MULTIBODY ANALYSIS OF SOLAR ARRAY DEPLOYMENT USING FLEXIBLE BODIES
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Transcript of MULTIBODY ANALYSIS OF SOLAR ARRAY DEPLOYMENT USING FLEXIBLE BODIES
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Final Presentation, Friedrichshafen, April 18th, 2007 © EADS Astrium
MULTIBODY ANALYSIS OF SOLAR ARRAYDEPLOYMENT USING FLEXIBLE BODIES
Bagnoli Luca
Final Presentation
18 April 2007
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Page 2 Bagnoli Luca, Final Presentation, Friedrichshafen , April 18th, 2007 © EADS Astrium
Introduction 1
The principal aim of this work is the generation of a multi-body flexible model
for solar arrays deployment studies
This model has to be:
Easy to generateWe want an easy way to generate flexible bodies using PATRAN user friendly interface avoiding or minimizing manual input in NASTRAN
Compatible with previous rigid model
Since the first studies on a s/a deployment are made using an ADAMS rigid model the flexible bodies has to be easy importable in this rigid environment without many changes
Fast to handle
We want an optimized flexible-model easy to run in ADAMS also on not particularly powerful machines
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Introduction 2
Why a Flexible Model?...
Confirm the results and verify the simplification of the RIGID MODEL
Give a better and close to reality understanding of dynamic problem
· Check eventual high frequency effect
· Check the effect of deformation on the mechanism (usually not critical for s/a)
· Check stress & strain due to the dynamic in real time with the deployment
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Main TopicsThe topics of the presentation are
The Rigid model
– Introduction to the rigid model using two examples:
BEPI COLOMBO MPO s/a and AMOS-3 s/a
Generation and optimization of a flexible body
– Theoretical background of the NASTRAN-ADAMS interface
– Generation of flexible bodies in PATRAN using PLOTEL elements
The Flexible model
– Full-flexible & semi-flexible model
– Comparison of results using the examples
Secondary applications
– Stress & Strain in ADAMS environment– Vibration analysis in ADAMS
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The Rigid Model
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Rigid Model – ARABSAT
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Rigid Model
The main aims of the rigid model are two analysis Torque Margin Analysis (quasi-static) Dynamic Load Analysis
The element that it takes in consideration for these analysis are Inertia of bodies Deployment Spring Torque Friction (hot case – cold case): Bearing Friction
Cam Friction (Latching mechanism) Harness Torque Effects (motor – resistive) Latch up of deployment hinges Bending Stiffness of S/A collocated in the HLs = All the flexible properties of
the structure are condense in these springs (1 rot DOF) Eventual Close Cable Loop (CCL) mechanism (hot case – cold case) Eventual Dampers or engine holding torque
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Rigid Model - BEPI COLOMBO MPO s/a
HL2
HL1
S/CSADM
P1
P1Deployment springs
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BEPI COLOMBO MPO s/a – ADAMS model
Harn Torque
Deployment Spring
Spherical Jointswith friction
= +
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Rigid Model – Equivalent StiffnessADAMS way to calculate the equivalent stiffness…
1
M
i ii
q
u
FEM Full – Flexible Model TOTK TOTf ADAMS Rigid
Model
FEM Semi – Flexible Model (rigid hinges) STRUCTK STRUCTf ADAMS Rigid
Model
11 1
TOTSTRUCT HINGES
KK K
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Rigid Model – AMOS-3 s/a
Deployment springs
CCL YO P2
CCL S/C P1
HL3
HL2HL1
P1
P2
YO
SADM S/C
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AMOS-3 s/a – ADAMS Model
CCL SC-P1
CCL YO-P2
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Generation and optimization of a flexible body
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Modal Superposition
The high number of FEM DOF has to be reduced for generate a flexible body
Modal superposition
We consider only small deformations relative to a local reference frame
A flexible body deformation can be captured with a reduced number of modal DOF = modal truncation.
The problem that raises is…How can we optimize the modal basis to use?
1
M
i ii
q
u
qi = modal coordinates
i = shape vectors
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Craig-Bampton method
Craig-Bampton methodThe user has to select a subset of DOF = Boundary DOFThis Boundary DOF are preserved in CB modal basis = no loss of resolution
The modal space in CB method is divided in Constraint modes uB and Fixed-boundary normal modes uIThe modal truncation is applied only on the uI
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Orthogonalized Craig-Bampton method
ˆ
ˆ
T
T
K Φ KΦ
M Φ MΦ
CB
IC IN NI
Φ
I 0 quu
Φ Φ qu
ADAMS method (Orthogonalized Craig-Bampton method)
We have to orthonormalize the CB basis obtained because
– We want to easily deactivate rigid body modes inside CB basis
– We want to have a frequency for each mode (uB had not associated freq)
ˆ ˆ Kq Mq N
Eigenvalue Problem
Transformation Matrix (eigenvectors)
* Nq q Modal coordinates of the new orthoganal basis
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The superposition formula become
* * *
1 1 1
M M M
i i i ii i i
q
u Nq q
Orthogonalized Craig-Bampton method 2
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Generation of flexible bodies in PATRAN
The steps necessary to generate an ADAMS flexible body (mnf file) from a FEM representation of one body are 3
1. Definition of boundary DOF
2. Numbers of fixed-boundary normal modes to consider
3. Generation of PLOTEL elements grid
Definition of boundary DOF
We have to define a DOF list with the boundary nodes and their related DOF
All the interface nodes of one body have to be included and all their 6 DOF has to be selected
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Usually the selection of 10 fixed-boundary normal modes is enough
NASTRAN – ADAMS Interface
Numbers of fixed-boundary normal modes to consider
The number this normal modes can be easily selected in the PATRAN-ADAMS interface showed below.
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PLOTEL element
Generation of PLOTEL elements grid
ADAMS doesn’t need the FE model elements. It uses only their grid to generate the graphical representation of the flexible body (MNF file).
For this reason we can create a grid of dummy elements (PLOTEL) to generate a gross and easier to handle grid
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PLOTEL element
At the end we obtain the following result
Element Faces 2476 MNF File size 2537 KB
Element Faces 80 MNF File size 72 KB
REDUCED MNFNORMAL MNF
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The Flexible model
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Flexible Model
For each part of the solar array we have to generate an MNF file in NASTRAN
Using RBE2 element we can generate some rigid area
in the Flexible part.
So we can generate 2 kinds of Flexible model
• Different kinds of Flexible Models
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Full & Semi – Flexible model
Semi-Flexible Model
• The structure of the part is flexible and the hinges are rigid (RBE2 elm)• Hinge stiffness = experimental data or equivalent stiffness
Full-Flexible Model
• The structure and the hinges are flexible• Hinge stiffness = inside its FEM representation (BEAM elm)• The latching is obtained fixing the rotational DOF of the HL
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Adjustments of the Rigid Model
Adjustments of the Rigid Model
– Split of Forces and their relocation
The forces and torques in their real application points
– Change of kind of joints
The spherical joints are changed with revolute e cylindrical joint
(no more over constraint problems)
– Modify of the ADAMS/solver script
New forces and joints ID to consider
New element to consider (MOTION in full-flexible)
Reduced integration step to set = for taking into account high
frequency effects
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ADAMS/solver script
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BEPI COLOMBO MPO s/a Semi-flex model
6 r-b modesmodes P1 FLEX modes P1
6 r-b modesmodes P2 FLEX modes P2
6 29 23
6
5
5 17 12 1
4N N
N N
5 f-b modes
5 f-b modes
BN
Rigid
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Rigid vs Semi-Flex deployment
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Latching Torque on HL2x
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Semi-Flex vs Rigid Latching Torquex
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Rigid vs Semi-Flex SADM I/F Forces
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Rigid vs Semi-Flex SADM I/F Torques
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AMOS-3 s/a Full-flex model
6 r-b modesmodes P2 FLEX modes P2
6 r-b modesmodes P1 FLEX modes P1
6 r-b modesmodes YO FLEX modes YO
6 22 16
6 34 28
6 3 28 2
2
4
10
10
1 20
N N
N N
N N
BN
10 f-b modes
10 f-b modes
10 f-b modes
Simple Node
Rigid Link
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Rigid vs Full-Flex deployment
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Latching Torques on HLs xxx
HL3
HL2
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Latching Torques on HL3 x
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Latching Torques on HL2 x
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Latching Torques on HL1 x
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Cable Forces of Yoke CCL
Cable Forces of Yoke CCL
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Cable Forces of Panel CCL
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Resistive Torque – Eddy Current Damper
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Rigid vs Semi-Flex SADM I/F Torques
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AMOS-3 On Ground Check
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AMOS-3 On Ground Check 2
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Stress & Strain in ADAMS environment
(ADAMS Durability Plugin)
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Stress & Strain in ADAMS environment
3.6 MB 2.4 MB 0.9 MB
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Deployment and Impact Von Mises Stress
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Vibration Analysis in ADAMS environment
(ADAMS Vibration Plugin)
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GAIA Flex - ModelN
AS
TR
AN
- e
nvi
ron
men
t
ADAMS - environment
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Gaia - Sine Respose Analysis (2% c.d.)
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Conclusions
Solar array application
Latching shock = Good matching between Flex and Rigid Model
– No need of transient analysis in NASTRAN
High frequency effects = Relevant effects on reaction Forces and Torques
– To take in consideration to right evaluation of M.o.S. on SADM I/F
Secondary applications
Wide possibilities in Vibration Analysis