Self-excited oscillation under nonlinear feedback with time-delay

Several important applications use nonlinear feedback methods for synthetically inducing self-excited oscillations in mechanical systems. The van der Pol and saturation function type feedback methods are widely used. The effects of time-delay on the self-excited oscillation of single and two degrees-of-freedom systems under nonlinear feedback have been studied in this paper. It is shown that a single degree-of-freedom oscillator with the van der Pol type nonlinear feedback can produce unbounded response in presence of time-delay. In general, an uncontrolled time-delay in the feedback changes the state of oscillations in an uncertain manner. Therefore, a bounded saturation type feedback with controllable time-delay is proposed for inducing self-excited oscillations. The feedback signal is essentially an infinite weighted sum of a nonlinear function of the state variables of the system measured at equal intervals in the past. More recent is the measurement, higher is the weight. Thus, the feedback signal uses a large amount of information about the past history of the dynamics. Such a control signal can be realized in practice by a recursive means. The control law allows three parameters to be varied namely, the time-delay, feedback and recursive gains. Multiple time scale analysis is used to plot amplitude vs. time-delay curves. Time-delay can be controlled to vary the amplitude of oscillation as well as to switch the oscillation from one mode to the other in a two degrees-of-freedom system. It is shown that a higher recursive gain can exercise a better and a more robust control on the amplitude of oscillation of the system. Analytical results are compared with the results of numerical simulations.     

Identification and suppression of the time delay signature of wavelength chaos

Time delay is one of the most important physical parameters in a nonlinear time-delay feedback system. In this paper, we numerically investigate the identification and suppression of the time-delay signature (TDS) of the wavelength chaos by numerical simulations. The autocorrelation function (ACF) and average mutual information (AMI) act as the TDS measures. Especially, the effect of the feedback gain and the initial phase on the TDS is analyzed in detail. The wavelength chaotic nonlinear system undergoes a period-doubling route-to-chaos as the feedback gain is increased. The ACF and/or AMI peaks located at the time delay decrease gradually with increasing the feedback gain. Of interest is that these peaks are kept at a low value when the feedback gain is greater than 15, which indicates the suppression of TDS. The initial phase, however, shows a little effect on the time-delay signature. These results pave the way for optimizing the wavelength chaos by appropriately choosing the control parameters of the nonlinear system.     

Power law damping parameter identification

The parameter estimation of a nonlinear power damping system is studied. The parameter identification method used here assumes a priori the equation of motion describing the system dynamics. The method, which is based on the measured data (acceleration), was applied to the free and forced vibrations.The identification procedure was found to be robust on the guessed value of parameters at the numerical experimentation. The parameter values were estimated with a good accuracy for both modes of system operation (free and forced) if only the measured time history was sampled at a high enough rate for the noise level contained within. It was shown that the steady state of the harmonically excited system is not the best region for the parameter identification with this method.During the experimentation the method was applied to the free vibrations in different media (air and water). The results obtained by the parameter identification method were compared to the ones obtained by separate tests and good agreement was found. The identification procedure was found to work fine for all models under consideration and the models' responses correspond well to the measured acceleration time histories.     

Fully coupled vibrations of actively controlled drillstrings

A fully coupled model for axial, lateral, and torsional vibrations of actively controlled drillstrings is presented. The proposed model includes the mutual dependence of these vibrations, which arises due to bit/formation and drillstring/borehole wall interactions as well as other geometric and dynamic non-linearities. The active control strategy is based on optimal state feedback control designed to control the drillstring rotational motion. It is demonstrated by simulation results that bit motion causes torsional vibrations, which in turn excite axial and lateral vibrations resulting in bit bounce and impacts with the borehole wall. It is also shown that the results are in close qualitative agreement with field observations regarding stick-slip and axial vibrations and that the proposed control is effective in suppressing them. However, care must be taken in selecting a set of operating parameters to avoid transient instabilities in the axial and lateral motions.     

Damping performance of two simple oscillators coupled by a visco-elastic connection

A simple dynamic system composed of two linear oscillators is employed to analyze the passive control performance that can be achieved through a visco-elastic damper connecting two adjacent free-standing structures. By extension, the model may also describe the energy dissipation which can be obtained by an internal coupling between two quasi-independent sub-systems composing a single complex structure. Two alternatives are evaluated for the linear coupling by considering either the serial or the parallel spring–dashpot arrangement known as the Kelvin–Voigt and the Maxwell damper model, which may synthetically reproduce the constitutive behavior of different industrial devices. The complex eigenvalues of the coupled system are parametrically analyzed to determine the potential benefits realized by different combinations of the coupling stiffness and damping coefficient. A design strategy to assess these parameters is outlined, driven by the relevant observation that a perfect tuning of the natural frequencies always corresponds, in the parameter space, to the maximum modal damping for one of the resonant modes, independent of the damper model. The effectiveness of the proposed strategy is discussed for different classes of the controlled system, depending on the mass and stiffness ratio of the component oscillators. As a major result, different design parameter charts for the two damper models are carried out and compared to each other. Performance indexes are introduced to quantitatively evaluate the passive control performance with respect to the mitigation of the system forced response under harmonic and seismic ground excitation. The analyses confirm the validity of the design strategy for a well-balanced mitigation of the displacement and acceleration response in both the oscillators.     

延迟自反馈控制Hindmarsh-Rose神经元的混沌运动

利用线性时间延迟自反馈方法,研究单个Hindmarsh-Rose（H-R）神经元模型混沌动力学模式的控制问题.分别将增益因子和时间延迟作为控制参数,通过数值模拟分析,发现在增益因子和时间延迟两个参数组合的一些范围内,混沌动力学模式的H-R神经元运动可自动被控制成时间间隔意义上的单峰、2峰、3峰及4峰的周期或多倍周期模式.延迟时间的选取并无特别要求,不必和嵌入在混沌吸引子内的某不稳周期轨道的周期相同,延迟控制自适应地引导混沌轨到相应的放电峰峰间隔的周期模式上. 关键词： H-R神经元 延迟反馈控制 混沌放电模式 峰峰间隔周期     

Optimum vibration absorber (tuned mass damper) design for linear damped systems subjected to random loads

Optimum design of dynamic vibration absorbers (DVAs) installed on linear damped systems that are subjected to random loads is studied and closed-form design formulas are provided. Three cases are considered in the optimization process: Minimizing the variance of the displacement, velocity and acceleration of the main mass. Exact optimum design parameters for the velocity case, which to the best knowledge of the author do not exist in the literature, are derived for the first time. Exact solutions are found to be directly applicable for practical use with no simplification needed. For displacement and acceleration cases, a solution for the optimum absorber frequency ratio is obtained as a function of optimum absorber damping ratio. Numerical simulations indicate that optimum absorber damping ratio is not significantly related to the structural damping, especially when the displacement variance is minimized. Therefore, optimum damping ratio derived for undamped systems is proposed for damped systems for the displacement case. When acceleration variance is minimized, however, the optimum damping ratio derived for undamped systems is found not as accurate for damped systems. Therefore, a more accurate approximate expression is derived. Numerical comparisons with published approximate expressions at the same level of complexity indicated that proposed design formula yield more accurate estimates. Another important finding of the paper is that for specific applications where all of the response parameters are desired to be minimized simultaneously, DVAs designed per velocity criteria provide the best overall performance with the least complexity in the design equations.     

OPTIMAL CONTROL METHOD WITH TIME DELAY IN CONTROL

Optimal control method for active vibration control of linear time-delay systems is investigated in this paper. In terms of two cases that time delay is integer and non-integer times of sampling period, motion equation with time delay is transformed as standard discrete forms which contain no time delay by using zero order holder respectively. Discrete quadratic function is used as objective function in design of controller to guarantee good control efficiency on sampling points. In every step of computation of the deduced controller, it contains not only current step of state feedback but also linear combination of some former steps of control. Because the controller is deduced directly from time-delay differential equation, system stability can be guaranteed easily, thus this method is generally applicable to ordinary control systems. The performance of the control method proposed and system stability when using this method are all demonstrated by numerical simulation results. Simulation results demonstrate that the presented method is a viable and attractive control strategy for applications to active vibration control. Instability in responses occurs possibly if the systems with time delay are controlled using controller designed in case of no time delay.     

Adaptive synchronization with nonlinear input

This paper considers the adaptive synchronization problem of the drive—response type chaotic systems. Using a transmitted scalar signal with an unknown time-delay, a response system is constructed. By appropriately selecting the observer gain and designing the controller, synchronization can be achieved in the presence of the drive system's disturbances and unknown parameters. A well-known chaotic system, Chua's circuit, is considered as an illustrative example to demonstrate the effectiveness of the proposed approach.     

一类非自治位置时滞反馈控制系统的亚谐共振响应

研究了弹性轨道条件下，控制回路中位置反馈信号存在时滞的磁浮系统在亚谐轨道激励作用下的响应问题. 将动力学模型在平衡点处线性化，以时滞为分岔参数，得到了系统出现Hopf分岔的条件. 用中心流形约化方法得到了包含轨道扰动系统的Poincaré规范型. 用多尺度法从理论上推导了时滞磁浮系统的亚谐共振周期解，得到了自由振动的分岔响应方程，分析了周期解中自由振动项的存在条件，研究了控制参数和激励参数与周期解的关系. 最后用数值仿真的方法分析了时滞参数、控制参数对系统响应的影响，分析结果指出，使系统保持稳定的亚谐响应的时滞边界小于无扰动时的时滞边界，时滞参数不但可以抑制亚谐响应，还能够控制混沌的产生，而控制参数可以控制系统响应中自由振动项的出现和受迫振动的幅值，适当选择这些参数可以有效抑制亚谐振动响应. 关键词： 亚谐共振响应 位置时滞反馈控制 非自治磁浮系统 分岔     

A NEW SLIDING MODE CONTROL FOR A CLASS OF UNCERTAIN TIME-DELAY CHAOTIC SYSTEMS

We propose a new sliding mode control scheme for a class of uncertain time-delay chaotic systems. It is shown that a linear time invariant system with the desired system dynamics is used as a reference model for the output of a time-delay chaotic system to track. A sliding mode controller is then designed to drive the output of the time-delay chaotic system to track the desired linear system. On the sliding mode, the output of the controlled time-delay chaotic system can behave like the desired linear system. A simulation example is given in support of the proposed control scheme.     

一阶时滞混沌的参数辨识

估计混沌系统的未知参数是混沌控制与同步中必须解决的关键问题.针对两种不同类型的时滞混沌系统中的未知参数的辨识问题，将系统的未知参数看作系统的未知状态，利用非线性状态观测器理论进行参数估计，通过选取观测器中非线性增益函数，使得闭环误差系统指数或渐进稳定，从而给出参数估计器存在的充分条件.以典型的时滞Logistic系统为例进行了数值模拟，数值仿真结果表明，使用该方法可以对时滞混沌系统的未知参数进行有效地估计.     

Shock isolation using an isolator with switchable stiffness

A semi-active control strategy is presented for the shock isolation of resiliently mounted equipment where the isolator has light damping. This is achieved by switching the stiffness of the isolator between a high-state and a low-state. The control strategy involves two stages: the first stage involves the displacement control of the equipment during the shock, and the second stage involves suppression of the subsequent residual vibrations. The performance of the switchable isolation system is illustrated using a base-excited single degree-of-freedom system. It is characterized in terms of the maximum absolute acceleration and displacement of the isolated mass, the relative displacement between the base and the mass, and the effective damping ratio of the system. Provided that the damping in the isolator is light, it is found that the semi-active system can outperform a linear passive system during both stages of control.     

Transient analysis of nonlinear Euler–Bernoulli micro-beam with thermoelastic damping,via nonlinear normal modes

In this paper an Euler–Bernoulli model has been used for vibration analysis of micro-beams with large transverse deflection. Thermoelastic damping is considered to be the dominant damping mechanism and introduced as imaginary stiffness into the equation of motion by evaluating temperature profile as a function of lateral displacement. The obtained equation of motion is analyzed in the case of pure single mode motion by two methods; nonlinear normal mode theory and the Galerkin procedure. In contrast with the Galerkin procedure, nonlinear normal mode analysis introduces a nonconventional nonlinear damping term in modal oscillator which results in strong damping in case of large amplitude vibrations. Evaluated modal oscillators are solved using harmonic balance method and tackling damping terms introduced as an imaginary stiffness is discussed. It has been shown also that nonlinear modal analysis of micro-beam with thermoelastic damping predicts parameters such as inverse quality factor, and frequency shift, to have an extrema point at certain amplitude during transient response due to the mentioned nonlinear damping term; and the effect of system?s characteristics on this critical amplitude has also been discussed.     

Reduction of bridge dynamic amplification through adjustment of vehicle suspension damping

This paper presents a novel approach to the reduction of short-span bridge dynamic responses to heavy vehicle crossing events. The reductions are achieved through adjustment of the vehicle suspension damping coefficient just before the crossing. Given pre-calculations of the response of a vehicle-bridge system to a set of ‘unit’ road disturbances, it is shown that a single optimum damping coefficient may be determined for a given velocity and any specified road profile. This approach can facilitate implementation since the optimum damping is selected prior to the bridge and there is no need to continuously vary the damping coefficient during the crossing. The concept is numerically validated using a bridge-vehicle interaction model with several road profiles, both measured and artificially generated. The bridge-friendly damping control strategy is shown to reduce bridge dynamics across a typical range of vehicle velocities, proving most effective for road profiles that induce large vibrations in the vehicle-bridge system.     

Dynamic behavior of time-delayed acceleration feedback controller for active vibration control of flexible structures

This paper addresses the design problem of the controller with time-delayed acceleration feedback. On the basis of the reduction method and output state-derivative feedback, a time-delayed acceleration feedback controller is proposed. Stability boundaries of the closed-loop system are determined by using Hurwitz stability criteria. Due to the introduction of time delay into the controller with acceleration feedback, the proposed controller has the feature of not only changing the mass property but also altering the damping property of the controlled system in the sense of equivalent structural modification. With this feature, the closed-loop system has a greater logarithmic decrement than the uncontrolled one, and in turn, the control behavior can be improved. In this connection, the time delay in the acceleration feedback control is a positive factor when satisfying some given conditions and it could be actively utilized. On the ground of the analysis, the developed controller is implemented on a cantilever beam for different controller gain–delay combinations, and the control performance is evaluated with the comparison to that of pure acceleration feedback controller. Simulation and experimental results verify the ability of the controller to attenuate the vibration resulting from the dominant mode.     

Damped vibration analysis of an elastically connected complex double-string system

The main purpose of the present paper is to consider theoretically damped transverse vibrations of an elastically connected double-string system. This system is treated as two viscoelastic strings with a Kelvin-Voigt viscoelastic layer between them. A theoretical analysis has been made for a simplified model of the system, in which assumed physical parameters make it possible to decouple the governing equations of motion by introducing the principal co-ordinates. Applying the method of separation of variables and the modal expansion method, exact analytical solutions for damped free and forced responses of the system subjected to arbitrarily distributed transverse continuous loads are determined in the case of arbitrary magnitude of linear viscous damping. It is important to note that the solutions obtained are explicitly expressed in terms of parameters characterizing the physical properties of the system under discussion. For the sake of completeness of the analysis, solutions for undamped free and forced vibrations are also formulated.     

Optimal tracking control with zero steady-state error for time-delay systems with sinusoidal disturbances

The problem of optimal tracking control with zero steady-state error for linear time-delay systems with sinusoidal disturbances is considered. Based on the internal model principle, a disturbance compensator is constructed such that the system with external sinusoidal disturbances is transformed into an augmented system without disturbances. By introducing a sensitivity parameter and expanding power series around it, the optimal tracking control problem can be simplified into the problem of solving an infinite sum of linear optimal control series without time-delay and disturbance. The obtained optimal tracking control law with zero steady-state error consists of accurate linear state feedback terms and a time-delay compensating term, which is an infinite sum of an adjoint vector series. The accurate linear terms can be obtained by solving a Riccati matrix equation and a Sylvester equation, respectively. The compensation term can be approximately obtained through a recursive algorithm. A numerical simulation shows that the algorithm is effective and easily implemented, and the designed tracking controller is robust with respect to the sinusoidal disturbances.     

Comments on “finite element model for dynamic analysis of Timoshenko beam”

An analysis is presented of the effect of dry friction on vibrations of two self-excited systems. Attention is directed to cases where practical quenching of self-excited vibrations cannot be achieved merely by the action of linear additional damping. It is shown that at correct tuning of the systems discussed, a combination of linear additional damping with dry friction is so effective in limiting their amplitudes that self-excited vibrations may be regarded as practically suppressed.     

一类相对转动时滞非线性动力系统的稳定性分析

建立了具有时变刚度、非线性阻尼和谐波激励的一类相对转动时滞非线性动力系统的动力学方程.采用多尺度法推导出时滞动力系统的分岔响应方程,运用奇异性理论研究系统结构稳定性,得到主共振稳态响应方程的转迁集以及不同参数下分岔曲线的拓扑结构.应用Hopf分岔理论讨论了时滞动力系统动态稳定性,给出了系统产生极限环的条件,最后用数值模拟的方法研究了时滞参数对系统极限环幅值的影响。