端点位移激励下斜拉索非线性振动计算方法研究Investigation on computing method of nonlinear vibration of the stayed cable with displacement excitation at the end point

考虑拉索不同阶模态大幅振动之间的耦合效应,根据拉索的振动理论,详细地推导了单根拉索在端点位移激励下发生大幅振动时的非线性振动方程。根据某实际斜拉桥拉索参数,讨论了不同垂跨比对拉索振动特性的影响。使用四阶Runge-Kutta法求解拉索的非线性振动方程,通过对比有限元模型的非线性动力时程积分数值计算结果,验证了理论模型的可靠性与适用性。     

端点位移激励下斜拉索非线性振动计算方法研究

考虑拉索不同阶模态大幅振动之间的耦合效应,根据拉索的振动理论,详细地推导了单根拉索在端点位移激励下发生大幅振动时的非线性振动方程。根据某实际斜拉桥拉索参数,讨论了不同垂跨比对拉索振动特性的影响。使用四阶Runge-Kutta法求解拉索的非线性振动方程,通过对比有限元模型的非线性动力时程积分数值计算结果,验证了理论模型的可靠性与适用性。     

Elastodynamic analysis of low tension cables using a new curved beam element

In this paper, we address and overcome the difficulties associated with the use of the classic cable theory to treat low tension cables by developing a new three-noded locking-free nonlinear curved beam element. Based upon nonlinear generalized curved beam theory, large deformations and rotations in the new element are formulated in terms of Updated Lagrangian framework. Consistently coupled polynomial displacement fields are used to satisfy the membrane locking-free condition and the requirement of being able to recover the inextensible bending modes. Quintic transverse displacement interpolation functions are used to represent the bending deformation of the beam, while the axial and torsional displacement fields are derived by integration of the presumably linear membrane and torsional shear strain fields, which are coupled with the transverse displacement fields. Numerical results are presented to demonstrate the superior accuracy and the high convergence rate of the newly developed curved beam element. The stability and accuracy of the new element are further validated by experiments of an instrumented free-swinging steel cable experiencing slack and low tension. Good agreements in cable position and tension are observed between the experimental results and the finite element predictions.     

基于非线性有限元的索穹顶施工模拟分析

索穹顶结构的成形和施工模拟分析是该体系的基础问题。由于包含着刚体位移的分析使得跟踪难度相当大。本文采用了基于非线性有限元的施工过程分析 ,适应性强、分析精度高 ,避免了刚体位移假定。从而使得索穹顶体系的成形过程、受荷状态的全过程分析方法获得了统一。通过与试验模型对比分析表明本文方法操作简单且分析精度较高 ,分析的结果能够很好地指导施工     

索牵引并联机器人静态平衡位置的正解研究

研究了一种大跨度但运动缓慢的索牵引并联机器人的位置正解问题,此时可认为系统处于静平衡状态,但必须考虑柔索垂度的影响。索牵引并联机器人的静态平衡位置的正解就是确定机器人末端执行器的位置和姿态,使得系统能在给定的柔索长度下处于静平衡状态。这涉及到系统的非线性力学分析而不仅仅是一个几何问题。本文采用悬链线方程描述柔索的力学特性,结合索端位移与机器人末端执行器位移之间的关系推导出机器人的末端执行器位移与索长变化之间的增量关系,据此提出一种迭代策略完成正解计算。数值算例验证了本文方法的有效性。     

张拉结构非线性分析的五节点等参单元

本文针对张拉结构的特点，提出了一种五节点等参数单元有限元模型，采用四次多项式作为位移插值函数及单元初始形状函数，并假定索是理想柔性的且满足虎克定律，基于修正的Ｌａｇｒａｎｇｉａｎ坐标描述法，建立了非线性有限元基本方程和切线刚度矩阵，利用Ｎｅｗｔｏｎ－Ｒａｐｈｓｏｎ法进行了实例计算。结果表明：本文方法精度极高，可供大跨度索网，索穹顶，拉线塔等张拉结构分析，设计时采用。     

Statics of nonlinear elastic cable-stayed systems with slipping flexible cables

A design model is proposed to describe spatial cable-stayed systems with slipping cables. The basic variables of the displacement method are selected. A system of nonlinear equilibrium equations is derived from the condition of minimum potential energy, taking into account the large displacements of joints and the large deformations of cables. A method and formulas needed to iteratively solve the system of nonlinear equations are presented. Individual consideration is given to a cable net with prescribed tension. The computed results make it possible to fabricate and mark out cable rods and to assemble cable nets based on their geometry alone, without the need for force measurement __________ Translated from Prikladnaya Mekhanika, Vol. 42, No. 5, pp. 79–87, May 2006.     

Dynamic analysis of suspended cables carrying moving oscillators

An efficient procedure for analyzing in-plane vibrations of flat-sag suspended cables carrying an array of moving oscillators with arbitrarily varying velocities is presented. The cable is modelled as a mono-dimensional elastic continuum, fully accounting for geometrical nonlinearities. By eliminating the horizontal displacement component through a standard condensation procedure, the nonlinear integro-differential equation governing vertical cable vibrations is derived. Due to the dynamic interaction at the contact points with the moving oscillators, such equation is coupled to the set of ordinary differential equations ruling the response of the travelling sub-systems. An improved series representation of vertical cable displacement is proposed, which allows to overcome the inability of the traditional Galerkin method to reproduce the kinks and abrupt changes of cable configuration at the interface with the moving sub-systems. Following the philosophy of the well-known “mode-acceleration” method, the convergence of the series expansion of cable response in terms of appropriate basis functions is improved through the introduction of the so-called “quasi-static” solution. Numerical results demonstrate that, despite the basis functions are continuous, the improved series enables to capture with very few terms the abrupt changes of cable profile at the contact points between the cable and the moving oscillators.     

单层平面索网幕墙结构的几何非线性问题研究

单层平面索网支承式玻璃幕墙结构是近年来在国内外应用较为广泛的一种新型幕墙结构形式,由于单层平面索网不具有负高斯曲面形式,结构在平面外方向的刚度偏柔,表现出较明显的几何非线性特征.本文采用连续化方法建立了单层平面索网结构考虑几何非线性影响的静力平衡方程和振动方程,得到了结构刚度的解析表达式,并采用谐波平衡法求得非线性频率的简化解析表达式,以此为基础研究了单层平面索网结构的静力非线性和动力非线性问题.研究结果表明:结构的非线性和结构的初始位置密切相关;结构的非线性频率主要取决于索的初始应变、结构振动幅值与跨度的比值,几何非线性对于结构动力性能的影响要小于对结构静力性能的影响;本文得到的结构在地震荷载和平均风荷载作用下的非线性振动方程和非线性频率为结构在地震荷载和脉动风荷载作用下动力响应的求解奠定了基础.     

悬索的变原长计算模式

本文从非线性弹性理论出发,采用泛函内积形式,建立了悬索非线性计算模式。提出了变原长迭代计算的基本思想,就一端固定、另一端张力已知的悬索模型,从Reissner变分理论出发,导出了该模式的非线性有限元的基本方程,使计算量大大减少。     

爆破开挖扰动下锚固节理岩质边坡位移突变特征与能量机理

针对白鹤滩水电站左岸坝基河谷底部边坡岩体爆破开挖,采用现场岩体位移监测、锚索轴力监测及数值模拟的手段,研究了爆破开挖扰动下锚固节理岩质边坡的位移突变特征及其能量机理。研究结果表明:对于深切河谷底部高地应力边坡岩体爆破开挖,爆炸荷载挤压及地应力作用下,岩体所积聚的应变能快速释放,导致了节理岩质边坡的位移突变,突变位移包括节理张开位移和岩体回弹位移两部分;地应力水平越高、岩体弹性模量越低,总的突变位移量越大;预应力锚索主要通过抑制节理张开位移来控制边坡岩体的位移突变,锚索预应力等级越高,其吸能和释能速率越高,对节理岩体位移突变的控制效果越好,当锚索的预应力等级高到一定程度后,节理岩体的突变位移不再随锚索预应力等级的升高而显著减小。     

确定斜拉桥索力的有约束优化方法

本文建立了斜拉桥索力调整的非线性规划模型,其中以斜拉桥梁和索塔的拉压及弯曲应变能为目标函数,以结构的位移,弯矩及索力为约束,采用梯度投影法进行求解用以确定成桥合理状态的索力。     

Nonlinear FE-based investigation of flexural damping of slacking wire cables

The flexural damping of wire cable due to the flexural hysteresis influences the dynamic behavior of slacking wire cables significantly. However, the details of the local model, accounting for the flexural hysteresis between the wire strands, are quite challenging to include in large-scale engineering applications. This paper addresses these difficulties by modeling the flexural damping of slacking wire cables using homogenized Rayleigh damping. By using the nonlinear finite element method and high-speed imaging technique, three aspects of the work were examined. First, the mechanical properties of the slacking cable were identified experimentally. Second, a sample cable was fixed at one end and allowed to vibrate freely at the other end. The shapes of the vibrating cable were captured by a high-speed digital camera and processed by photogrammetry. The cable demonstrated a high flexural damping at zero tension and its damping was measured to be as high as 37.7% of the critical damping. Third, the cable was modeled and analyzed using our newly developed nonlinear curved beam element with the Rayleigh damping. The finite element predictions of the cable motion agree well with the experimental measurement. These predictions demonstrate that the new element is capable of describing the dynamic response of the cable and that the Rayleigh damping is sufficient to model the flexural damping of slacking wire cables.     

An asymptotic expansion of cable–flexible support coupled nonlinear vibrations using boundary modulations

This paper is devoted to cable–flexible support coupled nonlinear vibrations using a asymptotic boundary modulation technique. Asymptotic/reduced cable–support coupled nonlinear models are established first using the boundary modulation concept, after a proper scaling analysis at the cable–support interface. The cable and the support turn out to be coupled through cable-induced and support-induced boundary modulations in a rational way, which are derived analytically by asymptotic approximations and multiple scale expansions. Based upon the reduced models, two prototypical kinds of cable–support coupled dynamics are fully investigated, i.e., one with the support excited and the other with the cable excited. Essentially, they correspond to refined versions of two typical degenerate cable dynamics, i.e., cables excited externally with fixed supports and cables excited by ideal moving supports. Applying numerical continuation algorithms to the reduced models, cable–support typical coupled frequency response diagrams are constructed, with their stabilities, bifurcation characteristics, and the coupling’s effects on the cable determined. All these approximate analytical results are verified by the numerical results from the original full cable–support system using the finite difference method.     

工程索结构动力学:非线性建模与分析

索结构因其轻、柔及高强度等特性被作为受拉构件广泛应用于工程领域.一方面,环境载荷激励下索结构产生了复杂的大幅动力响应,给结构带来危害;另一方面,索结构是一个同时含有平方和立方非线性的典型力学系统,具有非常丰富的非线性动力学行为.因此,索动力学的研究受到了工程界和力学界的广泛关注,产生了大量的研究成果.本文尝试从索结构动力学建模、非线性内共振分析、支座运动激励下的索动力学以及复杂环境载荷作用4个方面对索动力学研究进行总结,并讨论目前研究的局限性.     

一种考虑初始垂度影响的非线性索单元

本文首先运用Mathematic的符号运算功能，通过解偏微分方程给出了不等高单索的显式解析解，然后把该解析解应用于索微元的应变计算中，在此基础上用虚功原理推导了考虑初始垂度影响的两节点非线性索单元，并给出了索单元的单刚矩阵的具体形式，通过与两节点直线索单元的单铡矩阵的形式的比较，明确了该曲线非线性索单元的修正项，并给出了垂度影响因子的变化曲线。比较直观的给出了垂度对索单元刚度各项的影响程度。该非线性索单元既有多节点索单元精度高的特点，又有节点少，刚度元素较易求解以及有限元列式简洁等特点。本文通过两个数值算例表明，本文的非线性索单元是正确的，也表明了所编制的非线性计算程序是正确和可靠的。     

On the dynamics of rotating circular cable structures

The combined effect of gravity and a centrifugal field on the dynamics of a heavy cable with negligible bending stiffness is treated. The inextensible length of the cable is preassigned in such a way that the cross-sectional shape of the cable structure is circular if the contiguration rotates about its central axis with a constant speed and no external forces act. Under the additional influence of gravity, complicated nonlinear weight-excited vibrations occur.To understand the variety of vibrational phenomena. The dynamic system is studied by some experiments first. In order to explain the experimental results theoretically, the governing nonlinear boundary value problem is derived next. Subsequently, an appropriate variational formulation for application of a Rayleigh Ritz procedure is suggested. The resulting nonlinear ordinary differential equations approximately deseribe a part of the observed vibrational behaviour.Both the experiments and the calculations demonstrate that, for high speeds, nonlinear weight-excited vibrations about the circular reference configuration occur. On the other hand, for low velocitites, periodie and even chaos-like snap-through phenomena appear.     

Hydrodynamic and Geometric Stiffening Effects on the Out-of-Plane Waves of Submerged Cables

This study focuses on the relative importance of two sources of nonlinearities affecting submerged cable response. The first of these is the added fluid damping offered by the surrounding medium while the second is the geometric stiffening offered by the cable through finite extensions of its centerline. The contribution of each nonlinear effect, taken separately and in tandem, is evaluated herein through the study of structural waves that form in the (out-of-plane) direction normal to the cable equilibrium plane.Numerical solutions are pursued herein using a finite difference algorithm which is brought to bear on two nonlinear cable/fluid models including: (1)~a nonlinear submerged cable model in which hydrodynamic drag is the sole nonlinear mechanism (referred to herein as the 'nonlinear drag model'); and (2)~a nonlinear submerged cable model in which hydrodynamic drag and geometric stiffening are both active nonlinear mechanisms (the 'nonlinear elastic-drag model'). Numerical solutions for propagating cable waves are developed for the case of a long suspension subjected to a concentrated harmonic excitation source. Conclusions are subsequently drawn regarding the spatial decay of the resulting out-of-plane waves and the dynamic cable tension induced by these waves. The effect of these two nonlinear mechanisms is further explored through the analysis of two additional, linear models: (3)~a simple linear taut string model without drag (the 'simple model'); and (4)~a linear taut string model with linear drag (the 'linear drag model'). The results of all models are critically compared and the range of validity of the linear/cable fluid models are assessed.     

张拉结构非线性分析两节点曲线单元有限元法

提出适合张拉结构几何非线性分析的两节点曲线单元有限元方法．假定索元的初始形状呈二次抛物线,根据单索的平衡条件、几何和物理关系建立了索元的位移函数;由拉格朗日应变的定义建立了可以考虑任意次高阶位移影响的索元轴向应变的精确表达式,并基于拉格明日描述方法和虚功原理得到了索元的非线性平衡方程与切线刚度矩阵．采用荷载增量法与Newton－Raphson法相结合的混合法进行了实例计算,结果表明：本文方法的精度明显优于两节点直线索单元,适合于大跨度索阿、索穹顶等张拉结构的几何非线性分析．     

Nonlinear dynamic analysis of space cable net structures with one to one internal resonances

The nonlinear dynamic analysis of cable net structures becomes more and more significant for their space applications required high surface accuracy, especially mesh reflector antennas. In this work, the resonant multi-modal dynamics due to 1:1 internal resonances in the finite-amplitude vibrations of cable net structures subjected to harmonic loads are investigated. The nonlinear dynamic equation of space cable net structures is first developed using the extended Hamilton principle, which belongs to the self-excited vibration with quadratic and cubic nonlinearities. Linear modal analysis is then performed to decouple the nonlinear differential equations, and yields a complete set of system quadratic/cubic coefficients. With the aim of parametrically revealing nonlinear behaviors of space cable net structures, the second-order asymptotic analysis under 1:1 internal resonance is accomplished by the method of multiple scales. The nonlinear phenomena of a planar cable net and cable net reflector, such as the bending of response curve, jump phenomena, instability regions, saddle-node bifurcation, are verified by means of numerical analysis.