NASA

CR- 145169

LONG-BOOM

CONCEPTS

By John John V. M. Coyner,

Hedgepeth and D. Riead

Harry

September

1976

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ASTRO RESEARCH 6390 Carpinteria, Cindy CORPORATION Lane 93013

California for

NASA
National Aeronautics and S_)ace Adm+n_stral,on
REI_DUC[D Ry

NATIONAL INFORMATION

TECHNICAL SERVICE

O.S. OEPAIITMI[NT Of COMMERCE SPRINGFIELO, YA 22161

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FINAL LONG-BOOM

REPORT CONCEPTS

By

John

V.

Coyner

Jr.,

John

M.

Hedgepeth,

and

Harry

D.

Riead

Astro

Research

Corporation

1.0

SUMMARY

The cations space

objective and design and

of

this

study for

is large

to

establish structures concepts guyline has STS kg at

specififor future

criteria to

missions, mast a

investigate with

design various structure from of the 315

for arrangements.

deployable As for able

structures 100-meter-long will a the is be

a baseline, study of which supporting with

been

selected capand

deployed mass

Orbiter, the tip,

payload STS Orbiter

compatible This Vacuum

attitude-control the proposed

system. Molecular Shield

requirement Facility.

similar

to

One terious the

of

the

primary

concerns the

is

the

avoidance

of

deleand new large in dyna-

interaction

between system. the

structure's study has

flexibility produced for

attitude-control for specifying This that

This dynamic will but for a

criteria structures. assuring mic designs

requirements a powerful

criteria

furnish not given

tool

conservative, are generated

over-conservative, set of requirements.

The structures ratio also than have

results provide

of a

the

study

indicate higher

that

guyline-stiffened stiffness-to-mass structures in both

significantly st_ctures. of

non-guyed the and capability translation

Guyline-stiffened positioning the payload

rotation

directions.

2.0

INTRODUCTION

Advanced a variety of

plans spacecraft

for

space as well

missions as

and

payloads

identify for For

recurring deployable over

requirements masts. requirements alone

certain instance, for

ancillary plans

equipment, through masts. 1991 Plans 190

notably identify for of

300 payloads

deployable for

Shuttle those

account

approximately

masts.

The deploying:

mast

requirements

are

diverse,

and

include

masts

for

i. 2. 3.

Solar-cell Magnetometers Antennas selves)

arrays

(tip-mounted

antennas

and

the

masts

them-

4.

Spectrometers levels of Shadow Energy Separable

for various radiation

gases,

particles,

and

5. 6. 7. 8.

shields collectors parts of the spacecraft structures themselves) Vacuum Facility (MSVV) (tip-

Gravity-gradient mounted masses manipulators Shield

stabilization and the masts

9. i0.

Remote Molecular

These designs, short

diverse with as only with

requirements some a few as long

will as

lead 500 to

to I000

variety meters

of and

mast some as for indicate

meters. from

Technology 1 to 50 in

presently meters. space might lengths consider 50 to 150

exists

structures that method 150

lengths and/or

Studies be the

fabrication for

assembly structures this with study lengths

best than

establishing Therefore, structures

with will of

greater

meters.

automatically meters.

deployable

Proper requirements.
these the deal

structural

design

must begin
the stability a

with
most and

sound design
important stiffness rational of of

For space
with the There determining

operation,

dimensional is,

structure. for

therefore, the necessary

need

for

criteria

stiffness.

The criteria from teria namic set of a

first for

part the

of

this

report stiffness of the A.

presents for

set

of

design

required Details in for is

suspending of to a

masses these the cridy-

spacecraft. are included

derivation In addition

Appendix the

requirements requirements launch

deployed

structure, which includes

preliminary ground

generated

handling,

environment, loads, B).

spacecraft

accelerations, loads, precision,

gravity-gradient etc. (see Appendix

solar-pressure

The of three

second structural relative of Control The specified

part

of design

this

report concepts. ability

presents These to satisfy to

description are dynamic STS are structure the generated minimum

designs the the

compared requirements Orbiter. determined. are safe using then

to a long

their

structure of

attached the of STS the

requirements dynamic from Designs

Orbiter long

properties the for criteria. criteria each

establishing concept are

stiffness. the

established

Recommendations must systems be developed and to in explore

are order

made to

regarding realize growth

the these

technology long

which

structural

their

potentials.

3 0

REQUIREMENTS The objective of this deployable section is to generate specifi-

cations

for

large

structures. requirements, and ground a basis

The specifications STS Orbiter handling and testthe from which are generated.

are derived launch-vehicle ing. designs for

from MSVF mission specifications, the candidate

These specifications

provide

mast concepts

3.1

Dynamic During

Requirements this study, primary of emphasis the to In ensure the mast the other is and STS placed the on

the

dynamic and

characteristics their system of relationship dynamics. which

payload attithe of flexi-

system,

Orbiter

tude-control development deleterious bility These and

words, avoidance

criteria

interaction the STS are Orbiter applied

between

structural

attitude-control as follows.

system.

criteria

3.1.1

Derivation The idealized

of

Criteria system is shown in Figure i.

dynamic

e
2

K Spacecraft Figure 1.Idealized system

SYMBOLS I I, 12 = Moment of inertia mass, respectively. 2

K = Angular sprung displacements mass.

of spacecraft

and sprung

of

spacecraft

and

= =
n

Spring Natural with

stiffness vibration spacecraft coefficient. force for frequency fixed (8 1 Ratio vibrations = of 0). of damping at force n sprung mass

Damping to spring

frequency

Let

be

the

control good

stiffness

required in the

to

ensure presence

sufficiently of static

pointing

accuracy

disturbances.

Define which spring attached the

control

frequency would

as

the with

frequency the control rigidly

at

spacecraft K c

oscillate the

stiffness Thus

and

with

sprung

mass

Kc C = 1+ 12

The ratio
The ratio results of w n of /w c

/w

is

the

basic in

design A

parameter. define of and this unstable the

the which

analysis will

Appendix avoidance flexibility

ensure

interaction attitude-control

between

structural system.

The 2a, eral 2b,

required and 2c as

values a

of

/w

are

shown ratio from

in

Figures for 0.003 0.i (repsev-

function values of

of C,

inertia ranging damping)

representative of of

(representative resentative are presented

pure

materials built-up

to

"lossy" for 0, 6,

structures). dB/octave

Results roll-off.

and

12

Examination natural frequency higher small and be

of

the

plots to the Note

shows avoid control that values

that

the

cantilever is even is frenot

required than

instability frequency, the of criterion natural

tremendously for very

damping. even

conservative quency may

smaller

adequate.

For natural frequency. however,

large frequency The is

sprung can

masses, even be

the less

required than the

cantilever control frequency, frequency.

resulting higher

free-free than the

natural control

always

For exists ratio damping a is

each value a

value of

of inertia

damping ratio maxima the

coefficient for are which plotted roll-off

C, the

there frequency

maximum.

The for

versus cases in

coefficient

three

IIi

Figure albeit design.

3.

This graph

can be used for criterion

a very

simple,

more conservative,

for

preliminary

For a reasonable damping coefficient quency of only servatively

roll-off of 0.01,

of 6 dB/octave a cantilever

and a fre-

natural

2.5 times

the control

frequency

is con-

adequate

to preclude

instability.

3.1.2
To

Application determine have

to the been

MSVF mast

Masts

on

STS

Orbiter control-system

properties, from boom of an

frequencies the STS dynamic Oribter This of

obtained of a W. long Faison

analysis on

of the

behavior by Richard analysis STS control can A be

mounted Langley from

Research a simuand 0.005

Center. lation reveals to is fore 0.009

utilizes

results

the

Orbiter

attitude-control in the of the

system range of system Hz is

that Hz

frequencies expected when

vernier 0.009

operated. selected

control this

frequency study.

there-

for

The to

following w n and,

is

summary mast

of

the

parameters (EI).

used

determine

thus,

stiffness

w c Roll-off Tip Mast I2/I mass damping l (C)

= = = = =

0.009 6

Hz

dB/octave kg

315 0.01" 0.5

Therefore,
w n and w n /w c

from Figure
= 2.6

2b,

0.024

Hz

Note: The from damping test coefficient data of an for Astromast is derived continwas is tested that

0.23-meter-diameter This mast It not

uous-longeron at the Jet

Astromast. Laboratory. is the

Propulsion

assumed

damping by of mast

coefficient size the is of

significantly The damping coef-

affected ficient lines

mast.

column-supported-by-lattice-guyalso assumed to be 0.01.

3.2

Complete Many other

Requirements pertinent generation. environments, envelopes, has been requirements For space etc. generated example, environments, A preliminary is presented are considered handlreliaset in

during ing, bility, of

concept launch

ground

packaging

requirements B.

and

Appendix

8 III

4.0

STRUCTURAL CONCEPTS

Three different examined in this long with is placed specify structural other ated in this a payload that the

concepts tip

of

long mast structures Primary

are

section.

The mast is assumed to be 100 meters mass of 315 kg. the dynamic resonant emphasis which of the and requirements frequency

on satisfying system is study. the

first-mode identified

0.024Hz or greater. in Appendix

Launch loads

requirements

B are not evalu-

By comparing ic requirements, ing envelope

three

designs for

against

identical

dynam-

the stiffness-to-weight capability

ratio

and packagThe maximum also

can be obtained

each design.

critical bending-moment be evaluated.

of each system will

The first longeron evaluated

guylines center Figure

design a

evaluated

is 4).

a non-guyed The second

by system guyline two

continuoussystem
of is (see a

Astromast is
(see column 6). center

(see Figure
column 5). by The a

supported third lattice

levels

Figure supported

evaluated system

4.1

Continuous-Longeron The boom, Astromast can into, types be a

Astromast is a linear

(non-guyed) lattice deployed volume. ref. continuous I). Only structure, from, There or and are

which

automatically compact of stowage

retracted two and general

Astromasts (see

longeron those with

articulated

longeron

fiberglass this is deployed

continuous

longerons is

are considered this

for 4.

application. lattice
and

The manner in which illustrated structure,

shear-stiffened twisting battens longerons This by the it

Astromast

and retracted

in Figure
of flexible

As shown, the
fiberglass is This cular to the the boom retracted twisting to boom axis) rods

composed
by

diagonal its

cables, axis.

by

forcibly its and

about

causes axis) to

(members (members of joints the

perpendiparallel the boom and

bend.

distortion pivoted allows

mobility longerons into 4. so

provided and the boom

between boom shown in be all repeated. to be in

batten compact

frames

retracted Figure stages

configuration are elastic

as

The that

distortions and

deployment

retraction

can

This be and for designed it may

continuous-longeron to or meet may and a not wide need

type variety a

of of

Astromast requirements, canister on the

can

motor-driven depending application. is

deployment

retraction, of of an

opera-

tional length fiftieth

specifications of this of its type

The typically

retracted one-

Astromast length.

deployed

A this cally

canister

deployed This and stowed

Astromast coilable byacanister

is

selected is Figure

for automati4). The

application. deployed

Astromast (see

l0

'Ill

upper threaded each tween boom rails its

portion nut.

of

the

canister which

is

rotatable, from the

threeapices of bethe

Lugs frame

protrude by the

batten

are

engaged

nut

threads

stationary is deployed the to

vertical when the

rails. nut cause is

Thus rotated. the mast

engaged,

Transition to as twist the from boom

within stowed,

canister deployed

its

configuration

extends.

canister two

for

automatic

deployment longer from has full

would than a

be the re-

approximately tracted any mast

mast-diameters When of can the be deployed mast utilized

length. section the mast

canister, strength.

deployed

Therefore, throughout

structurally

deployment.

Table mast. derived reference The in

summarizes data C

the

performance in

of Table

the I

Astroare in

Astromast Appendix i.

presented equations

from

presented

4.2

Center

Column

with

Two-Level

Guylines

This produce the a

mast

concept

demonstrates boom,

the while interface

ability maintaining with a stowage

to

guyline-stiffened of or for is STS the only a

simplicity

single-point and boom

the

spacecraft envelope ture which

Orbiter, entire

providing

and larger

guyline-support in diameter

structhan

slightly

ii

the boom alone. also mast, compatible are not

This with

guyline-stiffening a variety masts, etc.).

technique Since with the

is

of booms (e.g.,

Astro-

STEM, telescoping required for the angle

guylines

to interface

spacecraft

hard-points,

and location

of the guylines boom strength

can be optimized and stiffness.

maximum overall

This lines ber

concept is

consists 5).

of a central by two sets

compression of three guymemreels. members by the for and

member which

stabilized

(see Figure

The central Astromast) sets

compression deploys from storage

(0.4-meter-diameter also

and pulls

the upper and lower This concept which lower fold support out during cables. pre-tension throughout length

guyline

has hinged

guyline-support

deployment during

and are supported must maintain in order stiffness

The guylines bending

required strength

deployment

the mast to have the desired

deployment. of the mast is This length fixes (for i00 meters. The

The total hinged meters support intersects

guyline below set the

guyline-support above the base. and the

members intersect of the hinged a single

the mast l0 guylinehinge set

the meters lower

the package height at

at I0 meters the center

members at 20 meters of the member). the central

intersects tip. column the

The upper guyline

at the tip, and 45

central

column

12

Ill

The 0.64 cm

upper by 0.013 50 size

and cm N,

lower steel while

guylines tape. lower

are Typical guyline area)

determined upper tensions of the

to guyline are

be

tensions 1.4 is line bility a N.

are The

(cross-sectional the required from

guylines the guy-

function tension of the

of is

stiffness, the

while load

determined

lateral

capa-

mast.

The the line quired.

Astromast load An

compression of 151 N

member resulting

is

sized from

to the is

carry guyre-

compression tension.

0.4-meter-diameter

Astromast

The not

lower

i0 by

meters the

of

the

central This have

mast segment adequate

member of the

is

supported member, to

guylines. must the

central stiffness the

therefore, ensure will that be

bending of 1.0-

fundamental than

frequency A

structure

greater

0.0204Hz. truss is to

meter-diameter ted to of

triangular

cross-section tubular elements stiffness This efficient is as a bending as lower

construc-

graphite/epoxy adequate mast mast is

determined achieve the

provide

bending

required of ing this the

stiffness. the since should least it be

bending element member. possible.

section for provid-

stiffness, section

Therefore,

short

Table cept. A

summarizes analysis

the

performance is presented

of in

this

conD.

detailed

Appendix

13

4.3

Column This

Supported mast concept which a is

by

Lattice a

Guylines compression and tension (see similar except tapes) used in must The to as in a memthe Figure

has used

central to deploy

ber

(BI-STEM) of The

members 6).

surrounding

lattice lattice

structure has

surrounding to a

structure

geometry that rather the

continuous-longeron are tension

Astromast, members (steel members Consequently, the longerons

longerons the

than

tension/compression Astromast. strength, the central which BI-STEM

continuous-longeron to develop bending

order be design

pre-tensionedby also lateral tension has batten support in the

BI-STEMelement. are designed as well

frames for the

provide

provide the required

diagonals.

Throughout (longerons) must to

deployment, have have the the

longitudinal pre-tension bending the

guylines in order and be 9000

for

the

mast

desired

strength must load of of the

stiffness deployed N. This

properties. against load an will

Therefore, applied com-

BI-ST_M

pressive a redesign

necessitate

BI-STEM

deployment

mechanism.

The is selected

cross-sectional to be batten 1.12

diameter meters, frames) is and

through the bay

the

longerons (dis0.66

length to be

tance meter.

between

determined

The is have

cross-sectional from bending the

area

of

the

three the

longerons mast must contin-

determined the same

requirement stiffness

that

as a 1.12-meter

14

]Irlil

uous-longeron requires a

Astromast longeron

(EI = 2.87

106 area

N-m 2) . of 0.30

This 2 cm .

cross-sectional

The the

tension

in that

the the

longerons mast than (i 500 is must the N-m).

is

determined equal to,

from or

requirement bending

have

greater,

strength Astromast

1.12-meter The to be maximum the

continbendbending slack 200 MPa. is

uous-longeron ing moment or The 3 000 moment the strength at

of which in

the an a

mast

defined longeron

unloading loaded

becomes exceeds

stress

longeron by a

required N per of

tension longeron, 2 600N-m.

determined which gives

this

procedure bending

critical

A central standard mined a of

stainless-steel element. BI-STEM by the The product

BI-STEM element line that 9 000N

is is and the with

selected selected the size

for from is must of and length

the the detersupport safety Euler beadestandard

requirement load of

element a factor stress

compressive 1.5 on

ultimate over the

stress, 0.66-meter load

crippling unsupported is required The

buckling tween quate BI-STEM diameter

battens. tension which in

This the

to

provide

longerons. these

smallest is a

meets

requirements

3.4-cm-

BI-STEM.

The steel that support

required is

cross-sectional determined must from _upply

area the

of

the

stainless-

diagonals the to batten the

requirement lateral that the

frames

adequate to ensure

centralBI-STEMelement

15

critical placement
sectional 2 cm .

buckling
of area the

mode will
batten

not

involve
The

lateral

discrossis 0.054

frames. by this

diagonal

determined

requirement

The mined have from

required the

tension requirement

in

the

diagonals the structure tension errors

is

determust in in the batmust The 30 N.

that

adequate is diagonal to

shear greatly

strength. affected excess for

Since by small

diagonals ten be or

length, allow

diagonal

tension errors. to be

provided

manufacturing is determined

required

diagonal

tension

The pression geron of and

diagonal springs

tension at the

of

30

is

produced of

by the

comlon-

attachment frames. The provide

points spring adequate

rigid-batten springs for the are set

constants lateral

these

to

stiffness

central

STEM.

The compression epoxy tor sive mined to a use of

diagonal of with of 50 1.4

tension 50 N. d/t 2 N. cm. The = for The An i0

of batten and

30

results are to under diameter approach to

in

batten

members are sized

graphite/ have a a fac-

tubes safety of be

Euler batten

buckling tube

compresis deterbe under is result

load to

alternative are N.

would buckle which would

batten

frames load of

which 50

designed

compressive in lighter the

This

approach, Astromast,

used in

continuous-longeron batten frames.

16

11r

The length length STEM meter stack STEM package of

minimum the bay

package stacked

length battens, plus battens

is plus the

determined 1.2 times of

by the the

the bay BI-

for

deployment, Since and the 152

length

deployer. spacing) height deployer length is is

are is

required 1.4 of cm; the The

(0.66the BItotal

batten

depth The 0.5

2.2

meters.

length meters.

approximately

is:

Package

length

= =

2.2 3.5

+ 0.5 meters

1.2x

0.66

Table cept. A

summarizes analysis

the

performance is presented

of in

this

conE.

detailed

Appendix

4.4

Summary All three

of

Structural concepts

Concepts presented of the I in this report Shield the Through and stowage satisfy Vacuum

the

mission

requirements experiment. envelopes

Molecular

Facility and design ope of stowage

Table of both can be each the

summarizes design.

weights further envelthe column

optimization each column by design with lattice

weight

improved; guylines

especially and the

center supported

two-level guylines

concepts.

The discuss

objective the

of

the

following the inherent potential

sections advantages of each

is

to and

performance, and the growth

limitations,

design.

17

u%

0 0 -4

u_ _-i _

r _. 0 '_

0 0

0 _ _I

cxl _

0 u'l ,._

0 r-4

M I _Ii I_
0 0

_1 -,-.I I_
_ 0 U_

_
_ ,-4

_
0% _

_ o
. 0

o o
L_ ,-_

tain

tension

on

the motion

deploying supports the

longerons. to maintain mechanism

Deployment tension deploys is to be of required, equiv-

requires on the this alent longeron the

linear longerons column.

while

BI-STEM

center

Although mechanism and is

synchronization considered as the

deployment complexity Astromast

reliability

continuous-

deployment

mechanism.

Preliminary will have lower with growth

analysis weight the same and

indicates higher

that strength

this than

concept an are comparable

Astromast that the

stiffness. for this

Indications design is

potential

Also,
stiffness the

lateral
of

stiffness the and a mast, bending

is but

not by

provided the axial of of the

by

the

bending of lower

stiffness the mast is short length loaded

guylines Only lower

stiffness

truss. (the

small

percentage truss Table are I,

non-deployable As s_own in

section) higher achieved

in and

bending.

stiffnessthan This future with design

strength-to-weight either excellent for very of the other

ratios mast for

concepts. satisfying than

has

potential long masts

requirements with low

(greater

150

meters)

weight.

The long of

primary

disadvantage which member. this that is

of

this

design by the and

is

the

stowage the lower can

length truss reduce

dictated Design

length opti-

changes however, lengths other

mization estimates times can be the

length, packaging of the

preliminary of two 1.5 to 2

indicate packaging

length

concepts

expected.

The and ment bility all to

primary other the

structural masts which is

limitation have a single

of

this

design, attachflexiThe

point with the

spacecraft, attachment the

associated to point the the on

of

the of

point

spacecraft. the spacecraft

flexibility can the

attachment degrade

significantly deployed mast

effective reduce

stiffness the first-mode

of

and of

therefore the deployed

resonant

frequency

system.

23

5.0

TECHNOLOGY

DEVELOPMENT

The in order

following to achieve for space:

areas the

of goal

investigation of long,

must stiff,

be

pursued

lightweight

structures

i.

Improved long and

definition and on

of

the

dynamic effects and of

properties hinges,

of joints,

structures, materials

the

stiffness

damping.

2.

Refinement mic system tems.

of

the of

criteria the

for

avoidance

of

dyna-

instability for both

spacecraft and non-linear

attitude-control control sys-

linear

3.

Establishment attitude-control with long

of

criteria system

for power

conservation usage on

of spacecraft

flexible

appendages.

4.

Methods correlating tal

of

acceptance analyses

and and

qualification ground testing

testing with

and orbi-

performance.

5.

Methods ment.

of

packaging,

guyline

management,

and

deploy-

6.

Determination band dynamic

of loads resonant of on

theeffect on long

of

high-frequency of low

broad-

structures

structural 7. Determination perturbations

frequencies. the long effect of thermal-induced

structures.

24

III

8.

Evaluation joint tal tures. play, loads

of

effects

of thermal

manufacturing environment, precision of

tolerances, and long orbi-

orbital on

dimensional

struc-

9.

Determination to which

of

the

limits

on

diameters masts with

and can

lengths be

automatically and still

deployable remain and compatible satisfy

extended vehicle

launchorbital

constraints

deployed

requirements. The long, a the recommended lightweight space vehicle show the of the that program to accomplish for space the Since than i00 the is STS goal to of a

stiff,

structure

develop as

meaningful launch

experiment and test

utilizing facility. greater the

Orbiter

preliminary meters be of of the long are

analyses feasible, cation

structures of

emphasis dynamic

experiment verification sensitivity play, and effects). update

would

verifi-

analysis, of the (joint positioning and be thermal used the to

ground-testing structure to

techniques, various active the the use design

determination parameters payload

guyline

tension, through derived and future testing long from

damping, of

orientation Data

guylines, would for

experiment

analysis of

techniques structures.

predicting

performance

25

6.0

CONCLUDING I. The

REMARKS control-system reveals of long than that stability the required on criteria, cantilever are even to avoid natural not for tremensmall considered natural

instability, frequencies dously damping. conservative, frequencies 2. stiffness structures. ness can be higher The

appendages the control presented smaller for can thus factor

spacecraft

frequency, in values this of

criteria and even

reportare structural

may

be

adequate damping and a by pure for a

stability. significantly reduce of the 1.5 damping to 0.01 control weight reduce of in 0.003 the long stiff-

Structural requirement Typically, realized of

reduction from

increasing material) 6 dB/octave

(representative of off. large an Astromast), However, numbers with a of

(representative frequency generally which are has not roll-

highly loose precision

damped hinges

structure and joints

compatible

structural

requirements.

3. should a be

The

stability and

criteria expanded of

analysis to include

presented determination

herein of power

refined for to

criteria also

conservation non-linear

attitude-control-system control systems.

and

include

4. stiffness its

The is

most a

effective

structure which and derives

for a

providing major portion

bending of not

structure from tension Guylines

stiffness members. the

compression this of type

members of

and stiffness

bending but have

provide

inherent to

limitation the spacecraft.

requiring This

multiple significantly

attachment

points

26

l!i

complicates of been point ture. which long percent potential developed

the

structural

interface A

and

limits

the mast of

variety has singlestruc-

applications. which while has are loaded guyline efficient maintains

guyline-stiffened the a versatility guyline-stiffened

the

attachment This the mast design guylines that where is the more

providing fold-out attached. in bending

guyline-support The is are only the section lower

arms of 5 to

to the i0 a

supports

attached.

Thus, structure

significantly is achieved.

stiffness-to-weight

5. designs STS built It is

Preliminary meet the

results stiffness with masses

indicate requirements lengths in the of range can through

that

all imposed

three by can 500 to

mast the be kg. longer opti-

Orbiter. to carry that heavier

Masts tip

i00 of

meters 300 to

clear and

this tip

capability masses

be

advanced design

masts mization.

further

6. single loads of that

Because attachment

the

guyline-stiffened to the spacecraft, one

mast,

which transmits the The reduced

has

point

all

to

the

spacecraft point mast is not can

through becomes be

point,

flexibility effective if at adethat

attachment of the

critical.

stiffness quate

significantly by the

stiffness point.

provided

spacecraft

attachment

7. has these designs been

The

design

evaluation Further to work

of is the

the

three

mast to to

designs optimize these

limited. and be

required limits

systems can

determine

which

developed.

27

0 O

u_ 0 I r-I 0

0 0 r-I 0

,.Q I--,I

0 0 u,-i t,-I

o
11 I-I f-I

_J u,-I u,-I

CXl OJ

28

! llI_

O O q4 0 I ,--4 ,-I O

_J 4.1 (J O

'O

I O ,-4 O h .l-J r! 0 (J xl H
v

m m m I m D

_J ,-I r0

0 .,-4 4-)

O r_ -,-I 4..1

c/l QJ

C u,.i -,-I 4J

,o
0J -,-I

_J

1
i,

_J S-I

-,N

!
IN O

,--4

29

m _m

/ //
! 0 0 II

/
m B

0 0 0

I
4D

I
("9

'I
]IF

30

m m

o o

0
m

0 o
m

0
m

o,
0
u

_ ,..-4 U .,..t tn

0 I 0

_.I (11

_ 0 _ 4=1 U 0 0 ,.4 _ _ m q_ U

I
o

o 0 o

31

4J

-,-I

:>I
O

4J

O 4J

<
O

O I ,-1 O
-H

4J O U I

(1) "1
.H

32

Figure

5.

Mast

with

central

column

a],d

2-level

guTlines

_3

_igure

6.

_ast

_,lith

center

column

and

lattice

guyline

!l! I

APPENDIX

DESIGN

CRITERIA

FOR

FLEXIBLY

SUSPENDED

MASSES

The very

dynamic

characteristics design to be considerations. very the flexible desire have through loss of

of

long

space Extendible

structures spacecraft because and package

are

important tend loads Numerous excessive outright

structures low design

when small

deployed weight

of

the

and

for

volume. from to

spacecraft vibration,

encountered control-system attitude

difficulties overloading, because

ranging

catastrophic oscillation.

control

of

unstable

Experience in are new spacecraft not

has by

led the

to

the

ability of function

to

avoid

these

difficulties criteria the

application but the

criteria. well of

These enough for

often

comprehensive, with

current

spacecraft

probable

cost

excessive

weight.

Sprung mass (payload) e 1 K Spacecraft

35

II
8

12

Moment of respectively.

inertia

of

spacecraft

and

sprung

mass,

8 i' 2

Angular mass.

displacements

of

spacecraft

and

sprung

Angular displacement to spacecraft.

of

sprung

mass

with

respect

QI' K

Q2

= = =

Torques Spring Control

on

spacecraft

and

sprung

mass.

stiffness. stiffness.

K c

Natural spacecraft

vibration fixed frequency.

frequency (81 = 0).

of

sprung

mass

with

Control

Damping spring

coefficient. force for

Ratio vibrations

of at

damping frequency

force w n .

to

c Q2e

= =

Control External

torque torques

applied

to

spacecraft.

Qle'

36

ii|I

The equilibrium

equations

of motion

are

(see sketch

above)

Ii'8'l+K(@l-e2)

+w_'_(@l- @2 = Q1 ) n

(1)

I2

@'2 +K(82

-el ) + d] <K(@2 n

- @I )

Q2

(2)

where

the

torques

are

Q1

Qle

+ Qc

Q2

Q2e

The

control Rewriting

torque the and

Qc

is

taken in

to

be

function of the

of relative

eI

only. displace-

equations rearranging

terms yields

ment

_=

%2-81

(Ii+

I2)41

-I2_+

Qc(@l)

+ Qle

+ Q2e

(3)

i2_+

___K_+ n

Kq0

-I2"8 1 + Q2e

(4)

Take as p and

Laplace the
w

transforms,

designate quantities with

the

transform and

variable set

transformed

bars,

Qc

-K c R(p)

@1

(5)

where good

Kc

is

the

control

stiffness in the

required of

to

ensure

sufficiently

pointing

accuracy

presence

static

disturbances.

37

The function R(p) represents control system. It is equal Define

spacecraft and with

the dynamic characteristics to unity for small p. wc as the

the control attached.

of the at which the

K c

a control
would

frequency
with rigidly

frequency
spring Thus

oscillate mass

stiffness

the

sprung

o Cr
c Equations (3) and -@i = GR(P)8

(6)

I I + 12

(4)

are

then

written

12 Iil+ i2 _ + Qle +Q2 e (I 1 + I2)P 2 (7)

_p2 = Gs(P) wn where w GR __ c P 2R (p) 2

_'I 2 +

Q2e

(8)
_ n 212

(9)

2 n 2 p +Cw n p+_ n 2

(i0)

in

which

(ii)

38

:I:l!

Combining

gives

Q2e _I _ IG R (p) + --_ I2p2 (I 1 + I2)_n Gs(P )I 2 _i + Qle+Q2e -(I 1 + 12)p2 2 (I 1 + I2)_ n GS (p)

(12)

Note oscillator mass

that with

GS

is

t_e

dynamic
n

response In actuality

function the of

of spacecraft

damped sprung-

frequency has a

combination

natural

frequency

(13)

The

mode I282 this

of

vibration is zero.

associated It is useful is

with to

this re-cast

frequency the

is

such so

that

If@ I+ that

equations

free-free

frequency

involved.

Let

@ be

the

average

motion.

Thus

I181 @ =

+ I282 (14)

I 1 + 12

Then

the

equations

in

transform

space

can

be

rewritten

as

Qle = GR(p) - ii + 12 +

+ Q2e 2

(15)

(I 1 + I2)P

39

(16)

_o

Gf

(p)

+ _n212/

where

G R

is

as

before

and

2
n Gf (17)

__!__i I+
12 I1

2 P +C_
n

2 P+_
n

Combining

gives

Qle i I2p2 (I 1 + I2)_ ] ] (If+

+ Q2e I2)p2 (If

Q2 e I2)_n 2 GR(P}Gf(P) (18)

Note mode will is be

that exhibited useful

the

dynamic in Gf.

response The format the

of of

the

free-free

flexible (12) and (18)

Equations for

in

est%mating

criteria

avoiding

instability.

The

response

of

the

system

to

external

excitation

is

z
Qle + Q2e GsGR Q2e

__i
GR

_l

:
p

2
(i I+ i2)

z
GRGf

1
GS mn

2
(I 1 + 12)

1
--- f GRG

__l
GS

(19)

4O

Tit

1 Qle 2 P (Ii+ 12) + Q2e 1 GRGf-_S GfGR 1 _n 2 (Ii + 12) Q2e 1 GRGf-G 1 1 S (2O)

__
Qle 2 wn (I I+ will

+ Q2e 1 12)

_R 1 S

Q2e 2 I2Wn

. 1 GfGR-G

1 s

(21)

GRGf-_

Equation flexibility on

(19)

be

useful usage.

in

determining

the

effect

of

control-power

Dynamic

Stability Classical theory system is of the dynamic if, parts In the and of stability only the if, of linear exist the systems no equation charac-

shows roots of the

that with

stable real

there

the

positive system. can be

characteristic instance,

homogeneous equation

present as

teristic

expressed 2 I2P

GR(p)

+ (I 1 + I2)w n

2 GS (p)

(22)

or,

alternatively

as

G R(p)

I2P

(I I + I2)w

2j
2 Gf (p n convenient right-hand in of the method half the of plane. p-plane determining Thus, from equation

(23)

The the if -i_ number the to

Nyquist of

criterion roots lying axis number

is in is of

a the

pure +i_,

imaginary then the

traversed roots

= z (p)

41

lying in the right-hand clockwise encirclements In the present

roots of the equation

half plane is equal to the number of of the point Z = 1 in the Z-plane. there are presumed to be no
unstable

case,

-- G R (p)

otherwise mass were

the

spacecraft The not

would Nyquist any

be

unstable of

even the

if

the

sprung GR(P) of the

rigid. must The the

mapping clockwise the

function

therefore point cation i. to

produce is:

encirclements flexibility-caused (22) or (23) are

question right-hand so

Does side of

modifishift introduced?

Equations

the mapped contour This is the question

that to be

clockwise addressed.

encirclements

First,

note

that 2 12P (I I+

in

Equation

(22),

for

p = iw,

the

expression

12 n2 GS (p) I I+ I2 p 2 +_w

p2
n p+_ 2 n

I2)w

is

small

for

small

and

approaches

12 <i I I + 12

for

large. << in 1

Since for large

the w, A

shift any

is

small in

for

small

and

since refor

IGR(P)I sult the

change

encirclements can also

cannot be made

these

ranges.

similar

conclusion (23).

alternative

formulation,

Equation

danger

Therefore, only of producing

two possibilities shift sufficient

exist in to cause

which there is an encirclement:

a)

For

Wc,

because

GR(P)

there.

b)

For

Wn

(Equation modification

(22)) is

or so

wf large

(Equation at the

(23)), resonant

becon-

cause dition.

the

42

[!i

Now, have (22) a is

in

the

neighborhood imaginary part. produced.

of

i_

the

function would in

R be

must a

positive

Otherwise, The 2 I2_ c c 2+iC added

there function

clockwise

encirclement

Equation

or, for Equation

(Ii + I2)_n

[o
2 c

n 2_w

_n_c

]
w c 2_ 2 c

(23) 2 I 2 w c _n 2 2 -_ n + _2 n +i_w n

Il+

I2

( c 2 -w n 2)2

which of

also flexibility

has

a is

positive to move does for

imaginary the contour cause

part. away any

Therefore, from the

the point The (23). the

influence I. same

Hence, conclusion

possibility is to is reached examine

(a)

not the

difficulty. Equation

alternative (b),

Now, portion no

possibility A

consider condition

that for

flexible to that be the

lowly

damped. produced at resonance unity. setting

sufficient the the

there is

encirclements value less

near of

resonant function a

frequency on the

absolute side be is

right-hand criterion can

than by

Therefore,

conservative

established

12 R(iw n ) I 1 + 12

1 (24) i_

for

Equation

(22)

or,

alternatively

> \Wn/

' 12

2 I 1

(25)

for

Equation For

(23) R(iw n ) = R(i_ f ) = i, the two alternative criteria be-

come,

respectively

43

4
_n_ > _2

\_c/

_2_

< )2il+I2 I2

(26)

(27)

Ill
Since ion more (27); is these arise Clearly It therefore from sufficient Equation will be (26) conditions is more either stringent There are criterthan surely adequate. (27).

Equation

discarded.

relaxed, however,

but still adequate criteria than the search for these is left to

that of Equation the future.

Equation Written for

(25) more

is

therefore function

adopted R(p)

for it

the

present

criterion.

general

becomes

2 _n

' >

]R(iwf)i I

\3/2

12 _1 _

Ii +

+ 12 _l

_2

(28)

Control frequencies can be

systems greater

normally.employ than by the control appropriate

a choice

roll-off frequency. of the

of

the This

gain R.

for

roll-off

represented that = 1

function

Assume

IR (iw )I

_<_ c

w>w

44

I II

whe

re:

= =

0 i

for for

a 6

flat

gain roll-off

dB/octave

for

12

dB/octave

roll-off

The

resulting

criterion

is,

1 2+ r i \3+r

I2 +

II

I2 +ii

C2

(30)

45

APPENDIX B
PRE LIMINARY S PEC IF ICAT I ON

1.0

SPECIFICATION

OUTLINE

AND

DESCRIPTION

The long mast

following to be

is deployed

preliminary in space.

specification

for

i.i

Mission This mission during this

Requirements section lifetime, the study orbital of mast defines and lifetime. concepts is the launch activities The the selected Molecular is the vehicle, that orbit, take place for Vacuum I mission Shield STS

mission

Facility with a 1.2

(MSVF)_ The 100-nautical-mile

launch vehicle orbit.

Orbiter

Functional This vehicle. in length

Description section The with defines mast at the orbital configuration is which a of 100-meters deploy the mast the

selected a payload

configuration the tip,

will of

from the STS is required. Mechanical

Orbiter.

Retraction

capability

Performance

Payload This deployable support. deployed payload. deployed envelope patible structure minimum time.

System section

(s)

Support defines the payload positioning of and the for which and the structural and deployed

structure Included geometry, For this i00 meters of with will weight. the the be mast STS is

provides a

description mass,

stowed of will The must mast

payload study, from will Orbiter

location

a 315 kg payload the STS Orbiter. be minimized envelope. to meet all is and The

be stowed be com-

designed No weight

requirements at

with this

budget

identified

46

11J

1.3.2

Precision The are mast will and provide stable payload throughout Lateral be defined. mounting the mission points life axial that and posierrors repeat-

accurate

identified tion, will ability wear, in 1 g and be

environments. slope will

position, All potential

considered, errors,

including thermal produced in 0

fabrication material

errors,

distortion, from g

degradation, and testing

and and

errors

manufacturing

operation

environment.

1.3.3

Structural This for

Requirements section defines loads, stowed following natural the structural loads, requirements deployment and deployed the various loads,

ground-handling loads, The

launch

orbital dynamics.

frequency

paragraphs

discuss

requirements. 1.3.3.1 Desiqn Factors Standard be used: F. F. S. S. = of Safety of safety for spacecraft systems

factors

will

1.25 1.50

on on

yield ultimate

stress stress

1.3.3.2

Structural These ground-handling environments. these

Requirements requirements The mast without

(Stowed are will

Confiquration) from and standard of surviving or

derived be

loadrequirements

launch-vehicle

capable

environments deformation.

structural

degradation

permanent 1.3.3.2.1

Minimum To structure tudinal

Vibration minimize and frequencies Limit

Frequency launch dynamic will above Loads have I0 Hz. loads, lateral the and mast longi-

payload

1.3.3.2.2

Environmental

47

1.3.3.2.2.1

Ground-Hand The capable loads, A.

linq mast of in

Loads the stowed the 2 ). configuration will be

surviving

following

ground-handling

(reference

Shock
.

The

shock

environments are 20 ii g

experienced

during shock in each

handling pulse of 6 B. Acceleration (Hoisting angle C. of +

terminal-sawtooth duration

of an axes.

millisecond

loads) 20

vertical

within

cone

degrees.

Vibration The vibration at 1/2 spectrum octave per motion). @ @ @ @ 25.4 1.3 0.91 5 g g mm double-amplitude is a minimum at of the four (4)

sweeps levels 25 26 50 5 26 50

minute

following

(sinusoidal Hz Hz Hz Hz

peak mm double-amplitude

i00

peak

1.3.3.2.2.2

L_unch

Environment Maximum vibrational transonic is loads periods of occur flight. during The the input

launch

and

to the mast low-frequency tends the to

divided into two sinusoidal-vibration the and design which of

discrete regimes: excitation, which the major broad-band to control of will because portions randomthe accelbe paypoints of

control

structure;

high-frequency tends

vibration design erations difficult load design of

excitation, components. at to the

Rigorous of during at

definition subsystems this their study

interfaces

determine accelerations

attachment

will vary with payload mass, and because subsystem design accelerations depend on the spacecraft design and the attachment method between spacecraft and subsystem. Therefore, conservative design limit load factors are generated that are representative of existing flight-program launch loads for subsystems. 1.3.3.2.2.2.1
Launch Acceleration The load following are conservative used: Acceleration + +4 (thrust are to axis) be applied + i0 4 g g g subsystem limit

factors Direction X X Z

These 1.3.3.2.2.2.2

loads

simultaneously.

Acoustics Maximum launch region (due (due acoustic to to engine noise noise) levels and noise in occur the at transonic by durations sound presis 145 environments 2).

aerodynamic fluctuation).

created

boundary-layer of exposure are sure environment dB. for 1.3.3.2.2.2.3 Figure the STS B-I

Typical Overall Orbiter

one minute. for the STS defines the

acoustic

Orbiter,

(reference

Random It ysis tion

Vibration is assumed the loads are for preliminary by the for The the design anal-

that

produced accounted

random-vibrain the specirandom STS Orbiter these 2)-

environment

fied design limit load vibration environment

factors. levels for

are presented in FigureB-2. loads is approximately 30

The duration of seconds, (reference

49

I I i i m n

0 o --o

-d
P-'l I

,1:1 ,gl
0 0

r/l 0 --o -,.-t N _4 0 u -,.-I X (I1 0 _._ .O c_ 4J 4J

i I m I

u l

E _

.1.1

0 I..l -,.-I e-

,-4
r-_

m m m

o 0

0 _ ,._ _1 4..1 ,-4 -,-.I .,.4

i I

_o
0 ,-4

I
o tr_ o o o

I
0

I o 1.4 _ I -,.-i -,.4

5O

4-J o u -M u)

-_
-_, -_
o

0 o

g
4_ ._I

I I d_

I
o _o 0

O_

!
0 0

......... - ! l.
O O 0

i
0 I I

Z O_ _o

51

.,4

0 In _n 0 k_4 o _4

.,4 D_ ,-4

u_ .,4

_f 0 ,-4 >,

4.J

0 .,4 _4 .,-i > 0

II

!
0

I
o

4_ 0 D_ .,4

(z[.-[/

6)

Z_Tsuep

I_=_o_ds

uoT_xeI_OO_

52

IIF

1.3.3.2.2.2.4

Shock Shock (transient vibration) is produced by accounenviron-

two sources, the STS Orbiter and pyrotechnic devices. The STS Orbiter shock loads are ted ment. Shock levels resulting are a function Of being from their for in the swept sinusoidal-vibration

devices the the and from

pyrotechnic distance from Figure pyrotechnic versus B-3 defines devices distance

subsystem shock Figure the

considered. of typical

sprectrum B-4 defines

attenuation device.

pyrotechnic

1.3.3.2.2.2.5

Pressure The The STS Orbiter inside flight is the vented launch during vehicle pressures. for the 2). A vehicle The worstlaunch. closely The

pressure the

follows

atmospheric time history ,

payload-pressure is case tive 1.3.3.3 shown is 21 in Figure

B-5

(Reference KPa/sec.

approximately KPa/sec is

1.73 assumed.

conserva-

Structural Three i. 2. 3. Stowed Deployment Orbital Stowed The assumed deployed

Requirements orbital

(Orbital are Launch

Confiquration) considered: restraint and released

conditions -

Configuration During

extension Fully

retraction and locked

Configuration

deployed

1.3.3.3

.i

accelerations to be identical configuration.

prior to deployment to the accelerations

are in

the

1.3.3.3.2 1.3.3.3.2.1

Deployment Loads During withstand ments defined deployment, the loads for the and the orbital mast structure dynamic configuration. must require-

deployed

53

o o o

-,.-I

o o o

--_ 0 0

o 0 o 4J o

I 0 0

g
-,.4

I
0 o o o 0 o o ,-t

I
o 0 ,-1

(s,6)

asuodsa_

um_oads

_ooyS

54

llf-

OJ O

0 L_ q

E
0

(D O

"0 ,-4 e_ A.} @ } E Oh @ _J

E
0 q-4 _J

:>

0 .,4

=I (D 0 4J m -,.4

n_

-j 0

,.c:
03 ff'l

J
I

0 0 0 0 0 0 ,-_ r-t

-N

_oqs

5o

e6e#ue_e_

55

ii0

I00

90

80 7O 60
SRB staging Dispersed w/head wind

5O

Nominal

4O 3O

Dispersed w/tail wind

2O i0 0 0

----a

I
20

I
40 Range

l
60 time

l
80 (sec)

i00

120

140

Figure

B-5.

STS

Orbiter

payload during

bay ascent

internal

pressure

histories

56

1.3.3.3.2.2

Deployment The mined time from from

Time maximum mission allowable deployment requirements, deployment initial time will and reaction range of 1 be the determinimum forces to i0 on

the spacecraft. An minutes is assumed.

1.3.3.3.3

Orbital

Configuration Three structural configuration: dynamic and solar properties large properties (3) of forces and support low with the requirements (i) STS of due the to are identified accelermast for

the

orbital (2)

Orbiter deployed

ations, and

payload,

gravity drag. espefrequencies, frecan present interThe

gradients, dynamic cially are

pressure,

aerodynamic structure, natural a

structures A

with structure

significant. near the the

resonant

quency act with

attitude

control control

frequency system and

attitude problems.

significant 1.3.3.3.3.1 Acceleration The for the

accelerations STS Orbiter,

listed (reference

below 2 ).

are

typical

Axis

Typical

Rotational

Accelerations

Roll Pitch Yaw

0.032 0.026 0.023

deg/sec deg/sec deg/sec

2 2 2

Direction

Typical No

Translations

X +Y + Z

acceleration cm/sec cm/sec 2 2

0.275 0.335

57

1.3.3.3.3.2

Dynamic The the

Requirements mast system requirements mission-peculiar specified. Gradients The gravity-gradient the systems from the loads specified forces and center are the of by proportional will be designed in to Figure satisfy B-6.

dynamic

defined dynamic

Additional will Gravity be

requirements

1.3.3.3.3.3

to the mass of their distances Deflections must 1.3.3.3.3.4 Solar be within and

square of the earth. these forces

produced limits.

Pressure Typical solar-pressure 10 -6 N/m forces 2. forces Deflections must be within are and approxiloads specified pro-

mately

duced by limits.

these

1.3.3.3.3.5

Aerodynamic Typical mile orbit by

Draq aerodynamic is 0.03 N/m 2. forces drag for a 100-nauticaland loads

Deflections must be within

produced limits.

these

specified

1.3.4

Interface

Requirements requirements power and not defined include requirements, STS Orbiter as part mast-structure deployment-mechanism interface. of this study. These

Interface stowage interface, requirements 1.3.5 Environments The thermal, pressure, requirements will not be envelope,

payload are

environmental ground-handling and orbital such as

requirements loads, acceleration. storage as part

considered launch vibration, Other this study.

will

be shock,

environment and humidity Groundand

temperature of

evaluated launch

handling orbital

loads,

vibration, have previously

shock, been

pressure, defined.

accelerations

58

llr

i-4 0

0 0 0

4.1 Ul 0 ,-4 _ o 0 _.1 m II)

-,.4 0 I

I i11 t_ -,.4 r_

,-4 o 0

p..

u'3

59

1.3.5.1

Thermal

Requirements temperature Worst-case temperatures the maximum from the mast the levels will be and and gradients defined as a gradients in solar will the strucwill com-

be

Worst-case determined. of

bination that ture. payload, sidered.

temperature error

produce

precision STS

Shadowing and

Orbiter, itself

panels, be con-

structure

1.3.5.1.1

Solar

Radiation The solar is radiation 1399 W/m 2. constant for a 100-nautical-

mile

orbit

1.3.5.1.2

Earth

Radiation The Earth is radiation 243 W/m 2. since during constant for a 100-nauticalradiation component periods. temper-

mile is

Orbit being

Earth-thermal it earth limits shadow

considered

ature 1.3.5.1.3 Earth

excursions Albedo Earth albedo 30

radiation

for

100-nautical-mile

orbit 1.3.5.1.4 Earth

is

percent.

Shadow The maximum study. earth shadow time is not specified

for 1.3.6

this

General

Desiqn Design

Features features will be considered which affect thermal

material

properties,

materials

compatibility,

control properties, and replaceability, rf 1.3.7 transparency.

lifetime, cabling, interchangeability electromagnetic interference, and

Reliability A deployable typical reliability structures number is for 0.99 extension or better. of

support

6O

llr

1.3.8

Testinq It to be is very of desirable testing and for in a the 1 g deployable environment the in or a reliability vertical structure because in orientaon a it

capable total This

reduces space.

costs can be

improves

accomplished

tion with low-friction

gravity compensation, surface.

horizontally

61

APPENDIX C ANALYSIS - ASTROMAST

This concept requirements: Length

was designed

to meet the following I00 meters 315 kg 2.87 x 106 N-m2

selected

..................

Tip mass ................ EI ...................... strength ........

Bending

_ 1 500 N-m

mast

The with

selected

configuration

is

coilable

lattice

Astro-

Diameter

................

1.12

meters

Longeron Longeron

size

........... .......

i.i

cm

i.i

cm

material

S-glass

The The

following bending

design stiffness

equations is

are

derived to be:

from

reference

i.

determined 2

EI El

= =

1.5 1 5

(E) x5.0

(Alongeron) x 10 10 x

(boom) (0.011x0.011) x _212) = 2.85 x 106N-m 2

The

maximum load

bending of the

strength longeron

is by

determined the distance

by

multiplying the

the buckling longerons:

between

cr

cr

(l.12m)

62

1o
2 = 1 .2 5.0 x i0

I'1114
12 (1.12)

xll'_--12121" "-\

\2!
= 1500 N-m

The

weight

of

the

Astromast

is

xAt

3.4

1.94

x 103

(0.011

0.011)

i00

239

kg

The

frequency

of

the

Astromast

with

the

315

kg

tip

mass

is

0.16al(315

3EI + 0.23696) 63

"

0.16

2.85x 0.236

106 X 239) 1003

_(315+

0.024

Hz

63

APPENDIX D ANALYSI S COLUMN SUPPORTED BY TWO-LEVELGUYLINES

This concept requirements : Length

was designed

to meet the following 100 meters 315 kg 2.87 x 106N-m 2

selected

..................

Tip mass ................ El ...................... ........

Bending strength This concept is

> 1 500

N.m shown below

assumed to have the geometry

/
120

\
mass guy line

45 m
Upper member Lower 84 45 m Lower member compression compression

guyline

guyline Lower Lower bending support

support member cable

t,
64

The size criteria:

.

of various

members is based on the

following

All

guylines

and

lower

support is a

cables

are

steel.

The

central

compression The

member hinged

continuous-longeron supports are graphite/

Astromast. epoxy tubes

guyline

2.

Tip

mass

315

kg

All

structural

resonant frequency of

frequencies baseline

are Astromast

greater with

than 315 kg

first mode tip mass.

Capability of supporting that of baseline Astromast.

lateral

tip

load

greater

than

The

upper

guylines

are

assumed of lateral assuming as kg 6

to

be

0.64

cm of

0.013

cm

steel tape. tip mass is only restrained

The frequency approximated by the

by

vibration that lateral below mass

the motion

315 kg is

tapes, -315

shown tip

F1

2F 2

e 1

tan

-i __ = 11.5

@ 3

tan

-I

02 -5

COS 9"5-

60 =5"8

65

The lateral

stiffness
EAI t 1 (sin211.5

k
1

is

given

by

+ 2 sin 2 5.8 )

kl

Where the

A 1 upper

and

61

are

the

area

and

the

length,

respectively,

of

guyline

2 A 1 = 0.64x0.013 = 0.0084 cm

4 1

_2 02

52 + 9521

97

-- i00

k I

2 x 107x 0.0084 i0 000

(sin211.9o+

2 sin 2 5.8 ) =

1.0

N/cm

= i00

N/m

The given

frequency by

of

lateral

vibration

of

the

315

kg

tip

mass

is

0.091

Hz

Thus, higher

the

0.64

cmx than

0.013 the

cm

steel

tapes of bending 15 N

provide the baseline moment lateral become

substantially Astromast.

frequency The Astromast

frequency a

will to an The the

sustain approximate

of tip slack

1 500 load will under

N.m for be a set the

which i00 in a

corresponds meter manner of a mast. that 15 N

tension unloaded tip

in load

the as

upper shown

guylines below

guylines

action

lateral

66

2T + 2F2

EAI - 6 sin 11.5

FI 61

EA I F2 = t--_ 6 sin 5.8 o

15

F 1 sin

11.5

+ 2F 2 sin

5.8

EA I _ i

6 (sin 2 11.5

+ 2 sin 2 5.8 )

15 t I EA l(sin 2 11.5 + 2 sin 2 5.8 ) 2 x l07 x 0.0084

15x

i0

000 2 sin 2 5.8 )

(sin211._+

15

cm

2 x 10 7 x 0.0084 F1 = i0

x 15 sin 000

11.5 = 50 N

The prevent direction

pretension unloading the tension

in under

the this in

guyline guyline

must is

be i00

at N

least the and

50 the

to loading is

condition.

For

reversed stress

the

i00 0.0084

N 2 cm

12

000

N/cm

67

The total

weight

of the upper guylines

Wug is

Wug = 3 x
The

t I x p xA1

3 x

l0

000x

0.0083

x0.0084

2.0

kg

fundamental

frequency

of

the

upper

guyline

is

fl

261

2 x I00

0.0083

x0.0084x

50
FCu

= i00

0.44

Hz

The

compression

in

the

upper

section

is

given

by

Fcu

3 x 50 cos

11.5

150

The sive tion). upper load

size of Let I

of 225 u

the N

upper (see

section

is

established calculated inertia and

for

compreslower of secthe

compressive the moment

load of

for length

and

be

member 2 EI u 225 t u 2 4 5002

x0.5

l07

x I u = 2.43 I u

4 I u = 93 cm

Assume

the

upper

member

is

an

0.4-meter-diameter 2

Astromast

EI therefore

1.5 (E)(Alongeron)

(boom)

93 A t 1.5(20) 2 0.155 cm

68

II r

t_erefore

Wu

3x

fxP

xAtx

3 x 3.4x

1.94x

103

(0.0000.155)45

14

kg

The compressive

fundamental load) is

frequency approximately

of

the

upper

section

(neglecting

0.16_I 0
o

48 486

EI W 63 u

'
_4

8 X ix 0.16 T0.486 x

107 14x

x6

2Z

i00
i

4 5003

0.36

Hz

Even the column

though

this

frequency the frequency baseline

is

substantially should

reduced be

by

compressfon, higher than

nevertheless frequency.

substantially

the

fundamental

If

the

lateral

stiffness the first

at

the

guyline mode

attachment of the

points structure

is sufficiently will be as shown

high, below

buckling

Buckled

column

_--UpperKu

guyline

support

point

Lower

guyline

support

point

69

At EI of 4.7

this

time cm by

it 2

is

assumed required

that

the

column of

has the

uniform

x 108N given

The

stiffness

support

points

is

4m 3 2 k u = kt _3

EI

4x

23 x n 2 x4.7 9 0003

x 108 = 0.21N/cm

The stiffness be k6 0.64 of

upper of cmx

guylines 1.0 N/cm. cm

have If steel

been the strip,

shown they

to will

provide are provide

a a

lateral to stiffness

lower

guylines

assumed

0.013

EA 2
k t -t2 (sin2 @2 + 2 sin 2 @4 )

Where and 82

A 2

0.64x 84 are

0.013 given

0.0084cm by

t 2 = _202-52

+ 5021

53.6

and

82

tan

=19.9

04

tan-I

0_

-5

cos

60

10.2

2x k_ =

107 x0.0084 5 360

(sin 2 19._+

2 sin 2 10.2

) =

5.5

N/cm

Lower

guyline

weight

Wtg

is

Wig

3 x _At

3 x 0.0083

x 0.0084x

360

i.I

kg

Tension

in

the

lower

guylines

is

established

by slack lateral to

reunder load 30 of kg

quiring that none of the lateral guylines become the action of a lateral acceleration producing a 15 N on the 315 kg tip mass. The mast is assumed

weigh

70

for this calculation. The lateral acceleration 15 N lateral load at the tip mass is F
15 N kg 0.048 m/sec 2

required

for

a _ -m

=
315

The forces to be

lateral

load

on

the

mast

30 x 0.048 loads

= will

1.44N. be

The assumed

required as shown

to balance below

the

lateral

---_F

(upper

guylines)

15+(1.44x0.25)=

15.4N

qp-

0.0144

N/m
.m-

(lower

guylines)

1.44x

0.5

0.7

4-

--_

(lower

support)

1.44x0.25

0.4

The

tension

in

lower

guylines

is

calculated

below.

0.7

EA _

6 (sin 2 19.9

+ 2 sin 2 10.2

6 =

5 2 x 10 7 x 0.0084(si

360

x0.7 19.9+2 sin 2 i0.2 = ) 0.13 cm

n2

EA F 6 sin 19.9 =

2 x 107

x 0.0084 5 360

x 0.13 sin 19.9 = 1.4 N

The vent

tension

in The

the

lower

guylines force

is in

set the

at

1.4

to

pre-

slackening.

compression

lower

compression

71

member

FCt

is

given

by

FCt

3 x 50 cos

i1.5

+ 3 x 1.4

cos

19.9

151

The vide W 6 is of a

compression factor of safety

in

the of

lower 1.5 on

section Euler

is

set

at

225 The

to

pro-

buckling. which is 50

weight long,

the

0.4-meter-diameter

Astromast,

meters

W 6

15.6

kg

The

fundamental

frequency

of

the

lower

guylines

is

26

2 x 53.6

0.0083

x 0.0084x

i00

0.i3

Hz

The cable are

loads shown

in in

the the

hinged

guyline

support

and

lower

support

following

sketch.

I l J

i00

(max) (max)

.2.8N

11.5

14.5

Fc

:t

11r

sin

14.5+F

sin

14.5

o =

2.8cos

19.9o+i00cos

ii.5

cos

14.5

-F

cos

14

"

2.Ssin

19

"

9+100

sin

Ii

"

0.25

Fc+

0.25

Ft

I00.6

0.97

Fc-0.97

Ft

20.9

F
C

212

F t

190

In

is

The moment calculated n2E p 2 t n I

n

of inertia from Euler

of the lower buckling

hinged

guyline

support

2 xl. 2x212 = 2

Ox

107 2

I n = 24.7 I n

000

4 I n = 17 cm

hess

Considering 0.005 d
n

thin-walled

tube

of

diameter

d n

and

thick-

4 17 d3 t = --8 nx = 8 0.005 dn

73

dl-1

-----

TT"X"x8 17 0.00

5.>0"25

9.6

cm

Using of the three

dn

= hinged

i0

cm,

and

ta

0.05

cm, is

the

total

weight

Wh

guyline

supports

3pAt

3 x 0.0017

x _x

fOx

0.05

x 2 000

16

kg

The 0.013 cm

lower tape. effects

support The of the

cable effective lower

is EA

assumed of the

to upper

be

0.64

cm includ-

guylines, is calculated

ing the below

support P

cable,

0.25

F c

+ 0.25

F t

Pcos

11.5

0.98

0.97Ft-0.97

Ft

P sin

ii.5

0.20

F t

1.86

74

The elongation
F 6 t t AE 1.86

5t

is

given

by

P x2 2x

000 107

0.022

0.0084x

The sulting

end from 6

of an

the

hinged

guyline 66 of

support the lower

translates support

6R cable.

re-

elongation

66 8 R = cos 61 = 2.06 66 = 0.045 P

The the

total

deflection of the guyline

at

the is

upper given

guyline by

connection

in

direction

P x 9 695 6 = 0.045 P cos 26 + 0.0084x 2 x 107 = 0.040 P+ 0.058 P

where 0.040 0.058 P is P is from from lower upper support guyline cable stretch stretch

This tive Since length cables

stretch of

of the

the

lower

support by for the factor of

cables

reduces

the 40%. short

effec-

stiffness this of will

upper is very by

guylines large a

approximately the 5 relatively of the giving equal lower the to

reduction lower be

support increased

cables,

area

support lower that of

support the upper

cables a guylines.

stored volume approximately 6 is now given by

75

0. 040 5

+0.058

0.008

P+0.058

Now, The

stretch area of

in the

the lower

lower of the

support upper

cables guylines is

only by

decreases

the i_.

effective

stiffness

approximately

support 2

cables

0.0084x

0.042

cm

The is

total

weight

of

the

three

lower

tension

members

W6t

W6t

3 PAi=

3 x 0.0083

x 0.042

x 2 000

2.1

kg

Compression effective guyline

of

the

hinged

guyline The EA

supports of these

reduces members

the is

stiffnesses.

EA

E_dt

-- 107xnxlOxO.05

1.6x107N

This support members

is

approximately cables, is

20 therefore,

times

higher

than of

the the

EA

of

the

lower

deflection

hinged

compression

negligible.

Since tially sumed ber appear to more that the as

the

lower than

bending the is from below.

member lower

is

expected

to member,

be

substanit is asmemof the

stiff no moment

compression from The the of the lower

transmitted section. bending

lower

bending shape would

lower sketched

compression

deformed member,

structure,

resulting

76

llr

/II / I I I
l I

Since unchanged

the for

length small

of 6 ,

the the

lower motion

bending of the will

member structure be a

is

essentially (with the ro-

exception of tation about

the the

lower fixed

bending base.

member)

rigid-body

The the fixed

moment base

of is

inertia given by

of

the

structure

for

rotation

about

I where base. x

fx2dm is the distance from the differential mass to the fixed

The

components

of

the

above

integral

are

calculated

below

Um

= I x2dm

315

x 1002

-- 3.15

x 106kg

m2

77

CM

2din

30

(90) 2 + 55

l.llx

105

kg

HGS

=;x2dm

16

(20)2+

(102+7.52

3.03x

i03

kg

(97) 2 +

(52"52

+ 102)] ,

7.3x

i03

kg

m 2

Lg _-]'2_ : 1.1 [_ (S4) + LSC : ;x2dm : 2.1 [_ (20) +

(302+

102 )

1.4x

103

kg

(10) 2

2.8x

102

kg

m 2

Sum

fx2dm

3.15x

106+

i.ii

x 105+

3.03

x 103+

1.4x

103+

7.3

103+

2.8x

l02

3.3

x 106

kg

m 2

where U = Tip mass

CM HGS U g L g LSC

= = =

Compression Hinged Upper guyline guylines

members support

Lower

guylines

Lower

support

cable

78

i[li _

The _ji yen by:

deflection

6 of

the

end

of

the

lower

bending

member

is

3 6 = 100 = px i0 3 EI%

where EIt The torque

is the about

bending stiffness the fixed base is

of the lower given by

bending

member.

T Therefore,

10p

T x i0 -

102

3 EI

i0 3 EIt

3 EI K8 = i0

The

frequency

of

oscillation

about

the

fixed

point

is

21-

0x3.3x

I06

This The lower will the these actual

formula lower

neglects bending-member

the

mass

of

the mode

lower will

bending also

member. have a

bending

frequency than the involve some amount desired value of f

assumed mode, because of guyline stretch, will be taken as 0.05

the etc. Hz to

actual mode Consequently, allow for

unconservative

approximations.

3.3 EI t =

x l06

x i0 x 3

12_x

0.05)

l.lx

106

N-m 2

79

Based on the requirements EI = i.I x 106 N-m 2 and M =

cr in diameter and have

for
1 500

the lower
N-m, the

bending
will 1.8

member of
be kg/m 1.0 2. m

truss of

a weight-per-unit-length

W B

1.80x

I0

18

kg

The ment

total

weight is

of

the

structure,

not

including

the

deploy-

mechanism,

Wtota

Wug

+ W u + W6g

+ W6

+ W h + Wit

+ W B

2+

14+

i.i+

15.6+

16+

2.1+

18

68.8

kg

8O

till -

APPENDIX

ANALYSIS COLUMN SUPPORTED BY LATTICE GUYLINES

This requirements Length

concept :

was

designed

to

meet

the

following

selected

..................

i00

Tip EI

mass

................

315 2.87

kg x 106 N-m 2

......................

Bending Mast

strength diameter

........ ...........

>i 1.12

500 m

N-m

Bay

length

..............

0.66

The steel

three

longerons They are

with sized

area from 10 = 1

A L the

are

assumed

to

be

made

of

wire.

relationship

2.87x

106

2.87

x i0

m -E

=
2x10

435

cm 4

=_A

Ld2

2 x 0.48

2AL

A L

0.30

cm

i. 12

_/_

_--Longeron

Q--O. 48 I ---Neutral

m axis

81

The weight

of

the

longeron

W L

is

W L

0.30

cm 2 x 3 x 0 .0083

kg/cm

3 x I0

000

cm

74

kg

The

pre-tension that, in the when the

in

the the

longerons action longeron longeron of

is an

calculated applied slack.

based bending the

on

the

assumption the stress stress

under unloading

moment,

tensioned

approaches becomes

working

T
longeron AT b AL

_T b

T i ATb (T = longeron pretension)

Tensioned Neutral longeron The unloading becomes slack axis

longeron

when

AT b

T.

Therefore

_
max For a

T+

=2T
A L stress of 20 000 N/cm 2

working a max A L

20 =

000 2

x 0.3 = 3 000 N

= 2

The to by 4 3

ultimate 500 000 N N,

moment and a therefore,

is single

obtained longeron as shown

when is in the

two

longerons (becomes

are sketch

tensioned slack)

unloaded following

M cr

500x2x0.28+3 or

000x0.56

520

N-m

M cr

500

0.28

520

N-m

82

No tension
4 500 N tension

028m
_Neutral axis

A the 0.36 The

3.4

cm

diameter

stainless-steel This EI of BI-STEM 950 for 25 000 N_m 2 a has and a

BI-STEM

was

selected area of of 9 0.018 000 N

for of cm. is

central cm 2 , a stress =

element. minimum in 9 the

cross-sectional a thickness load

element =

compressive N/cm 2.

000/0.36

BI-STEM

The local

ultimate

stress stress

in Ocrip

the is

element given by

is

i00

000

N/cm

and

the

crippling

Et 2 crip d_3 (i -U ) '

2 x l07 3.4

x 0.018 = 65 000 N/cm 2

_3(1-0.3_'

Since 0.66 meter,

the the 2

element Euler 2 _

is

supported load

by is

batten by

frame

every

buckling

given

cr

EI 2 _.

x 950 2 0.66

21

500

83

The weight

of the BI-STEM element

cm

WBI_STE is M
i0 000 cm = 30 kg

%I-STEM = 0.36
In against constant order BI-STEM given

2x

0.0083

kg/

cm3 x

for

the

battens they formula

to

provide have

effective a lateral

restraint stiffness

buckling, by the

must

k lat

>_ 4m3n2EI t3

4x

1513 1003

x n 2 x950 x i00

300

N/cm

Where

is

the

number

of

bays

i00 -0.66

151

bays

The in the

batten

frames below

are

assumed

to

be

constructed

as

shown

sketch

_i

LngerOn

Batten

spring

-STEM

guide

The

stiffness K = = 1 870 300

of

the N/cm

batten = 1.5

springs Kb

is

given

by

N/cm

84

The in the

batten

springs The that

must required one

be

compressed tension in element

to the

provide diagonals becomes bending below

tension is slack moment for cal-

diagonals. by assuming

culated

diagonal of load

simultaneously the condition

with the of uniform

attainment lateral

ultimate as shown

r z
Shear = w6 2 Moment = 2

q.q-W

q-q-q--

2 x 2 w -

600 0.5 N/m

1002

Shear

0.5

x i00

= 50

It will be shear panel oblique gonal lateral

assumed aligned panels slack Td as

that with will the shown

this the be

shear load

load must be removed (the contributions of When the must unloaded support

by the the diathe

shear becomes load

ignored). diagonal

tensioned below

50 2T d

85

0 = tan

-i 0.66 --0.96

= 34

2Tdcos 34 = 50 Td
= 30 N

The given

batten by

load

Fb

required

for 2T

a d

diagonal

load

of

30

is

60 60 "_2T d

Fb

2T d Fb = 4TdCOS 60 cos 34 = 50 N

The required of 50 N is

batten

spring

deflections

for

batten

compression

5O 6 -

N 0.057 cm

87 o N/cm

to

It is assumed tolerance of to cm, and ensure the a

that _0.025 ....... peak

batten lengths cm, therefore, force of is

can only be the nominal 50 N is

manufactured deflection + 0.057 deflec=

required 0.082 tion

6 = 0.025 cm. This

deflection compression

6 = 0.ii of

produces

batten

load

Fb

0.iix870

96

The with d/t is given

batten = i0. by

members are The diameter

assumed required

to

be tubular to prevent

graphite lateral

epoxy buckling

86

P = 2(FS)

n2EI x 96 -" t 2

1 x i0 112 2

x0.2R

0.70

cm

For

diameter

of

1.4

cm,

the

weight

per

unit

length

is

0.0017

x ndt

0.0017

x _x

1.4x

0.14x

i00

0.i0

kg/m

and

the

total

batten

weight

Wb

is

W b

O.lOx

151x3xO.56

25

kg

ness must by N/cm

The for be the to 1

diagonals are the battens. 300 N/cm, will adequate is then 2 2E A d cos 34 the

sized Since lateral

to provide the lateral stiffness to be

adequate stiffness at k d area = of the

lateral stiffof the batten battens 300 steel = provided 13 wire 000

diagonals ensure Ad

be

assumed support. to

i0 x 1 the

The be

diagonal

calculated

Kd

6d

13

000

13 000 A d = 2x 2 x 107

972

+ 612 = 0.054 cm

x cos 2 34o

The

diagonal

weight

Wd

is

given

by

w d

= _972

+ 6 12 'x 6 x 151

x 0.054x

0.0083

47

kg

The 0.05 joints

weight

of and

the the

batten weight to be

BI-STEMguideswill of 0.05 the

be

assumed

to

be

kg/guide will be

longeron-batten-diagonal The total system

assumed

kg/joint.

87

weight

W (excluding s

deployment

mechanism)

is

given

by

Ws = WBI_STE M+ W + W +Wb+ Wguide + Wjoin t L d = 30 + 74+ 47+ 25+ 151x 0.05 + 151x 3 x
= 30+ 74+47+ 25+8+ 23 = 207 kg 0.05

88

REFERENCES

Crawford, for Space

R.

F.:

Strength

and Astro Variable April

Efficiency Research Geometry 1971, AIAA

of

Deployable

Booms paper

Applications, at AAS/AIAA

Corporation and Expandable No.

presented Structures

Conference,

Preprint

71.

NASA

Johnson

Space System

Center: Payload

Space

Shuttle JSC 07700,

Program. Level Volume II

Space Program XIV, Revision

Shuttle

Accommodations.

Definition D, November

and Requirements. 26, 1975.

89

:T