Comparison of modal identification techniques using a hybrid-data approach

Modal identification of seemingly simple structures, such as the generic truss is often surprisingly difficult in practice due to high modal density, nonlinearities, and other nonideal factors. Under these circumstances, different data analysis techniques can generate substantially different results. The initial application of a new hybrid-data method for studying the performance characteristics of various identification techniques with such data is summarized. This approach offers new pieces of information for the system identification researcher. First, it allows actual experimental data to be used in the studies, while maintaining the traditional advantage of using simulated data. That is, the identification technique under study is forced to cope with the complexities of real data, yet the performance can be measured unquestionably for the artificial modes because their true parameters are known. Secondly, the accuracy achieved for the true structural modes in the data can be estimated from the accuracy achieved for the artificial modes if the results show similar characteristics. This similarity occurred in the study, for example, for a weak structural mode near 56 Hz. It may even be possible--eventually--to use the error information from the artificial modes to improve the identification accuracy for the structural modes

Rigid body mode identification of the PAH-2 helicopter using the eigensystem realization algorithm

The rigid body modes of the PAH-2 'Tiger' helicopter were identified using the Eigensystem Realization Algorithm (ERA). This work complements ground vibration tests performed using DLR's traditional phase resonance technique and the ISSPA (Identification of Structural System Parameters) method. Rigid body modal parameters are important for ground resonance prediction. Time-domain data for ERA were obtained by inverse Fourier transformation of frequency response functions measured with stepped-sine excitation. Mode purity (based on the Phase Resonance Criterion) was generally equal to or greater than corresponding results obtained in the ground vibration tests. All identified natural frequencies and mode shapes correlate well with corresponding ground vibration test results. The modal identification approach discussed in this report has become increasingly attractive in recent years due to the steadily declining cost and increased performance of scientific computers. As illustrated in this application, modern time-domain methods can be successfully applied to data acquired using DLR's existing test equipment. Some suggestions are made for future applications of time domain modal identification in this manner

Eigensystem realization algorithm modal identification experiences with mini-mast

This paper summarizes work performed under a collaborative research effort between the National Aeronautics and Space Administration (NASA) and the German Aerospace Research Establishment (DLR, Deutsche Forschungsanstalt fur Luft- und Raumfahrt). The objective is to develop and demonstrate system identification technology for future large space structures. Recent experiences using the Eigensystem Realization Algorithm (ERA), for modal identification of Mini-Mast, are reported. Mini-Mast is a 20 m long deployable space truss used for structural dynamics and active vibration-control research at the Langley Research Center. A comprehensive analysis of 306 frequency response functions (3 excitation forces and 102 displacement responses) was performed. Emphasis is placed on two topics of current research: (1) gaining an improved understanding of ERA performance characteristics (theory vs. practice); and (2) developing reliable techniques to improve identification results for complex experimental data. Because of nonlinearities and numerous local modes, modal identification of Mini-Mast proved to be surprisingly difficult. Methods were available, ERA, for obtaining detailed, high-confidence results

Eigensystem realization algorithm user's guide forVAX/VMS computers: Version 931216

The eigensystem realization algorithm (ERA) is a multiple-input, multiple-output, time domain technique for structural modal identification and minimum-order system realization. Modal identification is the process of calculating structural eigenvalues and eigenvectors (natural vibration frequencies, damping, mode shapes, and modal masses) from experimental data. System realization is the process of constructing state-space dynamic models for modern control design. This user's guide documents VAX/VMS-based FORTRAN software developed by the author since 1984 in conjunction with many applications. It consists of a main ERA program and 66 pre- and post-processors. The software provides complete modal identification capabilities and most system realization capabilities

GIF Animation of Mode Shapes and Other Data on the Internet

The World Wide Web abounds with animated cartoons and advertisements competing for our attention. Most of these figures are animated Graphics Interchange Format (GIF) files. These files contain a series of ordinary GIF images plus control information, and they provide an exceptionally simple, effective way to animate on the Internet. To date, however, this format has rarely been used for technical data, although there is no inherent reason not to do so. This paper describes a procedure for creating high-resolution animated GIFs of mode shapes and other types of structural dynamics data with readily available software. The paper shows three example applications using recent modal test data and video footage of a high-speed sled run. A fairly detailed summary of the GIF file format is provided in the appendix. All of the animations discussed in the paper are posted on the Internet available through the following address: http://sdb-www.larc.nasa.gov/

Simulation of the photogrammetric appendage structural dynamics experiment

The Photogrammetric Appendage Structural Dynamics Experiment (PASDE) uses six video cameras in the Space Shuttle cargo bay to measure vibration of the Russian Mir space station Kvant-ll solar array. It occurs on Shuttle/Mir docking mission STS-74 scheduled for launch in November 1995. The objective of PASDE is to demonstrate photogrammetric technology for measuring 'untargeted' spacecraft appendage structural dynamics. This paper discusses a pre-flight simulation test conducted in July 1995, focusing on the image processing aspects. The flight camera system recorded vibrations of a full-scale structural test article having grids of white lines on black background, similar in appearance to the Mir solar array. Using image correlation analysis, line intersections on the structure are tracked in the video recordings to resolutions of less than 0.1 pixel. Calibration and merging of multiple camera views generated 3-dimensional displacements from which structural modal parameters are then obtained

Autonomous Modal Identification of the Space Shuttle Tail Rudder

Autonomous modal identification automates the calculation of natural vibration frequencies, damping, and mode shapes of a structure from experimental data. This technology complements damage detection techniques that use continuous or periodic monitoring of vibration characteristics. The approach shown in the paper incorporates the Eigensystem Realization Algorithm (ERA) as a data analysis engine and an autonomous supervisor to condense multiple estimates of modal parameters using ERA's Consistent-Mode Indicator and correlation of mode shapes. The procedure was applied to free-decay responses of a Space Shuttle tail rudder and successfully identified the seven modes of the structure below 250 Hz. The final modal parameters are a condensed set of results for 87 individual ERA cases requiring approximately five minutes of CPU time on a DEC Alpha computer

STS-74/Mir Photogrammetric Appendage Structural Dynamics Experiment Preliminary Data Analysis

The Photogrammetric Appendage Structural Dynamics Experiment was designed, developed, and flown to demonstrate and prove measurement of the structural vibration response of a Russian Space Station Mir solar array using photogrammetric methods. The experiment flew on the STS-74 Space Shuttle mission to Mir in November 1995 and obtained video imagery of solar array structural response to various excitation events. The video imagery has been digitized and triangulated to obtain response time history data at discrete points on the solar array. This data has been further processed using the Eigensystem Realization Algorithm modal identification technique to determine the natural vibration frequencies, damping, and mode shapes of the solar array. The results demonstrate that photogrammetric measurement of articulating, non-optically targeted, flexible solar arrays and appendages is a viable, low-cost measurement option for the International Space Station

Mini-mast CSI testbed user's guide

The Mini-Mast testbed is a 20 m generic truss highly representative of future deployable trusses for space applications. It is fully instrumented for system identification and active vibrations control experiments and is used as a ground testbed at NASA-Langley. The facility has actuators and feedback sensors linked via fiber optic cables to the Advanced Real Time Simulation (ARTS) system, where user defined control laws are incorporated into generic controls software. The object of the facility is to conduct comprehensive active vibration control experiments on a dynamically realistic large space structure. A primary goal is to understand the practical effects of simplifying theoretical assumptions. This User's Guide describes the hardware and its primary components, the dynamic characteristics of the test article, the control law implementation process, and the necessary safeguards employed to protect the test article. Suggestions for a strawman controls experiment are also included

Evaluation of Microbolometer-Based Thermography for Gossamer Space Structures

In August 2003, NASA's In-Space Propulsion Program contracted with our team to develop a prototype on-board Optical Diagnostics System (ODS) for solar sail flight tests. The ODS is intended to monitor sail deployment as well as structural and thermal behavior, and to validate computational models for use in designing future solar sail missions. This paper focuses on the thermography aspects of the ODS. A thermal model was developed to predict local sail temperature variations as a function of sail tilt to the sun, billow depth, and spectral optical properties of front and back sail surfaces. Temperature variations as small as 0.5 C can induce significant thermal strains that compare in magnitude to mechanical strains. These thermally induced strains may result in changes in shape and dynamics. The model also gave insight into the range and sensitivity required for in-flight thermal measurements and supported the development of an ABAQUS-coupled thermo-structural model. The paper also discusses three kinds of tests conducted to 1) determine the optical properties of candidate materials; 2) evaluate uncooled microbolometer-type infrared imagers; and 3) operate a prototype imager with the ODS baseline configuration. (Uncooled bolometers are less sensitive than cooled ones, but may be necessary because of restrictive ODS mass and power limits.) The team measured the spectral properties of several coated polymer samples at various angles of incidence. Two commercially available uncooled microbolometer imagers were compared, and it was found that reliable temperature measurements are feasible for both coated and uncoated sides of typical sail membrane materials