Suppression of maglev vehicle-girder self-excited vibration using a virtual tuned mass damper

The self-excited vibration that occurs between a stationary Electromagnetic Suspension (EMS) maglev vehicle and a girder is a practical problem that greatly degrades the performance of a maglev system. As of today, this problem has not been fully solved. In this article, the principle underlying the self-excited vibration problem is explored, and it is found that the fundamental resonance frequency of the maglev girder plays a vital role in the initiation of the self-excited vibration. To suppress the self-excited vibration, a scheme applying a tuned mass damper (TMD) to the maglev girder is proposed, and the stability of the combined system is analyzed. Furthermore, a novel concept of a virtual TMD is introduced, which uses an electromagnetic force to emulate the force of a real TMD acting on the girder. However, in the presence of the time delay caused by the inductance of the electromagnets, the stability analysis of the levitation system combined with the virtual TMD becomes complex. Analysis of the stability shows that there exist some repeated time delay zones within which the overall system is stable. Based on this rule, time delay control is introduced to stabilize the system with a virtual TMD, and a procedure to determine the optimal time delay and gain is proposed. Numerical simulation indicates that the proposed virtual TMD scheme can significantly suppress the self-excited vibration caused by one unstable vibration mode, and is suitable for application to EMS maglev systems.     

Experimental identification of the lateral human–structure interaction mechanism and assessment of the inverted-pendulum biomechanical model

Within the context of crowd-induced lateral bridge vibration, human–structure interaction (HSI) is a widely studied phenomenon. Central to this study is the self-excited component of the ground reaction force (GRF). This force harmonic, induced by a walking pedestrian, resonates with lateral deck motion, irrespective of the pedestrian?s pacing frequency. Its presence can lead to positive feedback between pedestrian GRFs and structural motion. Characterisation of the self-excited force as equivalent structural mass and damping has greatly improved the understanding of HSI and its role in developing lateral dynamic instability. However, despite this evolving understanding, a key question has remained unanswered; what are the features of a pedestrian?s balance response to base motion that gives rise to the self-excited force? The majority of the literature has focussed on the effects of HSI with the underlying mechanism receiving comparatively little attention. This paper presents data from experimental testing in which 10 subjects walked individually on a laterally oscillating treadmill. Lateral deck motion as well as the GRFs imposed by the subject was recorded. Three-dimensional motion capture equipment was used to track the position of visual markers mounted on the subject. Thus whole body response to base motion was captured in addition to the GRFs generated. The data presented herein supports the authors’ previous findings that the self-excited force is a frequency sideband harmonic resulting from amplitude modulation of the lateral GRF. The gait behaviour responsible for this amplitude modulation is a periodic modulation of stride width in response to a sinusoidally varying inertia force induced by deck motion. In a separate analysis the validity of the passive inverted pendulum model, stabilised by active control of support placement was confirmed. This was established through comparison of simulated and observed frontal plane CoM motion. Despite the relative simplicity of this biomechanical model, remarkable agreement was observed.     

新型低beta超导腔调谐算法分析与测试

为了使腔体在复杂电磁环境下处于谐振状态,保持超导腔加速电压的幅度相位稳定,研发了一种应用于自激锁相模式的腔体新型调谐算法。利用正交电压Q值控制调谐器调谐,从而消除了输入和输出间的相位误差,给出了理论推导过程与该算法的可靠性分析。该算法已应用于中国科学院近代物理研究所ADS项目超导加速器中,简化了传统控制模式中的信号采样数量,提高了系统控制精度与抗干扰能力,使腔体克服了在调谐过程中由于功率上冲引起的氦压波动。保证了超导腔在工作状态下,频率稳定在162.5 MHz,频率误差小于17 Hz。For the purposes of keeping the resonant cavity steady in a complex electromagnetic environment and maintaining stable amplitude and phase, a new tuning algorithm for superconducting RF cavity operated in self-excited phase-locked mode has been developed. The quadrature voltage was employed to control the tuner under the phase-locked condition, so as to eliminate phase measurement between the input and the output. This paper demonstrates the principle of this "Minimum Q" tuning algorithm and presents an analysis of the stability of the system. The algorithm is applied to the superconducting accelerator of the Institute of Modern Physics' ADS project. The "Minimum Q" tuning algorithmnot only simplifies the number of signal sampling but also improves the control accuracy and anti-interference ability of the system, while enables the cavity to overcome the helium pressure fluctuation which caused by power overshoot. It ensures that the frequency of the superconducting cavity is stable at 162.5 MHz, and the frequency error is less than 17 Hz.     

基于磁悬浮作动器的自适应有源振动控制研究

针对周期扰动提出一种基于磁悬浮作动器的非线性前馈自适应有源振动控制算法。算法中将磁悬浮作动器视为具有时变非线性的单输入输出系统,并使用径向基函数神经网络进行控制,分别采用聚类算法和随机梯度算法对其隐层中心点和输出层权值进行自适应调整。该算法摆脱了传统磁悬浮控制对模型的依赖,在正常工作条件下不需对作动器建模。仿真和实验结果表明:在单自由度主动隔振系统中,非线性自适应算法可以显著降低周期振动的能量,同时能对磁悬浮作动器的时变非线性进行有效的补偿。      

充液管路系统流体声与结构声的复合有源控制

采用基于谐频自适应控制算法的有源消声与消振系统对充液管路系统突出的低频线谱噪声进行有源控制实验研究.建立了泵水循环管路实验系统,在管路中安装有源消声器对流体声进行控制,在管路出口障板上采用8×8通道有源消振系统控制结构声辐射。开展的低频线谱噪声与振动有源控制实验结果表明,在50~200 Hz频带内,通过结合有源噪声与振动控制可在多数频点取得10 dB以上的降噪效果。针对该实验系统,通过分别控制流体声和结构声分析了两者的贡献.实验结果验证了有源消声与消振系统具有较好的降噪性能,各频点处流体声与结构声占比情况不同,需要综合控制流体声与结构声才可以取得显著的降噪效果。      

Active control of friction-induced self-excited vibration using adaptive fuzzy systems

Vibration caused by friction is harmful to engineering systems. Understanding the mechanism of such a physical phenomenon and developing some strategies to effectively control the vibration have both theoretical and practical significance. Based on our previous work, this paper deals with a problem of active compensation control of friction-induced self-excited vibration using adaptive fuzzy systems. Comparative studies on control performance are carried out, where a class of adaptive compensation control schemes with various friction models are applied to control a motion dynamics with friction. It is observed that our proposed modeling and control techniques are powerful to eliminate the limit cycle and the steady-state error. Furthermore, robustness of the proposed controller with respect to external disturbances is discussed. Simulation results show that the active controller with adaptive fuzzy friction compensation outperforms other active controllers with compensation terms characterized by three well-known friction models.     

ACTIVE-PASSIVE PIEZOELECTRIC ABSORBERS FOR SYSTEMS UNDER MULTIPLE NON-STATIONARY HARMONIC EXCITATIONS

Previous research has shown that piezoelectric materials can be shunted with electrical networks to form devices that operate similarly to a mechanical vibration absorber. These systems can be tuned to provide modal damping (modal tuning) or to attenuate a harmonic disturbance (tonal tuning). Semi-active piezoelectric absorbers have also been proposed for suppressing harmonic excitations with varying frequency, a scenario that cannot be easily controlled using passive devices. However, these semi-active systems have limitations that restrict their applications. In a previous study, the authors have developed a high performance active-passive alternative to the semi-active absorber that uses a combination of a passive electrical circuit and active control actions. The active control consists of three parts: an adaptive inductor tuning action, a negative resistance action, and a coupling enhancement action. This new device has been shown, both analytically and experimentally, to be very effective for the suppression of harmonic disturbances with time-varying frequency. In the present paper, the adaptive active-passive piezoelectric absorber configuration is extended so that it can track and suppress multiple harmonic excitations. A new optimal tuning law is derived, and the stability conditions of the system are investigated. The effectiveness of this new multi-frequency absorber design is demonstrated by comparing its performance and control power requirement to the popular Filtered-x adaptive feedforward control algorithm.     

Nonlinear vibration of a curved beam under uniform base harmonic excitation with quadratic and cubic nonlinearities

This paper presents nonlinear vibration analysis of a curved beam subject to uniform base harmonic excitation with both quadratic and cubic nonlinearities. The Galerkin method is employed to discretize the governing equations. A high-dimensional model that can take nonlinear model coupling into account is derived, and the incremental harmonic balance (IHB) method is employed to obtain the steady-state response of the curved beam. The cases investigated include softening stiffness, hardening stiffness and modal energy transfer. The stability of the periodic solutions for given parameters is determined by the multi-variable Floquet theory using Hsu's method. Particular attention is paid to the anti-symmetric response with and without excitation, as the excitation frequency is close to the first and third natural frequencies of the system. The results obtained with the IHB method compare very well with those obtained via numerical integration.     

Adaptive active control of periodic vibration using maglev actuators

In this paper, active control of periodic vibration is implemented using maglev actuators which exhibit inherent nonlinear behaviors. A multi-channel feedforward control algorithm is proposed to solve these nonlinear problems, in which maglev actuators are treated as single-input–single-output systems with unknown time-varying nonlinearities. A radial basis function network is used by the algorithm as its controller, whose parameters are adapted only with the model of the linear system in the secondary path. Compared with the strategies in the conventional magnetic-levitation system control as well as nonlinear active noise/vibration control, the proposed algorithm has the advantage that the nonlinear modeling procedure of maglev actuators and the usage of displacement sensors could be both avoided. Numerical simulations and real-time experiments are carried out based on a multiple-degree-of-freedom vibration isolation system. The results show that the proposed algorithm not only could efficiently compensate for the actuators’ time-varying nonlinearities, but also has the ability to greatly attenuate the energy of periodic vibration.     

Solution procedure of residue harmonic balance method and its applications

This paper presents a simple and rigorous solution procedure of residue harmonic balance for predicting the accurate approximation of certain autonomous ordinary differential systems. In this solution procedure, no small parameter is assumed. The harmonic residue of balance equation is separated in two parts at each step. The first part has the same number of Fourier terms as the present order of approximation and the remaining part is used in the subsequent improvement. The corrections are governed by linear ordinary differential equation so that they can be solved easily by means of harmonic balance method again. Three kinds of different differential equations involving general, fractional and delay ordinary differential systems are given as numerical examples respectively. Highly accurate limited cycle frequency and amplitude are captured. The results match well with the exact solutions or numerical solutions for a wide range of control parameters. Comparison with those available shows that the residue harmonic balance solution procedure is very effective for these autonomous differential systems. Moreover, the present method works not only in predicting the amplitude but also the frequency of bifurcated period solution for delay ordinary differential equation.     

Quenching of self-excited vibrations equilibrium aspects

An analysis is presented of two types of self-excited, two-degree-of-freedom systems. The basic subsystem, in each, is governed by a Van der Pol differential equation. This subsystem is considered attached to a vibration absorber or mounted on a resilient foundation. An examination of the stability of the equilibrium position of the entire system enables one to establish optimal design parameters for either type. The procedure devised for the stability analysis makes it possible to ascertain separately the stability with respect to one or the other natural frequency of the system.     

On the efficacy of an active absorber with internal state feedback for controlling self-excited oscillations

An active absorber, utilizing the state feedback of the absorber mass, is proposed for controlling the self-excited vibration of a single degree-of-freedom extended Rayleigh oscillator. The control strategy renders the design standalone. The process of optimizing the control gains is discussed. The analysis reveals that by selecting a suitably high value of the absorber frequency, the overall damping of the system can be made as high as the critical damping irrespective of the amount of negative linear damping present in the primary self-excited system. It is shown that a higher value of the absorber frequency is profitable in almost all respects related to the performance as well as the robustness of the system under parametric uncertainty. The nonlinear analysis of the system reveals that the proposed absorber can control the amplitude of oscillation even in case detuning (up to some limit) of the absorber frequency from its nominal value. The region of global stability increases with the increase in the value of the absorber frequency. However some aspects, like higher absorber deflection, reduced lower bound of the admissible detuning and the lower range of the tolerance on the mass ratio limit using a very high value of absorber frequency. The results of numerical simulations confirm the analytical results.     

球谐域自适应混响抵消与声源定位算法

提出了一种基于球谐域的自适应混响抵消与声源定位算法,该方法通过去混响处理改善语音质量,并提高球谐域定位算法在混响环境下的定位性能。推导了基于多通道线性预测的自适应混响抵消算法在球谐域的表达式,针对刚球模型提出分阶处理的去混响方法,并对去混响后的信号进行波达方向估计。采用32元球阵的仿真结果表明,相比于球谐域不分阶去混响方法,该方法最大可减少约2/3的运算量,同时语音PESQ得分及SRMR均显著提高。利用实验数据对算法性能进行测试,实验结果验证了该方法在实际声学环境中去混响和声源定位的有效性。      

An adaptive watermarking using fractal dimension based on random fractional Fourier transform

Based on random fractional Fourier transform (RFrFT), a novel adaptive watermarking algorithm using fractal dimension is proposed. Under fractal dimension, this algorithm is adaptive in the embedding position and the embedding intensity. The robustness and the imperceptibility of the watermarking algorithm are in good balance when block selection, high amplitude selection and amplitude shift keying are employed in this algorithm. Numerical simulation results have demonstrated the effectiveness of the proposed scheme and shown the robustness against attacks of noising, cropping and JPEG compression.     

Experimental evaluation of leaky least-mean-square algorithms for active noise reduction in communication headsets

An adaptive leaky normalized least-mean-square (NLMS) algorithm has been developed to optimize stability and performance of active noise cancellation systems. The research addresses LMS filter performance issues related to insufficient excitation, nonstationary noise fields, and time-varying signal-to-noise ratio. The adaptive leaky NLMS algorithm is based on a Lyapunov tuning approach in which three candidate algorithms, each of which is a function of the instantaneous measured reference input, measurement noise variance, and filter length, are shown to provide varying degrees of tradeoff between stability and noise reduction performance. Each algorithm is evaluated experimentally for reduction of low frequency noise in communication headsets, and stability and noise reduction performance are compared with that of traditional NLMS and fixed-leakage NLMS algorithms. Acoustic measurements are made in a specially designed acoustic test cell which is based on the original work of Ryan et al. ["Enclosure for low frequency assessment of active noise reducing circumaural headsets and hearing protection," Can. Acoust. 21, 19-20 (1993)] and which provides a highly controlled and uniform acoustic environment. The stability and performance of the active noise reduction system, including a prototype communication headset, are investigated for a variety of noise sources ranging from stationary tonal noise to highly nonstationary measured F-16 aircraft noise over a 20 dB dynamic range. Results demonstrate significant improvements in stability of Lyapunov-tuned LMS algorithms over traditional leaky or nonleaky normalized algorithms, while providing noise reduction performance equivalent to that of the NLMS algorithm for idealized noise fields.     

滚球混沌运动演示实验

以滚球在3个凹形槽上的受力体现作用的非线性,导轨由电机推动作简谐振动,滚球在导轨上作受迫(滚动)振动,可以把导轨作简谐振动的频率或振幅作为调整参量.当受迫振动的滚球振幅小时,滚球只在1个凹形槽中作简谐振动;当振幅渐渐增大时,可呈现周期倍增和渐至混沌状态.通过观察安装在同一振动滑板上的2套导轨上的滚球的运动,则可以演示混沌运动对初值的敏感性.     

非线性恢复力耦合的振动系统广义同步与参数识别

对于一类非线性恢复力无法精确解析表达的简谐激励振动系统,建立了由原系统非线性恢复力激振的派生系统.证明了派生系统与原系统可以达到广义同步.派生系统可以自动与激励力频率、大小变化的原非线性振动系统保持广义同步.证明了由派生系统的广义同步,可以识别出原系统的阻尼系数、激振力幅值与频率.由Duffing系统的仿真计算结果可以看出,这种方法是有效的,而且识别精度较高. 关键词： 非线性恢复力 广义同步 混沌     

An adaptive harmonic balance method for predicting the nonlinear dynamic responses of mechanical systems—Application to bolted structures

Aeronautical structures are commonly assembled with bolted joints in which friction phenomena, in combination with slapping in the joint, provide damping on the dynamic behavior. Some models, mostly nonlinear, have consequently been developed and the harmonic balance method (HBM) is adapted to compute nonlinear response functions in the frequency domain. The basic idea is to develop the response as Fourier series and to solve equations linking Fourier coefficients. One specific HBM feature is that response accuracy improves as the number of harmonics increases, at the expense of larger computational time. Thus this paper presents an original adaptive HBM which adjusts the number of retained harmonics for a given precision and for each frequency value. The new proposed algorithm is based on the observation of the relative variation of an approximate strain energy for two consecutive numbers of harmonics. The developed criterion takes the advantage of being calculated from Fourier coefficients avoiding time integration and is also expressed in a condensation case. However, the convergence of the strain energy has to be smooth on tested harmonics and this constitutes a limitation of the method. Condensation and continuation methods are used to accelerate calculation. An application case is selected to illustrate the efficiency of the method and is composed of an asymmetrical two cantilever beam system linked by a bolted joint represented by a nonlinear LuGre model. The practice of adaptive HBM shows that, for a given value of the criterion, the number of harmonics increases on resonances indicating that nonlinear effects are predominant. For each frequency value, convergence of approximate strain energy is observed. Emergence of third and fifth harmonics is noticed near resonances both on vibratory responses and on approximate strain energy. Parametric studies are carried out by varying the excitation force amplitude and the threshold value of the adaptive algorithm. Maximal amplitudes of vibration and frequency response functions are plotted for three different points of the structure. Nonlinear effects become more predominant for higher force amplitudes and consequently the number of retained harmonics is increased.     

Interaction of self-excited and stimulated oscillations in the synchronization of Thomson systems

In an analysis of the interaction of self-excited and stimulated oscillations in the transient and steady-state regimes during the synchronization of Thomson systems, it is shown that, depending on the amplitude and detuning of the driving emf, the synchronous regime can be reached by a locking of the self-oscillation frequency as a result of the self-parametric effect and damping of the self-excited oscillations.     

Forced vibrations of a torsional oscillator with Coulomb friction under a periodically varying normal load

The forced vibration response of a single degree of freedom torsional system with Coulomb friction, under a periodically varying normal load, is studied. First, an enhanced multi-term harmonic balance method is developed to calculate nonlinear responses directly in frequency domain; this should be in general applicable to periodically varying nonlinear systems. Second, a pulse width modulated normal load is approximated by a truncated Fourier series with a reasonable number of harmonic components and utilized for case studies. Finally, the effects of duty ratio on nonlinear frequency responses are examined.