On Optimum Propulsion by Means of Small Periodic Motions of a Rigid Profile. I. Properties of Optimum Motions

The problem of optimum thrust generation by means of a rigid profile performing small arbitrarily periodic motions in an inviscid incompressible fluid is studied. The motions considered have to generate a prescribed mean value of thrust and must be such that the contribution to this mean thrust by the suction at the leading edge does not exceed a certain given value. Furthermore, the motions are in general subjected to a maximum type constraint on their amplitude. For this infinite dimensional, nonconvex and nonsmooth optimization problem, a generalized Lagrange multiplier rule is derived. In case the constraint on the amplitude is omitted, the optimum motions are calculated analytically; for the general case a number of properties of the solutions are derived from the Lagrange multiplier rule.     

Nonlinear vibration phenomenon of an aircraft rub-impact rotor system due to hovering flight

This paper focuses on the nonlinear vibration phenomenon caused by aircraft hovering flight in a rub-impact rotor system supported by two general supports with cubic stiffness. The effect of aircraft hovering flight on the rotor system is considered as a maneuver load to formulate the equations of motion, which might result in periodic response instability to the rotor system even the eccentricity is small. The dynamic responses of the system under maneuver load are presented by bifurcation diagrams and the corresponding Lyapunov exponent spectrums. Numerical analyses are carried out to detect the periodic, sub-harmonic and quasi-periodic motions of the system, which are presented by orbit diagrams, phase trajectories, Poincare maps and amplitude power spectrums. The results obtained in this paper will contribute an understanding of the nonlinear dynamic behaviors of aircraft rotor systems in maneuvering flight.     

Dynamic stability and sensitivity to geometric imperfections of strongly compressed circular cylindrical shells under dynamic axial loads

In the present paper, the dynamic stability of circular cylindrical shells is investigated; the combined effect of compressive static and periodic axial loads is considered. The Sanders–Koiter theory is applied to model the nonlinear dynamics of the system in the case of finite amplitude of vibration; Lagrange equations are used to reduce the nonlinear partial differential equations to a set of ordinary differential equations. The dynamic stability is investigated using direct numerical simulation and a dichotomic algorithm to find the instability boundaries as the excitation frequency is varied; the effect of geometric imperfections is investigated in detail. The accuracy of the approach is checked by means of comparisons with the literature.     

Computational implementation of the rigid finite element method in the statics and dynamics analysis of forest cranes

A general mathematical model of a forest crane for statics and dynamics analysis is presented in the paper. This model allows to take into account the crane's flexible connections with the ground, the flexibility of its links and drives. The rigid finite element method is used to discretize the flexible links. Joint coordinates and homogeneous transformation matrices are used to describe the geometry of the system. Equations of motion are derived using the formalism of Lagrange equations. As an example, a forest crane built of eight links is presented. It is assumed that only one selected link of the crane is flexible. The influence of the flexibility of the link on the movements of load and driving torques in the revolute joints and the driving force in the prismatic joint are analyzed. The results may have practical significance, e.g. in terms of the selection of drives.     

Reconfiguring closed polygonal chains in Euclideand-space

Consider the problem of moving a closed chain ofn links in two or more dimensions from one given configuration to another. The links have fixed lengths and may rotate about their endpoints, possibly passing through one another. The notion of a “line-tracking motion” is defined, and it is shown that when reconfiguration is possible by any means, it can be achieved byO(n) line-tracking motions. These motions can be computed inO(n) time on real RAM. It is shown that in three or more dimensions, reconfiguration is always possible, but that in dimension two this is not the case. Reconfiguration is shown to be always possible in two dimensions if and only if the sum of the lengths of the second and third longest links add to at most the sum of the lengths of the remaining links. AnO(n) algorithm is given for determining whether it is possible to move between two given configurations of a closed chain in the plane and, if it is possible, for computing a sequence of line-tracking motions to carry out the reconfiguration. The research of the second author was partially supported by an NSERC operating grant.     

An inverse vibration analysis of a tower subjected to wind drags on a shaking ground

A method is presented to estimate the strength of wind drags on an elevated tower and the magnitude of the vibration of the ground on which the tower stands. The governing equations for the motions of the tower are discretized using the finite-difference method. Based on these discretized governing equations, a linear inverse model is constructed to identify the external wind drags and the ground vibration. The optimized solution of the model is determined by the linear least-square error method, which requires no numerical iteration. The uniqueness of the solution can be identified by linear algebra theory. A numerical example is given to demonstrate the feasibility of the method. The results show that the original wind drags and ground vibration may be estimated from the measured deflection at several locations along the tower. The reasonable estimations are achievable even though there exist certain measurement errors. The loading conditions are checked at different locations and the deflection information at different location may be used. The procedure is easy and effective. It may be extended to many inverse applications that the discretized governing equations were derived.     

Vibration and stability analysis of a simply-supported Rayleigh beam with spinning and axial motions

The vibration and stability of a simply supported beam are analyzed when the beam has an axially moving motion as well as a spinning motion. When a beam has spinning and axial motions, rotary inertia plays an important role on the lateral vibration. Compared to previous studies, the present study adopts the Rayleigh beam theory and derives more exact kinetic energy and equations of motion. The rotary inertia terms derived by the present study are compared to those of the previous studies. We investigate the natural frequencies between the present and previous studies. In addition, the critical speed and stability boundary for the spinning and moving speeds are also analyzed. It can be observed from the computed natural frequencies and dynamic responses that the present equations of motion are more reliable than the previous equations because the present equations fully consider the rotary inertia terms.     

夹层圆板的大幅度振动

本文利用哈密顿原理导出了夹层圆板轴对称大幅度自由振动的基本方程,并给出了表板很薄情况下的简化形式.作为算例,利用修正迭代法求出了具有滑动固定边界条件夹层圆板对轴称大幅度自由振动的一种解析解,并由此导出了夹层圆板振幅和振频的解析关系式.     

Analysis of the one-dimensional Euler–Lagrange equation of continuum mechanics with a Lagrangian of a special form

The equations describing the flow of a one-dimensional continuum in Lagrangian coordinates are studied in this paper by the group analysis method. They are reduced to a single Euler–Lagrange equation which contains two undetermined functions (arbitrary elements). Particular choices of these arbitrary elements correspond to different forms of the shallow water equations, including those with both, a varying bottom and advective impulse transfer effect, and also some other motions of a continuum. A complete group classification of the equations with respect to the arbitrary elements is performed.One advantage of the Lagrangian coordinates consists of the presence of a Lagrangian, so that the equations studied become Euler–Lagrange equations. This allows us to apply Noether’s theorem for constructing conservation laws in Lagrangian coordinates. Not every conservation law in Lagrangian coordinates has a counterpart in Eulerian coordinates, whereas the converse is true. Using Noether’s theorem, conservation laws which can be obtained by the point symmetries are presented, and their analogs in Eulerian coordinates are given, where they exist.     

The perturbed motions of a solid close to regular lagrangian precessions

The asymptotic behaviour of a Lagrange gyroscope under the influence of a weak perturbing moment is investigated for the case of motions that are close to regular precessions. An averaged system of equations of motion is obtained in special evolutionary variables. The cases of a small constant moment and the presence of a cavity filled with highly viscous fluid are considered in detail.     

Discrete autowaves in systems of delay differential-difference equations in ecology

We propose a theory of relaxation oscillations for a nonlinear scalar delay differential-difference equation that represents a modification of the well-known Hutchinson equation in ecology. In particular, we establish that a one-dimensional chain of diffusively coupled equations of this type exhibits the well-known buffer phenomenon. Namely, under an increase in the number of links in the chain and a consistent decrease in the coupling constant, the number of coexisting stable periodic motions indefinitely increases.     

On the existence of time-optimal control of mechanical manipulators

This paper is concerned with the problem of the existence and structure of time-optimal control for models derived from Lagrange equations of motion of mechanical systems involving links. The condition which ensures the existence of time-optimal control is demonstrated. The study conducted in this paper involves a highly nonlinear mathematical model of a two-degree-of-freedom mechanical system. However, the procedure and the results presented in this paper can be extended to mechanical systems with any finite number of degrees of freedom.The authors wish to thank Professor D. G. Hull and the reviewers for their most valuable comments and suggestions.     

Mathematical modelling and stabilization of large flexible spacecraft subject to orbital perturbation

In this paper the problem of modelling of large flexible spacecraft and their stabilization under the influence of orbital (radial) perturbation is considered. A complete dynamics of the spacecraft consisting of a rigid bus and a flexible beam is derived using Hamilton's principle. The equations of motion consist of a coupled system of partial differential equations governing the vibration of the flexible beam and ordinary differential equations describing the translational and rotational motions of the rigid bus. The asymptotic stability of the system is proved using Lyapunov's approach. Simple feedback controls are suggested for the stabilization of the system. For illustration, numerical simulations are carried out, giving interesting results.     

FINITE ELEMENT ANALYSIS OF FREE VIBRATION OF LIQUID－FILLED AXISYMMETRIC TANKS

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Dynamics of an Euler Elastica Pipe with Internal Flow of Fluid

The equations of motion for a cantilever Euler elastica pipe are deduced applying a generalized set of Lagrange equations for non-material volumes. Based on an exact planar nonlinear beam theory the strain energy for the pipe is derived. The classical Lagrange terms and the additional terms due to moving mass entering and exiting the system result in a set of nonlinear equations of motion for the cantilever pipe with internal flow. A possible dimensional reduction and comparison to existing works are performed. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Analytical study on dynamic responses of a curved beam subjected to three-directional moving loads

Considering the warping resistance, inertia force and moving three-directional loads, a more comprehensive set of governing equations for vertical, torsional, radial and axial motions of the curved beam are derived. The analytical solutions for vertical, torsional, radial and axial responses of the curved beam subjected to three-directional moving loads are obtained, using the Galerkin method to discretize the partial differential equations and the modal superposition method to decouple the ordinary differential equations. The analytical results are compared with the numerical integration and a published work to verify the validity of the proposed solutions. Effects of Galerkin truncation terms and damping ratio on solution convergence are also discussed. Considering first-mode and higher-mode truncation respectively, the conditions of resonance and cancellation are analyzed for vertical, torsional, radial and axial motions of the curved beam. Taking a curved bridge under passage of a vehicle as an example, the influences of system parameters, such as vehicle speed, braking acceleration, bridge curve radius, bridge span and bridge deck elastic modulus, on bridge midpoint vibration are explored. The proposed approach and results may be beneficial to enhance understanding the three-directional vehicle-induced dynamic responses of curved bridges. It is shown that when the axial motion, or the multiple moving loads are involved, the first-order truncation are not accurate enough and one should use higher-mode truncation to study the responses of curved beams. In addition, it is necessary to consider damping in the vibration study of curved beams.     

Linear and nonlinear dynamics of a circular cylindrical shell connected to a rigid disk

The dynamics of a circular cylindrical shell carrying a rigid disk on the top and clamped at the base is investigated. The Sanders–Koiter theory is considered to develop a nonlinear analytical model for moderately large shell vibration. A reduced order dynamical system is obtained using Lagrange equations: radial and in-plane displacement fields are expanded by using trial functions that respect the geometric boundary conditions.The theoretical model is compared with experiments and with a finite element model developed with commercial software: comparisons are carried out on linear dynamics.The dynamic stability of the system is studied, when a periodic vertical motion of the base is imposed. Both a perturbation approach and a direct numerical technique are used. The perturbation method allows to obtain instability boundaries by means of elementary formulae; the numerical approach allows to perform a complete analysis of the linear and nonlinear response.     

Vibrations and heating of inelastic solids under harmonic loading

Two problem statements for the investigation of the thermomechanical behavior of inelastic materials under harmonic loading are developed. The “complete” problem statement consists of universal balance equations of thermodynamics and constitutive equations derived from the general thermodynamic theory of viscoplastic solids with internal state variables. An approximate problem statement is derived by the application of modified harmonic linearizing technique to the complete system of equations. Thereby the subsystem of mechanical equations is formulated in the complex-value form and material properties are described by means of amplitude-dependent complex-value moduli. The problems of vibration and dissipative heating of physically nonlinear solids are formulated. The main thermomechanical characteristics are analyzed for some classes of problems. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs–Appell formulation

In this paper, the developed model of an N-flexible-link mobile manipulator with revolute-prismatic joints is presented for the cooperative flexible multi mobile manipulator. In this model, the deformation of flexible links is calculated by using the assumed modes method. In additions, non-holonomic constraints of the robots’ mobile platforms that bound its locomotion are considered. This limitation is alleviated through the concurrent motion of revolute and prismatic joints, although it results in computational complexity and changes the final motion equations to time-varying form. Not only is the proposed dynamic model implemented for the multi-mobile manipulators with arms having independent motion, but also for multi-mobile manipulators in cooperation after defining gripper's kinematic constraints. These constraints are imported to the dynamic equations by defining Lagrange multipliers. The recursive Gibbs–Appell formulation is preferred over other similar approaches owing to the capability of solving the equations without the need to use Lagrange multipliers for eliminating non-holonomic constraints in addition to the novel optimized process of obtaining system equations. Hence, cumbersome simultaneous computations for eliminating the constraints of platform and arms are circumvented. Therefore, this formulation is improved for the first time by importing Lagrange multipliers for solving kinematic constrained systems. In the simulation section, the results of forward dynamics solution for two flexible single-arm manipulators with revolute-prismatic joints while carrying a rigid object are presented. Inverse dynamics equations of the system are also presented to obtain the maximum dynamic load-carrying capacity of the two-rigid-link mobile manipulators on a predefined path. Two constraints, namely the capacity of joint motors torque and robot motion stability are considered as the limitation criteria. The concluded motion equations are used to accurately control the movement of sensitive bodies, which is not achievable through the use of one platform.     

Euler–Lagrange Equations for Lagrangians Containing Complex-order Fractional Derivatives

Two variational problems of finding the Euler–Lagrange equations corresponding to Lagrangians containing fractional derivatives of real- and complex-order are considered. The first one is the unconstrained variational problem, while the second one is the fractional optimal control problem. The expansion formula for fractional derivatives of complex-order is derived in order to approximate the fractional derivative appearing in the Lagrangian. As a consequence, a sequence of approximated Euler–Lagrange equations is obtained. It is shown that the sequence of approximated Euler–Lagrange equations converges to the original one in the weak sense as well as that the sequence of the minimal values of approximated action integrals tends to the minimal value of the original one.