_

_"

FOR

DEVELOPMENT STRUCTURAL

OF LOAD-DEPENDENT DYNAMIC ANALYSIS

OF

RITZ LARGE

VECTOR SPACE

METHOD STRUCTURES

Final NASA/ASEE Summer Faculty Johnson

Report Fellowship Space Center Program 1990

Prepared Academic University

By: Rank: & Department:

James

M.

Ricles, Professor of

Ph.D.

Assistant University San Diego Department La Jolla,

California, R-011 92093

of AMES, California

NASA/JSC Directorate: Division: Branch: Engineering Structures Loads Dynamics JSC Date Colleague: Submitted: Number: David August A. Hamilton 1990 and and Mechanics

Structural

10,

Contract

NGT-44-005-803

22-I

ABSTRACT

In the

analysis

of large

space

structures,

such

as the

Space

Shuttle

and

Space Station Freedom, analytical models are dealt number of degrees of freedom (DOF). It is important to analyze that subsequent preliminary load-dependent to the can be A series generating analysis found the mass ing, modal mass and uncoupled of computer the performed to provide analysis distribution respectively, These on these analysis assessment Ritz structure margins and be as accurate areas requiring This vector study basis for dynamic in order developed Ritz and structural redesign

with which have a large that the method used as possible can the be in order and and on respect identified based

efficient involved structural

be performed. of a method vectors. efficient programs the Space that Error The stiffness

development analysis with

is orthogonalized that the space based vectors. using number equations structure on the the Transient

structural and

of motion performed. algorithm software for was than of the loadof vector is perdynamic

analysis was

of large

orthogonal solutions method. of the were norms

load-dependent Station required norms and in order

Freedom a smaller based

of vectors of structural analysis

on the

participation

structure developed are

spatial before

distribution the transient

to provide

an indication

truncation. formed. structural that basis the and

computed

An assessment of these norms response was performed. The error norms can provide of the transient a means accuracy

through a convergence study of the results from this assessment indicate of judging solution. the quality of the vector

dynamic

22-2

INTRODUCTION The present Space involves structural the DOF large modal amount finite and Station using element structures future the Freedom, response finite the method is the standard analysis. such structures models standard as the number method The finite Space of degrees for dynamic in a transient procedure models time required with because for developing element Shuttle loading dynamic for doing a large and of freedom modof planned (DOF). conditions or random this utilizes of number

els of space

for structural space structures, possess element The a large of these

models

To calculate

vibration analysis vector

analysis. method. basis

For structural is generally effort and

the modal

truncated

of the enormously all eigenof having effort to methods proceother

of computation

to calculate

vectors and eigenvalues of the finite to use a truncated modal basis and calculate [Bathe, dures vibration 1982] gives characteristics motivation and an orthogonal Ritz vector The was efficient in a production 464 dynamics comparing analysis Also programs 1988] finite

element the fact is costly vector

model. The constraint that the computational compared basis. and preliminary dynamic included to Ritz based for considering

justification

for generating

This study of large ability the language. performed assessment A summary on the search series sient finding are dynamic space

is concerned structures. which

with the development method scope in terms

assessment analysis developing and has was coded computer Freedom was This based reof the a tranthe on

of a load-dependent an algorithm CRAY

for use in structural of numerical The using of the in order results the Space to assess

of work in this study

operations algorithm FORTRAN Station the from and one process

to be used

environment. analysis program these

X-MP/EA A transient using involved of the

Supercomputer

the computer

algorithm. a modal

to those

analysis.

of this assessment suggested.

is presented performed included developed Ritz models RITZ Norms

in this report. are noted report allow

Conclusions topics

for future

in this which and vector

is a description to perform using the results.

of computer

load-dependent

based to post

analysis

NASTRAN

[CSA/NASTRAN,

LOAD-DEPENDENT Block The Algorithm algorithm and Error

VECTOR

ALGORITHM

for generating

an orthogonal

load-dependent

vector

basis

22-3

is based times. respect is given several a spatial algorithm the shift reflecting in order structural consequently

on The

using vector the

the basis vector

static basis to the to deal case the

amplitudes aligns the has

of the itself potential loading.

dynamic with respect of a high A summary in blocks, vibration in space stiffness Shifting

loads

as

selected loading, with having and The K using U0 Any in

generated

to the

participation each block

to the in Fig. vectors,

response 1. The in order loading with

dynamic with that

of the algorithm frequencies structures. matrix

Ritz vectors

are generated closely can of the loading and the often spaced

varying begins constant the to remove vibration

exist

shifting block

structural F(s). permit point shift

a, followed to the rigid frequencies the

by the calculation body modes near

of the set of displacements K to be factorized. are well represented

response

of K is necessary

the Ritz vector basis. The vectors with respect to the mass matrix the effects the vectors having The the

X which are generated M and contain a static

are orthogonalized residual to reduce

of truncation of higher frequencies. X with respect to K is necessary frequencies & in order form et. al., [Ricles 1985]. to uncouple was motivated and 1990] of a block

A final step of orthogonalizing to produce the vector basis X the that norm equations by it use of other of motion. in previous researchers and and work [Nouris inthe

concept

by the investigator Omid and Clough, During tended This initial norm the to provide displacement

generation

of vectors using U0, the

Xi the

e,,. is computed, of the mass Ui at each cycle

an indication set

of the participation displacements at cycle i: where

distribution.

is computed

IIMU II = IlMUoll
For the analysis it could of vectors. of the whether X performed be used spatial the behavior of Q_ was when studied to determine the degree

(1)

whether eration participation

as criteria norm reliable with

to judge eL, intended for high formula, [ P(t)eL use

to terminate the

genof

A second it was

to represent in judging the to the for k vectors

load distribution,

was also calculated participation where [ )

and studied quality loading. in X: of the This

to determine vector norm basis

in responding

is computed

by the following

eL = pT(t)P(t

(2)

22-4

1. Dynamic

Equilibrium

Equations: MZ(t) + CZ(t) + KZ(t) = F(s)a(t)

2. Initial (a) Shift

Calculations: and Factorize Stiffness Matrix K" =K+aM K* = LDL T

(b) Solve for Static

Response

to Block

Loading K'Uo = F(s)

3. Calculate

Rigid

Body

Modes: and DOF Relationship Ritz to Describe Vectors Rigid Body Motions Xl

(a) Use Geometric (b) Generate

Description

First Block(s)

of Orthonormalized

Xl =/_Xl
fl = MX'I

(c) Remove

Rigid

Body

Modes

From Static

Block

Uo (Gram-Schrnidt (XTMUo) n1: 1

Orthogonalization)

Us = Uo - Xl 4. Generate Additional Ritz Vectors X|, i2,...,

(a) Solve for Xi K" Xl = MUI_ (b) M-Orthogonalize ]_'l against previous
|-1

blocks

(Gram-Schmidt)

Xr=Xl-

_XjXjrMXl
j=m

l<m<i-2

(c) M-Orthogonalize (d) Remove

Vectors

in Block Xi From

X[ by Modified Static Block Ui-a

Gram-Schmidt (Grarn-Schmidt)

to obtain

Xl

New Ritz Block

Ui = Ui-a 5. Add 6. Make (a) Form Static Ritz and Block Vectors Residual Un-1 as Static

- Xl (XtTMUI-1) Correction (Optional Terms Xn. Equations of Motion):

X Stiffness

Orthogonal

- Uncouples

Solve the Reduced

n n eigenvalue

Problem

K'" = XTK*X

[K'" (b) Compute Fig. 1,- Block Final Form Ritz Vectors X = X@

-&2I]

= 0

Load-Dependent

Ritz Vector

Algorithm

for Semipositive

Definite

Systems.

22-5

where of the

P(t) load

is the in Ritz

load

vector

at time with
k

t and

eL the error

in the

representation

coordinates,

eL = P(t)-

_-_ xjpT(t)MXj
j=l

(3)

Software

Development to generate X, &, set and NASTRAN mass and

and

The computer program named RITZ was developed e,,. RITZ interfaces with the bulk NASTRAN data [CSA/NASTRAN, 1988] files containing

OUTPUT4

the structural

stiffness matrices to define the structural model. To maximize the efficiency, the symmetry and any sparseness of these matrices are exploited in their incore DYN norm tors analysis Mechanics storage and factorization. A second computer program named NASwas developed which gives eL or the transient dynamic or NASTRAN can be post plot Division modal files vectors are processed which PLOT2D SPACE Program The the Space performed was used forces the PV to the of Investigation Space Station Freedom was analyzed for a simulated docking with Shuttle. A view the NASTRAN along arrays X-Y with docking 3 applied as shown in Fig. plane of the Station is given in Fig. 2. In the analyses MB15YZ model of the Station with 2803 DOF load had case 915L, an orientation 2. RITZ DYNTRN of selected were consisting in the was of the arm. Y-Z set of transient The plane position as opposed vector the elastic a constant a block corresponding on the a complete structure PV array solution size of to the end in Fig. of the docking used the user the choice of calculating either the response of the structure. Either Ritz veccan be used. The with results the JSC of the transient POSTRN and developed program

by a third newly compatible software. graphics STATION

for producing

Structures

ANALYSIS

shown

in this model

to generate

bases with 30, 60, and 90 vectors and displacements and total accelerations damping to the at (node ratio response 8022 of 0.01. with U0 of the seconds. in Fig. The vector

used to compute DOF based on generated using

bases

of 6 vectors, time=l.93

consisting The

of six displacement docking at the loads tip

vectors acting of an

six individual response

outboard

2) is discussed

in this report.

Neither

22-6

(_

..... I

L
'r i

i
i I
I

- I

_IEW

LOOK[NC

AFT

t': t _ PV Array_

Point

of

!: X

_,

Node

'8022

l
Fig. 2.-Space Station Freedom with PV

Z
Arrays in The X-Y Plane.

:::>s-

22-7

(a)

PITCPI SLAP SHUTTLE/MB15, MASA/JSC KSCIIPTI_

DYNAMICS SCALED SCHL XiS

,MAX DOCKING Ir, IG

LOAD, MAST, B4,'04/B9

MISS'.ZSAT*45 CASE 11

915L : 44 : 47

l
-ul

&l_*[ +S_C_

IYATIOW ITAYf_

IK_rN; MCXlm;

LOII.LN Le*_D.Cm

-.Z4?4*BII_ -. S4_ .41_,.

.lq_*ul ,_llo*4eL

.kSO*NI..6Y_i*NL , im * ,eel ,. Nt4

68e.

"400.

200-

;%, .B

-200,0

-400.

m .0 * S.O LO.O tS.O 2e.o 25.0

T IME, SECONDS

F |

SHUTTLE/MB15, PITCH" SLAP DYNAMICS

SCALED ,MAX

DOCKIHG Y LOAD,

MAST,

CASE MISS-.ZSAT+45

915L

(b)

_NRSA/JSC

6oe

,., !/

f-

i, "'\
.0

,/

_.e

_e.e _s. T I_[, SECONDS

ze.e

2s.e

Fig. 3

Dockin9 Load Case 915L (a) Translational, and (b) Rotational Transient Forces.

22-8

O_GL_AL OF POOR

PAGE

IS

QUALITY

based complete tion. The vector in the modal and opposed vector

on For

a numerical modal purposes obtained range of the The of Fig. vector

integration basis was of this from of the frequency vector that 4) has

of the available

coupled study

equations with

of motion the was Ritz made

nor soluwith

to compare basis from modal a static the vector containing in the with

preliminary modes range basis

a comparison consisting 0 to 6.0 Hz. vectors residual basis figure's

solutions

a truncated

modal ranged of the with

of 210 Fig. and selected range

modes. 4 shows Ritz as SR as the span as of

frequency bases. legend basis.

a comparison

60 Ritz

(identified has a greater

approximately a larger for those report basis

same

frequency the static

It can be seen is extended having

Ritz

that

this span to not

residual constant

it (identified in this

as NSR

legend). a shift identified the basis

All Ritz in Fig. 4 has more

basis

presented

were generated

a = 1.0, except for the 60 vector basis with a = 200.0 as SHI. The effect of using a larger value for a is that distantly spaced frequencies and a greater span.

Presentation A time in the modal with the the

of Transient history plot are The solution, computed

Response of the shown translational in Figs. there displacements exists and modal 7. two methods. displacements 5 and 6 for the are a greater The shown and 90 Ritz discrepancy maximum accelerations vector and closely between discrepancy

x-direction solution. modal

Ritz

based by the

to agree

whereas

accelerations

in the transient translational displacement and Z-axes based on the results from the a 90, 60, the node 30 vector at the end basis of the are shown outboard

acceleration vectors and These It is apparent

along the X-, Y-, Ritz vectors with correspond in Fig. to 7 that

in Fig.

results

PV array.

the discrepancy as the number The as the for requires accuracy Analysis The Ritz

between of vectors with vector shows number found

the 210 modal vector and Ritz solutions decreases in the Ritz basis is increased from 30 to 90 vectors. a 60 vector solution greater in the of vectors basis is able with basis to achieve The the to achieve Ritz modal the vectors. the same solution, same level result solution and as for displacements. discrepancies in the displacements based

solution

210 modal a larger as that of Results norm

accelerations

at 60 Ritz

e_ is plotted

against

the

number

of blocks

of Ritz

vectors

in

22-9

IC, ENVALL_

VS.

Vt'CTOR

NUklBER

R[LATiONSI,.I_

0 C)

I
I

90 R,TZ VECTOR

BA_g_3. SR

4] - I,/_DAL 60 RITZ R,TZ VECTOR BASIS. BASIS. _RSR I j 60 VECTORS VECTOR 5 -_ _.0 RITZ V_CTQR BAT_S_SHt

%
cC)

i i
I

.p-

=,I

I I
I !

/
0 40

/
80 Vector 120 Number Range of Modal and Ritz Vector Bases. 160 200 240

Fig. 4.- Span of Eigenvalue

(Frequecy)

_ACE

STATION

0OCKINC

LO&O

9|5L

ANALYS;S.

MB15YZ

2503

DOF

c_J

ii/ _

I
;

rv

I C_

(1)

r1=

tn r-t I ><

\
-90 210 R1TZ UOOAL VECTORS, VECTORS 6/_OCK

i/

I
8 12 6 20 Time - (sec.)

Fig. 5.- Displacement

Response

at End of Outboard

Pv Array.

22-10

888

0<]{_

_ F

_'._' _:= 0 <I rl ,(

.p. o

oo

o o_ i

O'I v

S'O

_-. S'I
v

O'I

S'O

('u_)- a Jo_

tl O

0 q0

i,i

0 {/1 e0 CO E F=" (,n 0

T
;o
__._-= i>

E 0 ,1--

0 _J L) O

m_ i i

I _D

0"_

o't
(Z_.::)_)s/pEJ) 22-11

o
UO.l_EJa

o'tla::)::)V-X

d_

Fig. the

8 to establish generation (5 blocks greater solution. that = 60), modal suggest for The the

whether x 6 vectors than that the The there

it can give a good An examination per for fact is not Thus, block 60 Ritz that much

indication the data (10 in very

of when reveals blocks close quite that

to terminate for 30 Ritz per with 60 Ritz vectors to be true reliable curve for can

of vectors.

vectors 50 times block the vectors only

= 30) the value vectors were _,, has

of eu is approximately x 6 vectors agreement small found more in the at

at which

displacements

become above this

to be gained

by 30 additional was

to achieve displacements

a 90 vector than

basis.

As discussed u could that

displacements.

be considered a fluctuation

accelerations. of e,, in Fig. 8 shows develops. 6 vectors to the This phenomenon is quite noticeable per block. This behavior is associated forces related to the indicated U0 same initial are U| patterns This in the in Fig. displacements that not apparently uniformly of the Ui

behavior

exist where a local maximum for the case of 5 blocks with the this later structure occurs cycles responding to Uo. when the that and to decay as indicated which the that the mass, as opposed displacing indicated generation appears is not block, Numerical block leading

more

experimentation loads more tends used the to displacement mass. to occur of vectors as shown basis in Fig.

to calculate

in some cycles the

'accelerate' fluctuation as the in the in a similar

experimentation of vector phenomenon phenomenon vectors per

number manner vector

is increased using

8. This fewer

as pronounced convergence is increased. of vectors with the a more results docking

generated

by the results A threshold can not uniformly presented of the norm at loading

shown value

8 for a block be expected time, is not the

size of 1 vector. as the the number of to process

Asymptotic of vectors generation models fact nents that

of Q to zero can thereby be assigned distributed are from eL associated time=l.93 at this mass only

for e_ to terminate known

for its sensitivity as well condition. translational

as the compo9 to

one loading with seconds

A presentation of the

is given

in Figs.

11. These results include the discussed above, which contain legends vector can than of Figs. basis the without that vectors. further a static the This

60 and 90 Ritz vector basis the static residual identified to the basis number 210 modal as NSR can better basis (identified

(cases already as SR in the and a 60 Ritz It load is the legends). residual basis

9 to 11) in addition residual vectors' Ritz

in the represent

be observed modal and

representation as the

is improved of Ritz

as a static vectors in the

is added

improved

22-12

STATIC R_DUAL L_ O

NOR_4 VS. VECTOR hlUt,481_R RELATIONSHIP

:2

I _ - ,_vccTo.s/__ocK VECTOR/BLOCK

O E O Z

_J
"O _J C_J

10

20

3O of Vectors Block Sizes

40

Number of Blocks Fig. 8.- Cu-Block Number Relationship,

I and 6 Vectors.

O O v-M E S.0 0 CO 0 ,e4J 0 ,r5..

"2

'1

*F0

.e0 r_ (/}

0 .J

2 3 4 -

MODAL VECTORS 90 R1TZ VECTOR BASTS,5R 60 RiTZ VECTO_ BASIS. SR 60 RIT_ VECTOR _A_IS, N_

40

80 Vector

1'20 Number

160

200

240

Fig. 9.- _L Norm

for X-Translational

Docking

Force at Time

1.93 sec.

22-13

I_ATION C_

OF" y-TRAI_I_.ATN_IAL FO_SIE BY VECT_

BASES (T-'l.g_')

E 0 Z

C_ CO

I\

0 ,p

.C_

.p 0 t_

!4
,3

.,
i 2

04 t_ 0 .-I 0

2 -1 3 4 -

90 R_TZ VECTOR BASfS. S_ UO_AL 60 _fZ VECTORS VECTOR BAS_S, _0 R_TZ VECTOR BASIS. _

t ,

40

80

120 vector Number

160

260

240

Fig. 10,- e L Norm

for Y-Translational

Docking

Force

at Time

1.93 sec.

REI_I[ENTATION

Or Z-TR/LIF_SLATI_Lk_, FO_

BY VI[CTOR BA_J[S (t-l.g3)

0 Z C 0 4_

C_ O0

4-J _n

"3

,-.-

?
/) C_

0 --J R_'rz VECTO_ BA,f_S, _,_ i - 90 _)DAL VECTOn_ - po R_T:{ V{.CTO_ eAS_. NS_

40

80

1i0 Vector Number

1"60

200

240

Fig. 11.- E L Norm

for Z-Translational

Docking

Force at Time

1.93 sec.

22-14

increased. 90 Ritz fact bases product using in the the times that that translational to achieve

It can vector fewer

also be observed is as good compared vectors results the vectors load were loading with vector. the vectors

that to that found than the The

representation Y-translation of the to be required an indication vector vector the modal load participation be expected orthogonal

of the loadings)

loading basis. Ritz the

by the (ZThe vector the X to product

basis loading) Ritz with Ritz the

(X- and

or better modal the such

210 modal

vector than that basis, than Ritz

vectors that

comparable of the

for eL gives

align more modal dynamic the most possibility and

is larger of the

modes

response of having modal in the to the

can therefore analysis. vectors'

to occur, to the loading of Figs. load Also, throughout curve number the

as opposed

as is some9 to 11 shows by 9 to vectors values in Figs. modal the the

case in modal of the occurs

A close examination contribution range are (the spread of the to the vector

representation

its basis which This of

eL

mid frequency ordering to the loading by the

11 correspond are where orthogonality the A comparison e,, may observed

eL for

frequencies). parts of the that of

orthogonal slope small, in which

spectrum.

is identified is zero. of the behavior

eL may

joining that

of Q with not. Since vectors,

eL

indicates should

although was on when

become analysis

convergence emphasis response

for accelerations be placed interest selected where there

to require

more

Ritz the

more

acceleration

is of prime

attempting conditions.

to judge the quality This could perhaps

of the vector be extended

basis for the to situations load case and

loading the Ritz desire

vectors were generated based on a particular to use them for another load condition. CONCLUSIONS Based Freedom the on the using the results of the are Ritz fewer preliminary Ritz

is the

analysis

of the

Space

Station herein,

load-dependent noted:

vector

algorithm

presented

following

conclusions

1. Load-dependent solutions using

vectors number

appear of vectors

:to provide than of the

accurate based vector

displacement vectors. The process appears

modal

use of Q for criteria to be promising.

to stop the generation

22-15

More erations. needs

load-dependent Criteria to be more

Ritz strict

vectors the when

are required quality of the

when

computing basis

accelusing eL as

for judging

vector

acceleration

response

is of interest

opposed
,

to displacements. Ritz function. the static vectors These have vectors features in the study and a broader and are of the basis. include: of e_ and
eL for different

Load-dependent equivalent the loading by including number

frequency able Ritz vectors

range are

than

the

of modal residual for future behavior

to better

represent enhanced

Areas

which

are suggested of the and basic

1. A study load
.

calibration

cases

structures,

respectively. of the used vector basis the generated dynamic vector basis from analysis quality a difand in

Assessments ferent load

of the case than

reliability that

in the

transient

whether eL can provide such cases. 3. The tion optimization procedure of the by the

a means

of judging

algorithm

to take

advantage 464.

of the

vectoriza-

CRAY

X-MP/EA

REFERENCES

1. Bathe, K., Finite Hall, 1982. 2. Computerized NASTRAN

Element

Procedures

in Engineering

Analysis,

Prentice-

Structure Analysis and Research Users Manual, Vol. 1, 1988. B. and R.W. Clough, 1985. L. Robayo, Analysis Methods, Reducing Vol. Block Lanczos and

Corporation,

CSA/

3. Nour-Omid, Analysis ics, Vol. 4. Ricles, in the tions

Method

for

Dynamic Dynam-

of Structures, 13, pp.271-275, J., Leger, Wave

Earthquake

Engineering

Structural

P., and Numerical

Modal 7-16,

Truncation 1990.

Error

Response

of Offshore

Structures, 6, pp

Communica-

in Applied

22-16