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19700022502.Pdf TECH LIBRARY KAFB, NM NASA CR-1540 ODb084b ~~ 4. Title and Subtitle ADVANCEMENTS lN STRUCTURAL DYNAMIC 5. Report Date June 1970 TECHNOLOGY RESULTING FROM SATURN V PROGRAMS - 6.' Performing Organization &de VOLUME II 7. Author(s) 8. Performing Organization Report No. P. J. Grimes, L. D. McTigua, G. F. Riley, and D. I. Tilden D5-17015 10. Work Unit No. 9. Performing Organization Name adAddress 124-08-13-04-23 The Boeing Company 11. Contract or Grant No. Huntsville, Alabama NAS1-8531 13. Type of Report and Period Covered 2. Sponsoring Agency Name and Address Contractor Report National Aeronautics and mace Administration 14. Sponsoring Agency Code Washington, D.C. 20546 5. SupplementaryNotes 6. Abstract Saturn V structural dynamic experiencein replica modeling, math modeling and dynamic testing was assessed. Major problems encountered in each of these are= and their solutions are discussed. The material is presented in two volumes. Volume I (NASA CR-1539) contains a summary of the material presented inVolume II and is oriented toward the program managers of future structural dynamic programs. Volume 11 contains the methods and procedures used in the Apollo Saturn V structural dynamics programs. The major problems encounteredand their solutions are discussed. Volume E is oriented toward the technicalleaders of future structural dynamics programs. 7. Key Words (Suggested by Author(s)) 18. DistributionStatement Saturn V structural dynamics 1/10 scale Saturn V replicamodels Unclassified - unlimited Saturn V math models Dynamic testing and data reduction 3. Security Classif. (ofreport) this 20. Security Classif. (of this page) 21. No. of Pages 22. Price* unciasszied Unclassified 163 Unclassified unciasszied $3.0 *For sale by the Clearinghouse for Federal Scientific and Technical Information Springfield, Virginia 22151 PREFACE This documentwas producedunder NASA-Langley Research Center Con- tract NASl-8531.The contentsare intended to carry forward to future programs the structural dynamics experience gained during theSaturn V programs. The valuablecontributions of S. A. Leadbetter, H. W. Leonard, and L. D. Pinson, Structural VibrationSection, LangleyResearch Center, are gratefully acknowledged. The major contributors to this document include: M. L. Biggart P. J. Grimes J. E. Henry N. L. Hudson W. H. Lawler L. D. McTigue G. F. Riley D. I. Tilden Questions on thecontents of this document should be addressed to L. D. McTigue,The Boeing Company, P. 0. Box 1680, Mail Stop AG-36, Hunts- vi 11 e ¶ A1 abama 35807. iii PARAGRAPH PAGE PREFACE iii CONTENTS V ILLUSTRATIONS AND TABLES viii LIST Ut SYMBOLS ix ABBREVIATIONS xi SECTION 1 - SUMMARYSTRUCTURAL DYNAMIC TECHNOLOGY DEVELOPMENT 1 1 .o INTRODUCTION 1 1.1 DEFINITION OF SATURN V 1 1.2 PROGRAM DESCRIPTION AND HISTORY 3 1.3 SUMMARY OF 1/10 SCALE MODEL TECHNOLOGY 5 1.3.1 Introduction 5 1.3.2 Description and History 5 1.3.3 Scale Model Costand Accuracy 8 l .3.4 1/IO Scale Model Contributions and Areas of Improvement 8 1.4 SWMARY OF MATHEMATICAL MODEL TECHNOLOGY 12 1.4.1 Introduction 12 1.4.2 Technical Approach 15 1.4.3 MathModel Analysis Guidel ines 17 1.4.4 Math Mode1 Costand Accuracy 28 1.5 SUMMARY OF DYNAMIC TEST TECHNOLOGY 30 1.5.1 Introduction 30 1.5.2 Dynamic Test Program Guidel ines 36 -1 .6 CONCLUSIONS 43 REFERENCES 44 CONTENTS OF VOLUME I1 PREFACE iii CONTENTS V ILLUSTRATIONS AND TABLES vi i.i LIST OF SYMBOLS xi ABBREVIATIONS xiii SECTION 2 - INTRODUCTION 1 2.0 GENERAL 1 2.1 DESCRIPTION OF SATURN V VEHICLE 2 2.2 HISTORYOF SATURNv STRUCTURAL DYNAMIC PROGRAMS 5 2.2.1 1/10Scale Mode1 Program 6 V CONTENTS OFVOLUME I1 (Continued) PARAGRAPH PAGE 2.2.2 FullScale Math Modeling 7 2.2.3 FullScale Dynamic Test and Correlation 10 2.2.4 Saturn V Flight 11 REFERENCES 12 SECTION 3 - 1/10 SCALEMODEL TECHNOLOGY 13 3.0 GENERAL 13 3.1 THE SCALEMODEL TEST PROGRAM 14 3.1.1 Scale Model Description 14 3.1.2 Scale Model Test 18 3.2 CONTRIBUTIONS TO FULLSCALE TEST 18 3.3 CONTRIBUTIONS TO SATURN V MATH MODELING 20 3.3.1 MathematicalAnalysis of the 1/10 Scale Model 21 3.3.2 Scale Model Test and Analysis Correlation 21 3.4 CONTRIBUTIONS TO SATURN V ANOMALYRESOLUTION 24 3.5 COST AND ACCURACY 24 3.5.1 cost 24 3.5.2 Accuracy 24 3.5.3 Scale Model Joint Flexibility 31 REFERENCES 33 SECTION 4 - MATH MODELTECHNOLOGY 35 4.0 GENERAL 35 4.1 TECHNICAL APPROACH 35 4.1.1 Stiffness Analysis 37 4.1.2 Inertia Analysis 40 4.1.3 Eigenvalue Solution 40 4.2 MODELINGPHILOSOPHY 40 4.3 ST1FFNESS MATRIX DEVELOPMENT 43 4.3.1 General Gui del ines 43 4.3.2 Ideal ization Exampl es 57 4.3.3 Shel 1 Ideal izati ons 59 4.3.4 Major Component Idealization 67 4.4 INERTIA MATRIX DEVELOPMENT 71 4.4.1 GeneralGuidelines 71 4.4.2 Inertia Examples 72 4.4.3 Shel 1 Inertia Matrices 72 4.4.4 Propellant Tank Inertia Matrices 75 4.4.5 Rigid Subsection Inertia Matrix 81 4.4.6 'Major Component Inertia Matrices 85 vi CONTENTS OF VOLUME II (Continued) I PARAGRAPH 4.5 VIBRATIONANALYSIS AND MODAL SYNTHESIS 4.5.1 General 4.5.2 EigenfunctionSolutions and Modal Orthogonality 4.5.3 Modal Synthesis 4.5.4 Evaluation 4.5.5 Establ ish Tolerance 4.5.6 Damping Considerations 4.6 SATURN V MODEL EVOLUTION 4.7 COST AND ACCURACY 4.7.1 cost 4.7.2 Accuracy REFERENCES 107 SECTION 5 - DYNAMIC TEST TECHNOLOGY 109 5.0 GENERAL 5.1 TESTREQUIREMENTS 109 5.1.1 Test Objectives 111 5.1.2 Vehicle Configuration 113 5.1.3 Test Facilities Requirements 116 5.1.4 DataAcquisition and Reduction System 124 5.1.5 Test Conduct 131 5.2 DIGITAL DATA REDUCTION TECHNIQUES 133 5.2.1 Fourier Analysis 136 5.2.2 Point Transfer Functions 7 37 5.2.3 TransferFunction Equations 137 5.2.4 Computation of Modal Parameters 5.3 TEST DATA EVALUATIONPROCEDURES 146 5.3.1 On-Si te Data Eval uation 146 5.3.2 Test Data Val i dation 147 5.3.3 Test Data Eval uati on 148 5.3.4 Test Data Reporting 148 REFERENCES SECTION 6 - CONCLUSIONS 1 51 vi i ILLUSTRATIONS Apol lo Saturn V Configuration MathModel Evolution Schematic of 1/10 Scale Apol lo Saturn V Model 1/10Scale Model in Test Stand Illustrationof Detail Achieved in Modeling Comparison of1/10 Scale Model and Full Scale- Vehicle Bendin Stiffness Comparison of 9 /IO Scale Longitudinal Test and AnalysisResults - 100Percent Propellant Comparison of1/10 Scale Pitch Test and Analysis Results - 100 Percent Propellant Comparison of1/10 Scale and Full Scale Pitch Test Results - Modes 1 and 2 - 100 Percent Propellant Comparison of1/10 Scale and Full Scale Pitch Test Results - Modes 3 and 4 - 100 Percent Propel 1 ant Comparison of 1/10 Scale and Full Scale Longitudinal Test Results - Modes 1 and 2 - 100 Percent Propellant Comparison of1/10 Scale and Full ScaleLongitudinal Test Results - Modes 3 and 4 - 100 Percent Propellant Load Path Through 1/10Scale Model and Full Scale Joints TypicalSaturn V NodalBreakdown MathModel Structural Elements Transition Technique - Large to Small Plate Elements RedundantDegree of FreedomExample Structural Symnetry Example Quarter She1 1 Analysis Coordinate System Beam Elements for Ring Model ing Merge-Reduce Error Accumulation Classes of Modules for Saturn V Models S-IVB Forward Skirt NodalBreakdown ShortStack NodalBreakdown Instrument Unit Model Honeycomb Geometry Bul khead/Cabl e Analogy S-IC Thrust Structure S-I I Thrust Structure S-IVB Thrust Structure LM AsymmetryExample Influence of Major .Componentson Vehicle Dynamics Service Module Tanks Ring Shape of the 181th Order (Base1 ine Model Ring Shape of the 78thOrder (Guyan Consistent Mass Model ) Ring Shape of the 78thOrder (RelumpedMass Model Propellant Tank LiquidIdealization Liquid Motion Due to Tank Expansion Geometry of Deformed Bulkhead vii i ILLUSTRATIONS (Continued) FIGURE 4-27 Beam-She1 1 Interface 4-28 Warped Section of Cylindrical Model 4-29 S-IVB Engine Model 4-30 Control Gyro Location 4-31 Illustration of Modal StackingTechnique 4-32 MathModel Evolution 4-33 Comparison of Full ScalePitch Test and Analysis Results - Modes 1 and 2 - 100 Percent Propellant 4-34 Comparison of Full Scale Pitch Test and Analysis Results - Modes 3 and 4 - 100 Percent Propellant 4-35 Comparison of FullScale Longitudinal Test and Analysis Results - Modes 1 and 2 - 100 Percent Propel lant 4-36 Comparison of FullScale Longitudinal Test and Analysis Results - Modes. 3 and 4 - 100 Percent Propellant 4-37 Longitudinal Frequency Response of Outboard Gimbal - 100 Percent Propel 1ant 5-1 Test-AnalysisPhilosophy 5-2 Hydrodynamic Support 5-3 Statjil ization System 5-4 Full ScaleData Acquisition andReduction System Signal Train 5 -5 Full ScaleAccelerometer Data Error 5 -6 Full Scale Test Data Reduction Flow Chart 5-7 Typical Curve Fit of Full Scale Test Data 5 -8 Typical Curve Fit of Double PeakResponse 5-9 Typical Effect of Force Level on FrequencyResponse TABLES TABLE 3-1 Correlation of 1/10Scale Model and Full Scale ResponseData 4- I Assessment of Saturn V Models 4-11 MathModel Development P1 anning Estimate 5- I Saturn V SensitiveParameters ix LIST OF SYMBOLS A Area (Cross Sectional ) C Damping Coef f i ci en t E Modul us of El asti ci ty e Error F Force G Gain or Transfer Function GT Gain To1 erance 9 GravitationalConstarit h Height I Moment of Inertia [I1 Identity Matrix j 6 K Stiffness Coefficient L Length M, m Mass Coefficient - m General ized Mass q Genera7 i zed Coordinate Rx Rotationabout X Axis RY Rotationabout Y Axis RZ Rotationabout 2 Axis r Radius S Prestress Force for Bulkhead [TI Coordinate Transformation Matrix t .
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