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