l l u s tr a te d i n F i g u e 1 . Th e p l a n t
mod e l i s a fi n i te -d i me n s i on a l s ta r -s p a c e r e p r e s ta ti on of th e
s y s te m d y n a mi c s . Th e p l a n t ou tp u t ( a n d p os s i b l y p l a n t s ta te s )
a r e i n p u ts to th e s tr u c tu a l mod e l w h i c h , i n tu n , g e n e r a te s th e
n e c e s s a r y i n for ma ti on for th e d a ma g e mod e l . Th e ou tp u t of
th e s tr u c u r a l mod e l i s th e l oa d v e c tor w h i c h ma y c on s i s t of
i n s ta n ta n e ou s s tr e s s , s tr a i n , te mp e r a tu e , a n d oth e r p h y s i c o-
c h e mi c a l p r oc e s s v a r i a b l e s a t th e c r i ti c a l p oi n t( s ) of th e
s tr u c tu r e . Th e d a ma g e mod e l i s a c n ti n u ou s -ti me r e p r e s e n ta -
ti on of l i fe p r e d i c ti on i n te r ms of d a ma g e r a te a n d
a c c u mu l a te d d a ma g e a t th e c r i ti c a l p oi n t( s ) of th e s tu c tu r e
w h i c h ma y b e s u b j e c te d to ti m-d e p e n d e n t l oa d . Th e d a ma g e
s ta te v e c tor [ 5 ] c ou l d i n d i c a te th e l e v e l of mi c r o-c r a c ki n g ,
ma c r os c op i c c r a c k l e n g th , w e a r , c r e e p , d e n s i ty of s l i p b a n d s ,
e tc . , a t on e or mor e c r i tc a l p oi n ts .
C on tr ol
i n p u t u ( t)
p l a n tmod e l
(
s ta te
x ( t) )
Pl a n t ou tp u t y ( t)
Pl a n t s ta te
x ( t)
Da ma g e ou q mts
v ( t) 4 ( t)
F i g u r e 1 . Op e n -Loop C on tr ol Sw te
ITe s y s te m p fomn c i n d e x i s a s c a l a r fu n c of th e
p l a n t s ta te v e c tor , p l a n t i n p u t a n d d a ma g e r a te v e c tor
te p r e s n ti n g a tr a koff b e tw e e n th e p l a n t p e r foma n c e a n d
a c c u mu l a te d d a ma g e . A ma th e ma i c a l d c p ti on of th e
d a ma g e -mi ti g a tn g c on tr ol s y s te m i s p td b e l ow :
Ta s k p e r i od : Str i n g ti me to to fi n a l ti me
tf
Pl a t d y n a mi s : = f( x ( t), u ( t)t, x ( to)
= F
d t
Da ma g d y n a mi c s :
d v =h ( v ( t), q ( x , u , t), tX
v ( to)= v o;
h >0 V t
d t
D( t)
=
( v ( t), v , . e f)
a n d D( t) e [ 0 , 1 ]
Da ma g e r a te tol e r a n c e :
0 S
h ( v ( t), q ( x , u , t), t)
c
N( t)
V t e
( t0 9 tf)
A c u mu i a td d a ma g e tol e r a n c e : [ v ( tf)- V ( tO)]
< r
Sy s te m p e r for ma n c e c os t fu n c i on a l : 3 = J ( x , u , v )
w h e r :
x E Rn i s th e p l a n t s ta te v e c tor ,
u e RIm i s te c tr ol i n p u t v e c tor ,
v e Rr i s th e d a ma g e s ta te v e c tr ;
V r e f e Rr i s th e p r e a s s i g n e d l i mi t for th e d a ma g e s ta te
v e c tor ,
P( t)
a n d r a r e s p e c i fi e d tol e r a n c e of d a ma g e r a te a n d
a c c u mu l a te d d a ma g e r e s p e c ti v e l y ;
q e RP i s th e l oa d v e c tor ,
D e [ 0 , 1 ] i s a s c l a r me a s u r e of th e a c c u mu l a te d d a ma g e ;
J i s th e p e r fon ma n c e c os t fu n c ti on c h os e n i n th e s ta n d a r d
q u a d r a ti c for m.
Th e d a ma g e mod e l i n e q . ( 2 ) r e p r e s e n ts th e e ffe c ts of fa ti g u e
d a ma g e u n d e r s p e c ta l l oa d i n g ( i e , w i th v a r i a b l e a mp l i tu d e
a n d v a r i a b l e fr q u e n c y ). A s a l i e n t fe a tu r e of th i s mod e l i s th a t
th e d a ma g e r a te i s e x p r e s s e d i n th e for ma t of a d i ffe r e n ti a l
e q u a ti on w i th r e s p e c t to ti me i n s te a d of th e c on v e n ti on a l
p r a c ti c e of u s i n g th e n u mb e r of ka d c y c l e s a s th e i n d e p e n d e n t
v a r i a b l e . In th i s r e s e a r c h , th e c on ti n u ou s -d me d a ma g e mod e l
h a s b e e n d e v e l op e d fol l ow i n g b oth l oc a l s tr a i n a n d c r a c k
p r op a g a ti on a p p r oa c h e s [ 6 ] . In a e r os p a c e a p p l i c a ti on s , th e
c on c e p t of l oc a l s tr a i n h a s b e e n e x te n s i v e l y u s e d for l i fe
p r e d i c ti on of e n g i n e c omp on e n ts w h e r e a s th e c r a c k c l os u r e
c on c e p t h a s b e e n d e v e l op e d for i n v e s ti g a ti n g th e fa ti g u e
d a ma g e of a i r r f fr a me .
A n on l i n e a r p r og r a mmi n g a p p r oa c h
i s u s e d to mi n i mi z e
th e c os tfu n ti on a l J i n e q . ( 6 ). A s a fi s t c h oi c e , th e IM SL
s u b r ou ti NC ONF
M 7 1
h a s b e e n a d op te d to s ol v e a g e n a e r l
n on l i n e a r p r ob l e m u s i n g th e s u c c e s s i v e q u a d ti c
i n g a l g or th m, a n d a fi n i te d i ffe r n c e g r a d i e n L Te d e i g n
v a r i a b l e s a r e p l a n : i p u t u k, k=0 , 1 , 2 , -, N-1 , a n d th e g
i s
to s e a c h for th e op ti ma l u th a t mi n i mi z e s th e c os t fu n c ton
3 . Th e p r b l e m i s for mu l a te d a s g i v e n b e l ow :
M i n i N ( Z kQ kz k + u kTRku k),
Su b j e c t to:
( v k -V o)
< r
O. h ( v k, q ( x k, u k, kXk)c fl ( k) k=O, L2 , ---, N
w h e r Z kl =IXkT I
v kIT1
( 7 )
A n op e n -l oop c on tr ol p ol i c y , u ff, i s g e n a te d fr om ( 7 ) b y
u s i n g th e p r i n c i p l e of n on l i n e a r p r o mi n g Th e op d ma l
s ol u ti os , x ff, ff, a n d v ff, s e r v e a s c o a n d s i g n a l s i n th e
c l os e d -l oop c on tr ol s y s te m
( 1 )
( 2 )
( 3 )
( 4 )
( 5 )
( 6 )
C ONTINUOUS-TIM E DA M A GE M ODEL
In th e c on v e n ti on a l l i fe p r e d i c ti on a p p r oa c h e s , s u c h a s
l oc a l s tr a i n or l i n e a r e l a s ti c fi a c tu r e me c h a n i c s , th e d a ma g e i s
d e i n e d on th e b a s i s of c y c l e s . Th e d a ma g e i c r me n t b e w e e n
a n y tw o p oi n ts w i th i n th e s a me r e v e r s a l c a n n ot b e e v a l u a te d
b y th e c on v e n ti on a l c y c l e -b a s e d d a ma g e a s s e s s me n t.
H ow e v e r , a s s u ml n g l i n e a r d a ma g e a c c u mu l a ti on , th e c y c l e -
b a s e d d a ma g e d e fi n i ti on c a n b e fth e r e x te n d e d to for mu l a te a
c on ti n u ou s -d me d a ma g e mod e l a s fol l ow s .
Re fe r r i n g to F i g u r e 2 , l e t tfe p oi n t 0 b e th e s ta r ti n g p oi n t
of a r e v e r s a l , A a n d B b e tw o c on s e c u ti v e p oi n ts on th e s a me
r e v e r s a l , a n d NA a n d NB r e p r e s e n t th e tota l n u mb e r of c y c l e s
to fa i l u r e w i th c on s ta n t l oa d a mp l i tu d e s , OA a n d OB,
r e s p e c ti v e l y . Th e n , th e h a l f-c y c l e i n c r e me n t i n d a ma g e
b e tw e e n p oi n ts A a n d B i s d e fi n e d a s :
A 8 s
1
_ -
2 NB 2 NA
3 0 5 3
( 8 )
Gi v e n th a t A c i s th e s tr e s s c h a n g e b e tw e e n th e
-i I
a n d B, th e
a v e r a g e d a ma g e r a z e d u e to th i s s tr e s s
A
th e n A 5 / A oF . M a ki n g A c i n fi n i te s i ma l l y
s ma l l ,
i n s ta n n e ou s d a ma g e d i ffe r e n ti a l i s g i v e n b y
d 6 = l i m -x A x c d o
A -b B A c d o
a Y
A
B
ts A
e i s
th e
C y c l e s to z a i u r for c oa a n t
e mn l i tu c l Q A : N A
. -
e
C y c l s to fa i u for c n a n t
a mp l tu d e 9 :
NB
ODa n b a n A a n d B i s d e fi b y :
1 1
2 N, 2 NA
F i g u r e 2 Da ma e b e tw e e n Tw o Pon s on th e Sa me Re v e r a
w h e th e n e ou s s
r a t d a M c a n b e
ob tn d
fr o
d i ta of Uth s tr i n r a te a n d c to Ut
s te s r a te
fol ow i n s g
Ue c y c l i c s tr e s s -s tr n c w v e , a n d d Sd
i s d i v c d foU e d i s t
c y c e -b a s e d g fc r i a e
Si n c th e s tr i n -l i fe a p oc h i s s u i ta b l e for p r e d i c i n g
a i ti a i o l i fe u c X l oa
s p Oc a , i t i s a d op td
fu r
d a ma g e ma to i n Ut n on u s i n
s e tti n g a s n e e d e d
i n c on tr ol s y s te ms a n a l y s i s a n d s y n th e s i L
T e q u a ti os
d e s c r i b i n g th e r l i o b e tw e e n s tr e s s a n d s tr a i n a n d
s tr a i n a n d -ma r e g e n e b e l ow :
l a-
r =e -1
= Of' --m
( Be
2 E 2 E
( c 2 K ' )1
2
f( r f
( 1 0 )
( 1 1 )
w h e e q . ( 1 0 ) c oe s p od s to Ut e a s ti c d a ma g e mod e 5 . a n d
e q . ( 1 1 ) to Ue p l a s ti c d a ma g e
5 p .
Th e c oe ffi c i e n ts b , c , 0 / ,
C f. n ' . E a n d r a r e te i a c on s ta n ts a n d th e s u b s c r i p t r
r e p r s e n ts r th e p oi n t w h i c h i s d e te r mi n e d fr m c y c l e
c ou n ti n g me th od s u c h a s r a i n fl ow c ou n i n g . Tb e n , Ut e l a s ti c
d a ma g c r a te d Sj d t a n d th e p l s ti c d a ma g e r a te d % / d t a e
c omp u te d b y e q s . ( 9 ), ( 1 O) a n d ( 1 1 ). Th e p r e d i c u d d a ma g e
r a te d l / d t c a n b e ob ta i n e d a s a w e i g h te d a v e r g of d 5 M t a d
d fi p / d :
= w d t + ( It- W )
w h e r e th e w e i g h ti n g fu n c ti on w i s c h os e n a s
K w_
e Il
a n d 1 -w = IE1 P
w -
4 1 l W -
E
( 1 2 )
( 1 3 )
Th e a b ov e c on ti n u ou s -ti m d a mg c
mod e l i s d e r i v e d
b a s e d on l oc a l s tr a i n a p p r oa c h . H ow e v e r , th e d e r i v a ti v e
c on c e p t c a n a l s o b e
a p p l i e d
to th e c o ol y u s e d fa ti g u e
c r a c k p r op a g a ti on e q u a ti on s .
In th e s e mod e l s , th e c r a c k
g r ow th r a te i s ofte n r e l a te d to th e
s te s s : r a n g e
a n d th e c r a c k
l e n g tha s foow c
d a . =
f1 ( A K )
=
f( A c , a )
d N
( 1 4 )
w h e r e A K i s fts tr e s i s eTo b e c on s i s e
( 9 ) w i th d i e l oc a l _ n 4 i a ed i mi s s u me d to b e
i d e n d c a l l y q u l tD1 a U fa fi l s , Le . ,
w h e n d m c r a c k
l n l e g th r a h e s U c r i tc a l n i e , ? , w h c h
c a n
b e td fm Ut fr a c u r Ig h n e s of t c omp on e n t
Te n a i v e l y , Ut d a ma g e i s d e fi
a
a
( 1 5 )
Th e d a ma g e i s a to ooc u r on l y i f ( i ) th e s tr i s
i n c r e a s i n g a n d
C i i ) i t e x c e e d s th e c r c k op e i n g s tr e s , 0 . .
Th i s i mp l i e s th a t Ut d a ma g r a te i s e q u a l to z e r d u i n g
u n l oa d i n & De n oti n g Ut d a ma g e i n c r e n _ n t of th e r i s i n g
r e v e r s l b y 5 . e q . ( 1 4 ) c a n b e e x p r e s s e d
i n te r ms of th e
d a D, a s
d D I
=
d a 1
J Ra d N a
( 1 6 )
Si n c e Ut d m i n c t r i l y
d a ma g eD i s a s s u to b e th e v a l u e a t d e s tr i n g p oi t of
th e r e v e r s a l md s ta y c on s ta n t d u r i n g th i s r e v e r s a l . Te
d a n m r a te c a n b e ob a i n e d b y Uh e d i e n i a ti n g e q . ( 1 6 )
w i th r e s p e c t to M e .
d S I
d
fA G, a D) d o d
= a x d o
d
l i , a d e r &
( 1 7 )
RESULTS OF SIM ULA TION EXPERIM ENTS
Th e b a s i c c on c e p t of d a ma g e -mi ti g a ti n g c on tml i s
i l l u s ta te d v i a s i mu l a ti on e A p C e r me n ts b y u i g a r e l a ti v e l y
s i mp l i fi e d mol of Ut Sp a s h u ttl e ma e n g i n e ( SSM E).
Th e s tr u c ta mod e l a t th i s s ta g e , i s b a s e d on l y on Ut s a ti c
b e n d i n g s r s s of Ut tu r b i n e b l a d e , m! w i l l b e a u mn te d
to i n c l u d e th e e a ffe c ts of v i b r i on d te ma l e e
v a r i a ti on s i n th e e s s e s
p i ma r i l y r e s u l t fr om th c h a n g e i m
th e tr b i n e s h a ft w h i c h i s a fu n of s e v n a l j l a n t
s ta te s . Th e i mu l a i o e n ts w e r e c on d for
d i ffe r e n t v a l u e s of th e d a ma r a t s i I g u r c 3
s h ow s a om n ofUth e r e of Uth d a ma g e r a te , 4 ff,
for th r e e d i ffe n t v a u e s of
P
r e l a i v e to a p e r tu b d a ti on i n Ut
p l a n t i n i i a l c on d i to C or r e p n i n g s e e s of Ut ( op e n
l oop ) c on tr ol e ffor t, u ff ( fe e d i n g th e tw o a c tu a tor s ) a r e
p r e s e n te d i n
F i g u r e
4 . F or th e mo s e v e r c omn s ta i n t h e
s i mu l a ti on r u n s , = Sx l O-6 , th e op e n l oop r e s p on s e of Ut
c omb u s to p r e s s e i s th e s l ow e s t a s s e e n i n F i g u r e 5 . If th e
d a ma g e c on s tr a i n t i s r e l a x e d , i . e . ,
0
i s i n c r e a s e d , e n th e
s y s te m s e b s fa s t d t v a l u e of th e ob j d v e
fu n c ti on a l
p r ma r i l y
d u e to a l a r g e r c on tr o a c to, u .
Non l i n e a r p r og r a mmi n g g e n e r a te s t
op e n -l oop . c on tr ol
p ol i c y to a c h i e v e th e i ma l p foa n c e w i th ou t v i ol a ti n g
th e d a ma g e c on s ti n ts . H ow e v e r , b e c a u s e of p l a n t mod e l i n g
e r r or s ( i n c l u d i n g u n d e d d y n a mi c s ), u n c e r ta i n ti e s a n d
d i s u r b a n c e s , th e tu e
p l a n t r e s p on s e s h a l l d v i a te fr o of
th e mod e l e d s y s e m w h e n e x c i te d b y Ute op e n -l oop c on tr ol
s e q u e n c e . Th e r e for e , a c l os e d -l oop c on tr ol i s n e c e s s a r y to
c omp e n s a te for th e e r r os , a n d s ta te e s ti ma d on a n d fe e d b c k
c on tr ol c a n s e r v e th i s p u r p os e w h e r g a i n ma i c e s a r e
s y n th e s i z e d on th e b a s i s of a l i n e i z e d mod e l ofd te p l a n t
A b l oc k d i a g r a m of th e p r op os e d d a ma g e -mi ti g a ti n g
c on tr ol i s s h ow n i n F i g u r e 6 , w h e r e ( u ff), x ff), a n d ( Iff)
r e p r e s e n t th e s e q u e n c e s of th e p l a n t i n p u t, p l a n t s ta te , a n d
d a ma g e r a te , r e s p e c ti v e l y , ob a i n e d a s a n op ti ma l s ol u ti on of
3 0 5 4
I
ol . - -I -- ' p -
x o' 4
r 8
0 . 2 -
0 . 1 5 -
A
0 . 1 0 -
0 . 0 5 -
0
a mn a g e r a e o i n ts :
- -- : = 0 . 5 x 1 0 -
- : --P=. 0 x 1 0 S'
--
: 0 =2 . 0 x 1 0 -'
I
U.
0 0 . 0 0 2 0 . 0 0 4 0 . 0 0 6 OA K )
me ( Se )
F i g u r e 3 . Da ma e Re s p on s ofth e OPe n -Lop SYs tm
0 -
i
IM
on
0
0
U
0
Da ma g e r a te c n ta n s
-~: =( LSx 1 0
5
: Sc . Ox 1 0 5
--
: 0 =2 . 0 x l 0 '
Th i ( s e c )
-:
A =0 3 5 x 1 If5
-
-: P=Ioj x l o-l
-
: P=1 . x 1 0 S
-- : F =2 0 X 1 0 5
0 . 0 0 4 0 . 0 0 6 0 0 0 8 0 . 0 1 0
r m ( s e )
F i g u r e 4 C on tr ol
Ln p u t Se q u e n c e s of th e Op e n -Loop Sy s t
th e op e n -l oop c on tr ol p r ob l e m v i a n on l i n e a r p r og r a mmi n g ,
a n d ( y ff) i s th e r e s u l ti n g s e q u e n c e of p l a n t ou tp u t,
w h i c h i s
ob ta i n e d a s a n on l i n e a r fu n c ti on of p l a n t s ta te , g ( x ff).
Du e to
th e p l a n t mod e l i n g e r r or a n d d i s tu r b a n c e s ,
th e
tr a j e c toy
of th e
a c tu a l p l a n t ou tp u t, y , ma y d e v i a te fr om th a t of th e
p l a n t
ou tp u t, y ff. Th e r e for e , a fe e d b a c k c on tr ol l e r i s n e c e s s a r y to
c omp e n s a te for th e s e e r r or s . Th e n on l i n e a r p l a n t
mod e l i s fi r s t
l i n e a r i z e d a t th e n or ma l op e r a ti n g c on d i ti on . Th e s ta te
e s ti ma tor a n d s ta te fe e d b a c k c on tr ol l e r a r e th e n
d e s i g n e d
on
th e b a s i s of th e l i n e a r i z e d mod e l . Th e r e s u l ti n g e r r or , e ,
i n
p l a n t ou tp u t i s a n i n p u t to th e s ta te e s ti ma tor , a n d th e fe e d b a c k
3 1 0 0 -
3 0 0 0 -
2 9 0 0 -
2 8 0 0 -
2 7 0 0 -
r ;
/
Da ma g e r a te c on s ta i ts :
-
p =0 5 x IO5
- :
P=l . Ox 1 l 0 r
--
: 0 =2 . 0 x l O-
I I
I I
0 . 0 0 2 0 . 0 0 4 0 . 0 0 6 0 . 0 0 8
Ti me ( s e c )
0 . 0 1 0
F i g u r e 5 . Op e n Loop Re s p on s e of a Pl a n t V a r i a b l e
c on tr ol s i g n a l , u fb i s u s e d to c omp e n s a te for b oth p a r a me tr i c
a n d n on -p a r a me tr i c e r r or s r e s u l ti n g fr om p l a n t mod e l i n g a n d
d i s tr b a n c e s . Th e e s ti ma te d s ta te , w h i c h i s ob ta i n e d a s th e
s u m of th e e s ti ma te d s ta te e r r a n d th e r e fe r e n c e s me , x ff, i s
fe d to th e s t u a l mod e l for c omp u ta ti on of th e l oa d v e c tor ,
q , w h i c h c on ta i n s s tr e s s , s tr a i n a n d oth e r i n for ma ti on
n e c e s s a r y for d a ma g e a s s e s s me n t. [ Note : Some of th e
e l e me n ts
( e . g ,
s tr a i n a t a n u mb e r of c r i ti c a l p oi n ts ) of th e l oa d
v e c tor , q , ma y b e d i r l y me a s u r a b l e . ] Th e mod e l of d a ma g e
d y n a mi c s y i e l d s th e d a ma g e r a te , ,
a n d th e a c c u mu l a i te d
d a ma g e , v , a s th e ou tp u t. Si n c e th e d a ma g e r a te , v , i n th e
c l os e d -l kop c on tr ol s y s te m ma y v i ol a te th e s p e c i fi e d c on s tr a i n t
d u e to th e c or r e c ti on e x e r i s e d b y th e fe e d b a c k c on tr ol e ffor t,
u fb , a n on l i n e a r c on tr ol l e r for d a ma g e l i mi ta ti on i s
i n c or p or a te d i n to th e s y s te m to p r e v e n t th e d a ma g e r a te , 4 ,
fr om e x c e e d i n g th e c on s tr a i n t b y a n a d d i ti on a l c or r e c ti v e
c on tr ol e ffor t, u w m. A n e x a mp l e of th i s c r e c c on tr ol l a w
i s g i v e n b e l ow :
i f
4 . c ( t)P, u or =0 ;
e l s e i f 4 <c 4 ff, u ow =O
e l s e
u c or =g , 4
4 ff).
w h e r e I- i s th e d a ma g e r a te c on s ta i n t, c ( t) i s th e w e i g h ti n g
fu n c ti on ( O<c ( t)<l ) a n d g 1 ( 4 -4 f) i s th e n on l i n e a r c on tr ol
fu n c ti on th a t g e n e r a te s th e c on tr ol e ffor t i f v >
c ( t)p
a n d
v 4 2 . Th e i d e a i s to s p l i t th e ta s k of fe e d b a c k c on tr ol
s y n th e s i s i n to tw o p a r Th e fi r s t p a r t e s s e n ta l l y r e l i e s on th e
e s ta b l i s h e d l i n e a r c on tr ol s y n th e s i s te c h n i q u e s l i ke LQ G/ LTR,
H 2 A H . . , a n d j -s y n th e s i s [ 8 , 9 ] . Th e s e c on d p a r t c on tr i b u te s
s ol e l y to d a ma g e l i mi ta ti on a n d ma y b e d e s i g n e d h e u r i s ti c a l l y .
SUM M A RY A ND C ONC LUSIONS
Th e c on c e p t of d a ma g e -mi ti g a ti on a n d th e a tte n d a n t ta s k
of c on tr ol s y s te m a n a l y s i s a n d s y n th e s i s h a v e b e e n p r op os e d .
A s a n e x a mp l e , d a ma g e c on tr ol i n th e tu r b i n e b l a d e of th e
s p a c e s h u td e ma i n e n g i n e h a s b e e n c on s i d e r e d . Th e s i mu l a ti on
e x a mp l e p r e s e n te d i n th i s p a p e r a s s u me s a s h or t ta s k p e r i od
fr om to to tf to l i mi t th e n u mb e r of s te p s a n d , th e r e for e , to
r e d u c e th e c omp u ta ti on ti me n e e d e d i n th e l i n e s e a r c h for th e
n on l i n e a r p r og r a mmi n g . In r e a l i ty , h ow e v e r , th e p r oc e s s ma y
r u n for a mu c h l on g e r ti me , a n d th e op e n -l oop c on tr ol p ol i c y
ma y b e a l on g s e q u e n c e or i t ma y c on s i s t of s e v e r a l
c on s e c u ti v e s e q u e n c e s of mod e r a te l e n g th . Th e l a tte r a p p r oa c h
i n v ol v e s p a r ti ti on i n g th e ta s k p e r i od i n to s e v e r a l s u b ta s ks on
th e s ti p u l a ti on th a t a p p r op r i a te b ou n d a r y c on d i ti on s e x i s t
b e tw e e n c on s e c u ti v e s u b ta s ks . Th e ov e r a l l c on tr ol p ol i c y i s
ob ta i n e d b y i n te g r a ti n g th e s e s u b ta s ks .
3 0 5 5
tA I ~T~ | Z r --
F i g u r e 6 . C l os e d -Loop Da ma g e -M i ti g a ti n g C on tr ol Sy s te m
A s a n i n te g r a l p a r t of th e d a ma g -mi ti g a ti n g c on tr ol
s y s te m, a c on ti n u ou s -ti e d a ma g e mod e h a s b e e n d e v e l op e d
u s i n g th e l oc a l s ti n a p p r oa c h . H6 ow e v e , th e a c c u r a c y of th e
d a ma g e p r e d i c on on a c on ti n u ou s -d m b a s i s , a n d Its i mp a c t
on th e c on tr ol l s y n th e s i s n e e d to b e e x a mi n e d . On th e
c on tr ol s i d e , mor e r e s e a r c h e ffor t i s n e e d e d to a s s u r e
r ob u s tn e s s a n d s ta b i l i ty r e l a ti v e to th e p l a n t mod e l i n g e r r or s
a n d p a r a me tr i c u n c e r ta i n ti e s . Re s e a r c h i n th e s e tw o ma j or
a r s i s p l a n n e d for fu tu r e w or k.
A C K NOW LEDGEM ENT
Th e a u th or s a c kn ow l e d g e b e n e fi ts of d i s c u s s i on w i th
Pr ofe s s or Don a l d A . K s s of Pe n n s ta Un i v e r s i ty a n d Dr .
M i c h a e l A . M c Ga w of NA SA Le w i s Re s e a r c h C e n te r .
REF ERENC ES
1 . W . C . M c r r i l l a n d C . F . Lor e n z o, ' A Re u s a b l e Roc ke t En g i n e
In te l l i g e n t C on tol , ' NA SA TM X0 0 6 3 . A I-4 8 -3 1 1 4 . J u l y 1 1 -1 3 .
2 . C . F . Le n z o a d W . C . M e g i l l , ' A n In l e l l t C on tr ol SYs tm for
Roc k En g i n e s : Ne e d , V i s on a d Is s u e s , A me r i c a n C on tr ol
C on fe r e n c e , s a Di e g o, C A , M a y 1 9 9 0 , p p . 9 7 4 -9 8 2
3 . T. Nol i , E A u s ti n , S. Dod e y . G. tl mb a i , T.
H r i s , L K a w e s , B.
Le e a n d J . Sp a r r ow , Imp s t of A c ti v e C on tol s Te c h n l og y o
Str u c tu r a l In te g r i ty , " 3 2 n d NA A SM EIA SC E/ A H SIA SC
Stu c tu r c s ,
Str c tu r a l Dy n a mi c s . a n d M a te r i s C on e r e n c c .
Ba l Dme , M D, A p r i l
1 9 9 1 , p p . 1 8 6 9 -1 8 7 t
4 . C . F . Lor e n z o a n d W . C . M e r i l l ,
' Lfe
Ex te n d i n g C on tr ol : A
C on c e p t Pa p , ' A me r i c a n C on tr ol C on fe r e n c e , Bfl . M A , J u n e
1 9 9 1 , p p A . OO-1 0 9 5 .
5 . V .
V .
Bol oti n , Pr e d i c ti on of Se r v i c e
Le for M a c h i n e s a d
Stc tw e s . A SIE, 1 9 8 9 .
6 . S. Su r e s h , F a ti g u e of M a te r i a l s , C a mb r i d g e Un i v e r s i ty Pr e s s ,
C a mb r i d g e , En g l n d , 1 9 9 1 .
7 . IM SL M a n u a l . M a i h Li b r a r y , V ol . 3 , p p . 8 9 5 -9 0 2 .
8 . J . C . Doy l e ,
K .
Gl oe a , P. K h r g on e ka r a n d B. Pr a i s , ' Sta -Sp a c e
Sol u ti on s to Sta n d a r d H 2
a n d H . , C on tr ol Pr ob l e ms , ' IEEE
Tr a n s a c ti on s on A u to C on tr ol , V ol .
3 4 ,
No. 8 , A u g .
1 9 8 9 ,
p p .
8 3 1 -8 4 7 .
9 . J . M . M a c i e j ow ki . M u l ti v a r i a b l e F e e d b a c k De s i g n , A d d i s on -W e s l y ,
W d oi n g h a m, En g l n d ,
3 0 5 6