Analysis, testing, and evaluation of faulted and unfaulted Wye, Delta, and open Delta connected electromechanical actuators

Mathematical models capable of simulating the transient, steady state, and faulted performance characteristics of various brushless dc machine-PSA (power switching assembly) configurations were developed. These systems are intended for possible future use as primemovers in EMAs (electromechanical actuators) for flight control applications. These machine-PSA configurations include wye, delta, and open-delta connected systems. The research performed under this contract was initially broken down into the following six tasks: development of mathematical models for various machine-PSA configurations; experimental validation of the model for failure modes; experimental validation of the mathematical model for shorted turn-failure modes; tradeoff study; and documentation of results and methodology

Bayesian inference for dynamic pose estimation using directional statistics

The dynamic pose of an object, where the object can represent a spacecraft, aircraft, or mobile robot, among other possibilities, is defined to be the position, velocity, attitude, and angular velocity of the object. A new method to perform dynamic pose estimation is developed that leverages directional statistics and operates under the Bayesian estimation framework, as opposed to the minimum mean square error (MMSE) framework that conventional methods employ. No small attitude uncertainty assumption is necessary using this method, and, therefore, a more accurate estimate of the state can be obtained when the attitude uncertainty is large. Two new state densities, termed the Gauss-Bingham and Bingham-Gauss mixture (BGM) densities, are developed that probabilistically represent a state vector comprised of an attitude quaternion and other Euclidean states on their natural manifold, the unit hypercylinder. When the Euclidean states consist of position, velocity, and angular velocity, the state vector represents the dynamic pose. An uncertainty propagation scheme is developed for a Gauss-Bingham-distributed state vector, and two demonstrations of this uncertainty propagation scheme are presented that show its applicability to quantify the uncertainty in dynamic pose, especially when the attitude uncertainty becomes large. The BGM filter is developed, which is an approximate Bayesian filter in which the true temporal and measurement evolution of the BGM density, as quantified by the Chapman-Kolmogorov equation and Bayes\u27 rule, are approximated by a BGM density. The parameters of the approximating BGM density are found via integral approximation on a component-wise basis, which is shown to be the Kullback-Leibler divergence optimal parameters of each component. The BGM filter is then applied to three simulations in order to compare its performance to a multiplicative Kalman filter and demonstrate its efficacy in estimating dynamic pose. The BGM filter is shown to be more statistically consistent than the multiplicative Kalman filter when the attitude uncertainty is large --Abstract, page iii

Splitting methods based on algebraic factorization for fluid-structure interaction

We discuss in this paper the numerical approximation of fluid-structure interaction (FSI) problems dealing with strong added-mass effect. We propose new semi-implicit algorithms based on inexact block-$LU$ factorization of the linear system obtained after the space-time discretization and linearization of the FSI problem. As a result, the fluid velocity is computed separately from the coupled pressure-structure velocity system at each iteration, reducing the computational cost. We investigate explicit-implicit decomposition through algebraic splitting techniques originally designed for the FSI problem. This approach leads to two different families of methods which extend to FSI the algebraic pressure correction method and the Yosida method, two schemes that were previously adopted for pure fluid problems. Furthermore, we have considered the inexact factorization of the fluid-structure system as a preconditioner. The numerical properties of these methods have been tested on a model problem representing a blood-vessel system.&nbsp

State-space approach to nonlinear predictive generalized minimum variance control

A Nonlinear Predictive Generalized Minimum Variance (NPGMV) control algorithm is introduced for the control of nonlinear discrete-time multivariable systems. The plant model is represented by the combination of a very general nonlinear operator and also a linear subsystem which can be open-loop unstable and is represented in state-space model form. The multi-step predictive control cost index to be minimised involves both weighted error and control signal costing terms. The solution for the control law is derived in the time-domain using a general operator representation of the process. The controller includes an internal model of the nonlinear process but because of the assumed structure of the system the state observer is only required to be linear. In the asymptotic case, where the plant is linear, the controller reduces to a state-space version of the well known GPC controller

Transient simulation of complex electronic circuits and systems operating at ultra high frequencies

The electronics industry worldwide faces increasingly difficult challenges in a bid to produce ultra-fast, reliable and inexpensive electronic devices. Electronic manufacturers rely on the Electronic Design Automation (EDA) industry to produce consistent Computer A id e d Design (CAD) simulation tools that w ill enable the design of new high-performance integrated circuits (IC), the key component of a modem electronic device. However, the continuing trend towards increasing operational frequencies and shrinking device sizes raises the question of the capability of existing circuit simulators to accurately and efficiently estimate circuit behaviour. The principle objective of this thesis is to advance the state-of-art in the transient simulation of complex electronic circuits and systems operating at ultra high frequencies. Given a set of excitations and initial conditions, the research problem involves the determination of the transient response o f a high-frequency complex electronic system consisting of linear (interconnects) and non-linear (discrete elements) parts with greatly improved efficien cy compared to existing methods and with the potential for very high accuracy in a way that permits an effective trade-off between accuracy and computational complexity. High-frequency interconnect effects are a major cause of the signal degradation encountered b y a signal propagating through linear interconnect networks in the modem IC. Therefore, the development of an interconnect model that can accurately and efficiently take into account frequency-dependent parameters of modem non-uniform interconnect is of paramount importance for state-of-art circuit simulators. Analytical models and models based on a set of tabulated data are investigated in this thesis. Two novel, h igh ly accurate and efficient interconnect simulation techniques are developed. These techniques combine model order reduction methods with either an analytical resonant model or an interconnect model generated from frequency-dependent sparameters derived from measurements or rigorous full-wave simulation. The latter part o f the thesis is concerned with envelope simulation. The complex mixture of profoundly different analog/digital parts in a modern IC gives rise to multitime signals, where a fast changing signal arising from the digital section is modulated by a slower-changing envelope signal related to the analog part. A transient analysis of such a circuit is in general very time-consuming. Therefore, specialised methods that take into account the multi-time nature o f the signal are required. To address this issue, a novel envelope simulation technique is developed. This technique combines a wavelet-based collocation method with a multi-time approach to result in a novel simulation technique that enables the desired trade-off between the required accuracy and computational efficiency in a simple and intuitive way. Furthermore, this new technique has the potential to greatly reduce the overall design cycle

Boundary element solution of Poisson\u27s equations in axisymmetric laminar flows

The primitive variable Navier-Stokes equations may be replaced by two equations using the derived variable of vorticity. These equations model separately the kinematic and kinetic parts of the problem. Two boundary element solutions for the kinematic equations were developed for axisymmetric flow geometries. The first was based on the fluid mechanics analogy of the Biot and Savart formula for the magnetic effects of a current. The second was the solution of the vector Poisson\u27s velocity equation using the direct boundary element equation. Numerical integration algorithms were developed which were used for all integrals;Integral solutions for Poisson\u27s pressure equation and Poisson\u27s vector potential equation were derived using the direct boundary element equation. The equations were integrated using the algorithms developed for the velocity solutions;The axisymmetric laminar Navier-Stokes solution was completed by solving the kinetic vorticity transport equation with finite difference methods. Two finite difference methods developed for the complete 2 dimensional non-linear Burger\u27s equation were modified for use on the axisymmetric form of the vorticity transport equation;This complete Navier-Stokes solution was then used to verify the form of the six boundary element equations and the accuracy of the integration algorithm developed. This was done by solving three steady state flow problems and one time dependent flow problem which were designed to simulate flow in power hydraulic components;Flow problems were encountered which produced ill-conditioned kinematic systems with attendant unstable solutions and large errors. Solution algorithms were developed which stabilized the associated matrix operator and improved solution performance. The method is based on the theory and numerical methods of Tikhonov regularization as it applies to linear algebraic systems of equations

STICAP: A linear circuit analysis program with stiff systems capability. Volume 1: Theory manual

STICAP (Stiff Circuit Analysis Program) is a FORTRAN 4 computer program written for the CDC-6400-6600 computer series and SCOPE 3.0 operating system. It provides the circuit analyst a tool for automatically computing the transient responses and frequency responses of large linear time invariant networks, both stiff and nonstiff (algorithms and numerical integration techniques are described). The circuit description and user's program input language is engineer-oriented, making simple the task of using the program. Engineering theories underlying STICAP are examined. A user's manual is included which explains user interaction with the program and gives results of typical circuit design applications. Also, the program structure from a systems programmer's viewpoint is depicted and flow charts and other software documentation are given