Comparison of linear spring and nonlinear FEM methods in dynamic coupled analysis of floating structure and mooring system

This paper compares the dynamic coupled behavior of floating structure and mooring system in time domain using two numerical methods for the mooring lines such as the linear spring method and the nonlinear FEM (Finite Element Method). In the linear spring method, hydrodynamic coefficients and forces on the floating body are calculated using BEM (Boundary Element Method) and the time domain equation is derived using convolution. The coupled solution is obtained by simply adding the pre-determined spring constants of the mooring lines into the floating body equation. In FEM, the minimum energy principle is applied to formulate the nonlinear dynamic equation of the mooring system with a discrete numerical model. The ground contact model and Morison formula for drag forces are also included in the formulation. The coupled solution is obtained by iteratively solving the floating body equation and the FEM equation of the mooring system. Two example structures such as weathervane ship and semi-submersible structure are analyzed using linear spring and nonlinear FEM methods and the difference of those two methods are presented. By analyzing the cases with or without surge-pitch or sway-roll coupling stiffness of mooring lines in the linear spring method, the effect of coupling stiffness of the mooring system is also discussed.     

基于最大熵方法的水下航行体结构动力响应概率建模

水下航行体结构承受的水动力外载荷具有显著的时空分布不确定性,其引发的结构动力响应,诸如结构最大内力、最大内力发生时刻、最大内力发生位置等也由此产生了不确定性;同时,水下航行体的动力响应还会因其连接或分离结构的拉压刚度不同而出现非线性特征. 为了在水动力外载荷样本有限的基础上,分析水下航行体结构连接非线性对动力响应统计特性的影响, 利用水下航行体结构的简化动力学模型,计算了水动力横向载荷作用下响应的样本统计矩,采用最大熵方法实现了动力响应的概率建模. 在分别求出结构最大内力、最大内力发生时刻、最大内力发生位置的概率密度函数后,通过与蒙特卡洛模拟结果对比验证了最大熵方法拟合的响应概率密度函数精度;而后,基于这些结构响应概率密度曲线讨论了系统连接非线性参数变化对结构动力响应的影响. 最终得出如下结论:连接非线性会导致结构在只有横向力的作用时产生的轴力响应,并且最大轴力概率密度函数峰值会因连接结构非线性程度增大而逐渐增大;连接非线性对不确定性传播有显著影响,当连接非线性比较强时,输入正态分布的载荷所得到的内力响应不是正态分布的;最大内力响应的发生位置也会受到连接非线性程度的影响. 上述结果可以为结构优化提供技术支持.      

Nonlinear Random Response of Ocean Structures Using First- and Second-Order Stochastic Averaging

This paper deals with the dynamic response of nonlinear elastic structure subjected to random hydrodynamic forces and parametric excitation using a first- and second-order stochastic averaging method. The governing equation of motion is derived by using Hamilton's principle, taking into account inertia and curvature nonlinearities and work done due to hydrodynamic forces. Within the framework of first-order stochastic averaging, the system response statistics and stability boundaries are obtained. Unfortunately, the effects of nonlinear inertia and curvature are not reflected in the final results, since the contribution of these nonlinearities is lost during the averaging process. In the absence of hydrodynamic forces, the method fails to give bounded response statistics, and the analysis yields stability conditions. It is the second-order stochastic averaging which can capture the influence of stiffness and inertia nonlinearities that were lost in the first-order averaging process. The results of the second-order averaging are compared with those predicted by Gaussian and non-Gaussian closures and by Monte Carlo simulation. In the absence of parametric excitation, the non-Gaussian closure solutions are in good agreement with Monte Carlo simulation. On the other hand, in the absence of hydrodynamic forces, second-order averaging gives more reliable results in the neighborhood of stochastic bifurcation. However, under pure parametric random excitation, the stochastic averaging and Monte Carlo simulation predict the on-off intermittency phenomenon near bifurcation point, in addition to stochastic bifurcation in probability.     

独立失效模式多自由度随机滞回系统可靠性分析

基于Bouc-Wen滞回模型,研究了由滞回环本身的随机性导致的多自由度非线性随机系统可靠性分析问题。基于结构失效的首次穿越模型,应用四阶矩技术和Edgeworth级数逼近技术,对独立失效模式下多自由度随机滞回系统的可靠性问题进行分析。数值算例表明,由独立随机参数表征的随机结构,系统随机响应之间不再独立,存在协方差;系统响应之间相关系数不唯一,具有随时间连续变化的动态、强相关特性。分析计算结果与Monte-Carlo模拟结果吻合较好,表明算法能够满足工程计算精度要求。     

Development of a mathematical model and analytical solution of a coupled two-beam array with nonlinear tip forces for application to AFM

Utilising arrays of cantilevers has been identified as a method of increasing AFM sensitivity and throughput beyond the limitations of current non-contact AFM. In order to develop the technology, we investigate the change in eigenstates of arrays due to interactions that occur between cantilever tip and sample using a model of a base-coupled array of cantilevers with individual mass and stiffness properties influenced by a quadratic nonlinear force to represent tip–sample interactions. An analytical expression is developed for a coupled two-beam array utilising Multiple Scale Lindstedt–Poincare perturbation theory to assess how a selected parameter space alters the array dynamics. Experiments are carried out using a macroscale set-up to validate the developed model. We show that the model captures the eigenstates of the system with good qualitative accuracy and that the perturbation expansion performs well in both the weakly (far from surface) and strongly (near the pull-in point) nonlinear regimes. The results demonstrate that utilising changes in eigenstates due to force interactions could have significant benefits to non-contact AFM with regard to measurement sensitivity and speed.     

Periodic and Chaotic Motions of a Rotor-Active Magnetic Bearing with Quadratic and Cubic Terms and Time-Varying Stiffness

In this paper, we use the asymptotic perturbation method to investigate nonlinear oscillations and chaotic dynamics in a rotor-active magnetic bearings (AMB) system with 8-pole legs and the time-varying stiffness. The stiffness in the AMB is considered as the time varying in a periodic form. Because of considering the weight of the rotor, the formulation on the electromagnetic force resultants includes the quadratic and cubic nonlinearities. The resulting dimensionless equations of motion for the rotor-AMB system with the time-varying stiffness in the horizontal and vertical directions are a two-degree-of-freedom nonlinear system with quadratic and cubic nonlinearities and parametric excitation. The asymptotic perturbation method is used to obtain the averaged equations in the case of primary parametric resonance and 1/2 subharmonic resonance. It is found that there exist period-3, period-4, period-6, period-7, period-8, quasiperiodic and chaotic modulated amplitude oscillations in the rotor-AMB system with the time-varying stiffness. It is seen from the numerical results that there are the phenomena of the multiple solutions and the soft-spring type and the hardening-spring type in nonlinear frequency-response curves for the rotor-AMB system. The parametric excitation, or the time-varying stiffness produced by the PD controller is considered to be a controlling force which can control the chaotic response in the rotor-AMB system to a period n motion.     

带非线性弹簧的两自由度准零刚度隔振系统力传递率特性

基于多自由度系统中的反共振特性,分别在传统线性隔振系统的上、下两层引入非线性倾斜弹簧负刚度机构,构成两自由度准零刚度隔振器。通过静态特性分析,推导出系统满足零刚度条件时,各参数之间的关系,分析了力学参数及结构参数对系统刚度特性的影响。建立两自由度准零刚度隔振系统的非线性动力学方程,利用平均法求解,推导出力传递率表达式,结合数值分析方法,探讨系统在不同的上、下层隔振器阻尼比、竖直刚度比及质量比情况下的力传递率特性,并与单自由度准零刚度隔振系统及线性斜弹簧两自由度准零刚度隔振系统进行对比研究。结果表明：当结构参数 （即：倾斜弹簧处于静平衡位置的长度与倾斜弹簧原长的比值）较小且倾斜弹簧为软化弹簧时,可在平衡位置附近获得较小的系统刚度及较大的低刚度区间;通过选择适当的上、下层隔振器阻尼比、竖直刚度比与质量比,可减小系统的起始隔振频率,增宽隔振频带,加快系统力传递率在特定频段内的衰减速率,改善系统的低频隔振性能。     

Safety and comfort analysis of a 3-D vehicle model with optimal non-linear active seat suspension

A generalized nonlinear model is formulated for the dynamic analysis of suspension seats with passive, semi-active and active dampers. The model incorporates coulomb friction due to suspension linkages and bushings, forces arising from interactions with the elastic limit stops, a linear suspension spring and nonlinear damping force for passive, semi-active and active dampers, while the contribution due to biodynamics of the human operator is considered to be negligible. The semi-active and active dampers are characterized by force generators in accordance with the control laws based upon suspension mass velocity. Two different suspension seats are experimentally assessed in the laboratory under sinusoidal and random excitations arising from an urban bus, and the measured data is used to demonstrate the validity of the proposed generalized model. The results showed reasonably good agreement between the model results and the measured data. Optimal model parameters are selected using the sequential unconstrained minimization technique with an objective to minimize the acceleration due to vibration transmitted to the occupant mass. The comfort and safety performance characteristics of the optimal suspension seat with semi-active and active dampers are evaluated under both the sinusoidal and random excitations based on the guidelines provided by ISO-2631. From these results, it is concluded that the comfort performance of a suspension seat with semi-active and active dampers can be considerably enhanced by 20–30%.     

Nonlinear Dynamics of Floating Cranes

The nonlinear dynamic responses of moored crane vessels to regular wavesare investigated experimentally and theoretically. The main subject ofinterest are nonlinear phenomena like bifurcations and the existence ofmultiple attractors. In the experimental part of the work, a mooredmodel of a crane vessel has been excited by regular waves in a wavetank. A special mechanism has been developed to model the nonlinearbehavior of real mooring systems. The theoretical part of the workconcerns the mathematical modeling of the floating cranes. Twomathematical models of different levels of complexity are presented. Twodifferent tools are used to systematically determine the responses ofthe systems to periodic forcing of waves. Firstly, the path-followingtechniques in combination with numerical integration of equations ofmotion applied to a full nonlinear model give insight into the dynamicsin time domain. Secondly, the multiple scales method allows for ananalytical investigation of simplified nonlinear models in frequencydomain. Many results of computations for two crane vessels, barge andship, are presented. Special attention is paid to oscillations near thefrequencies of primary resonances and to subharmonic motions. Anexcellent agreement is found between the results of time-domain andfrequency-domain analysis. The computational examples chosen correspondto the models used not only in the present experiments but in theexperiments of others as well. The results presented in the work allow usto draw several important conclusions concerning the dynamic behavior offloating cranes during offshore operations. Both the developed modelsand the analytical tools can be used to identify the limits of theoperating range of floating cranes.     

Analysis of hydrodynamic behaviors of multiple net cages in combined wave–current flow

Numerical simulation is performed to analyze the hydrodynamic response of a net cage and submerged mooring grid system exposed to waves and current. A series of experiments are conducted to validate the numerical model of net cage and grid mooring system. The numerical results of this model correspond with those obtained from experimental observations. Then, the numerical simulation of a multi-cage and mooring system under the action of waves combined with current is conducted. The influence of waves and current directions and the length of grid lines on the cage responses are discussed. The twin mooring system and the orthogonal mooring system are compared. Results show that for the orthogonal mooring system, the maximum tension force on the anchor line of the four-cage system is less than four times of that of the single-cage system, when both waves and current travel along the x-axis. The minimum net cage volume holding coefficient of the single-cage system is smaller than that of the four-cage system. The amplitude of the mooring line tension force for the twin mooring system is larger than the orthogonal mooring system.     

Numerical analysis of finite amplitude motion of waves and a moored floating body under severe storm conditions

The motion of a moored floating body under the action of wave forces, which is influenced by fluid forces, shape of the floating body and mooring forces, should be analysed as a complex coupled motion system. Especially under severe storm conditions or resonant motion of the floating body it is necessary to consider finite amplitude motions of the waves, the floating body and the mooring lines as well as non-linear interactions of these finite amplitude motions. The problem of a floating body has been studied on the basis of linear wave theory by many researchers. However, the finite amplitude motion under a correlated motion system has rarely been taken into account. This paper presents a numerical method for calculating the finite amplitude motion when a floating body is moored by non-linear mooring lines such as chains and cables under severe storm conditions.     

Nonlinear simulation of a tuned liquid damper with damping screens using a modal expansion technique

Tuned liquid dampers utilize sloshing fluid to control wind-induced structural motions. However, as a result of the nonlinear free surface boundary conditions of fluid sloshing in a two-dimensional rectangular container, a closed-form solution describing the response behaviour is unavailable. Modal expansions, which couple the sloshing modes, are carried out to the first, third and fifth order to construct a system of coupled nonlinear ordinary differential equations that are solved using the Runge–Kutta–Gill Method. Modal damping is incorporated to account for energy losses arising from the fluid viscosity and the inclusion of damping screens. The model is in general agreement with a previous third-order model that incorporated screen damping in the fundamental sloshing mode only. Sinusoidal shake table experiments are conducted to validate the proposed models. Response time histories and frequency response plots assess the model’s prediction of wave heights, sloshing forces, and screen forces. The first-order model accurately predicts the resonant sloshing forces, and forces on a mid-tank screen. The higher-order models better represent the wave heights and forces on an off-centre screen. Experimental results from structure–TLD system tests under random excitation are used to evaluate the performance of the proposed models. The first-order model is able to predict the variance of the structural response and the effective damping the TLD adds to the structure, but as a minimum, a third-order model should be employed to predict the fluid response. It is concluded that a first-order model can be utilized for preliminary TLD design, while a higher-order model should be used to determine the required tank freeboard and the loading on damping screens positioned at off-centre locations.     

Three-dimensional oscillations of suspended cables involving simultaneous internal resonances

The near resonant response of suspended, elastic cables driven by planar excitation is investigated using a three degree-of-freedom model. The model captures the interaction of a symmetric in-plane mode with two out-of-plane modes. The modes are coupled through quadratic and cubic nonlinearities arising from nonlinear cable stretching. For particular magnitudes of equilibrium curvature, the natural frequency of the in-plane mode is simultaneously commensurable with the natural frequencies of the two out-of-plane modes in 1:1 and 2:1 ratios. A second nonlinear order perturbation analysis is used to determine the existence and stability of four classes of periodic solutions. The perturbation solutions are compared with results obtained by numerically integrating the equations of motion. Furthermore, numerical simulations demonstrate the existence of quasiperiodic responses.A portion of this work was presented at the 1992 ASME Winter Annual Meeting, Anaheim, CA.     

Experimental and numerical study of an aquaculture net cage with floater in waves and current

The mooring loads on an aquaculture net cage in current and waves are investigated by dedicated model tests and numerical simulations. The main purpose is to investigate which physical effects are dominant for mooring loads, and in this respect, to investigate the validity of different rational hydrodynamic load models. Also structural and numerical aspects are investigated. The model tests are performed to provide benchmark data, while the numerical model is used to study the effect and sensitivity of different load models and parameters.Compared to a realistic aquaculture plant, the total system is simplified to reduce the complexity. The system does, however, include all the four main components of an aquaculture plant: net cage, floater, sinker weights and moorings. The net cage is bottomless, flexible and circular. It is attached to a circular, elastic floater at the top and has 16 sinker weights at the bottom. The system is nearly linearly moored with four crow feet mooring lines.The loads are measured in the four mooring lines. A systematic variation of current only, wave only as well as combined current and wave conditions is carried out. The numerical simulation results are first benchmarked towards the experimental data. The mean loads in general dominate over the dynamic part of the loads in combined current and waves, and they significantly increase in long and steep waves, relative to current only. Next, a sensitivity study is carried out. A rigid floater significantly alters the loads in the mooring lines compared to a realistic, elastic floater. The theoretical model for the wave matters. The mooring loads are rather insensitive to a majority of the parameters and models, in particular: frequency dependent added mass of the floater and nonlinear restoring loads. It seems not to be necessary to represent the net cage with a very fine numerical mesh.     

滑动轴承非线性油膜力的神经网络模型

在已有的滑动轴承非线性油膜力数据库基础上 ,将轴承的位置和速度参数加以综合 ,利用变量状态空间变换将分段的油膜力数据转换成连续的数据空间 ,建立非线性油膜力连续型数据库和相应的网络模型 .以圆轴承 -转子系统为例 ,分别采用有限差分法、数据库法和 BP网络模型计算了轴承系统的非线性油膜力和轴心轨迹 .结果表明 ,网络模型计算结果与基于数值方法的结果较为吻合 ,可以显著地提高轴承系统的计算效率     

A generalized frequency detuning method for multidegree-of-freedom oscillators with nonlinear stiffness

In this paper, we derive a frequency detuning method for multi-degree-of-freedom oscillators with nonlinear stiffness. This approach includes a matrix of detuning parameters, which are used to model the amplitude dependent variation in resonant frequencies for the system. As a result, we compare three different approximations for modeling the affect of the nonlinear stiffness on the linearized frequency of the system. In each case, the response of the primary resonances can be captured with the same level of accuracy. However, harmonic and subharmonic responses away from the primary response are captured with significant differences in accuracy. The detuning analysis is carried out using a normal form technique, and the analytical results are compared with numerical simulations of the response. Two examples are considered, the second of which is a two degree-of-freedom oscillator with cubic stiffnesses.     

Second-harmonic generation in an infinite layered structure with nonlinear spring-type interfaces

The second-harmonic generation characteristics in the elastic wave propagation across an infinite layered structure consisting of identical linear elastic layers and nonlinear spring-type interlayer interfaces are analyzed theoretically. The interlayer interfaces are assumed to have identical linear interfacial stiffness but can have different quadratic nonlinearity parameters. Using a perturbation approach and the transfer-matrix method, an explicit analytical expression is derived for the second-harmonic amplitude when the layered structure is impinged by a monochromatic fundamental wave. The analysis shows that the second-harmonic generation behavior depends significantly on the fundamental frequency reflecting the band structure of the layered structure. Two special cases are discussed in order to demonstrate such dependence, i.e., the second-harmonic generation by a single nonlinear interface as well as by multiple consecutive nonlinear interfaces. In particular, when the second-harmonic generation occurs at multiple consecutive nonlinear interfaces, the cumulative growth of the second-harmonic amplitude with distance is only expected in certain frequency ranges where the fundamental as well as the double frequencies belong to the pass bands of the layered structure. Furthermore, a remarkable increase of the second-harmonic amplitude is found near the terminating edge of pass bands. Approximate expressions for the low-frequency range are also obtained, which show the cumulative growth of the second-harmonic amplitude with quadratic frequency dependence.     

Stochastic optimal control of flexible aircraft taxiing at constant or variable velocity

Active control landing gears are used to alleviate vibration during aircraft taxiing. A nonlinear stochastic dynamics model is established, considering the aircraft body pitch movement and elastic vibration excited by the random runway. The equivalent linearization method is adopted to ensure the model linearity near the balance point, and the Gaussian random process of the runway is generated from the Gaussian white noise using a shape filter. Based on the stochastic optimal control theory, the LQG controller is designed along with weighted quadratic performance index for a better ride comfort, shock absorption, road holding and least energy expenditure. The algebraic Riccati and Lyapunov equations are solved to obtain stationary response while taxiing aircraft at a constant velocity and the differential Riccati and Lyapunov equations are solved to obtain the nonstationary response while taxiing aircraft at a variable velocity. The aircraft dynamic responses are obtained through the runway random process modeled by Monte Carlo method. Simulation results show that active control landing gear can give a better ride comfort, shock absorption and road holding performance no matter whether taxiing is at constant or variable velocity.     

Effects of bracings and motion coupling on resonance features of semi-submersible platform under irregular wave conditions

Resonance is a critical consideration in the design of offshore floating structures. This paper aims at analysing the nonlinear effects of bracings and motion coupling on the resonance features of a semi-submersible platform. An improved mathematical model based on potential theory is proposed to simulate the motion response of a semi-submersible platform under irregular wave conditions, considering both the variations of hydrostatic and hydrodynamic forces induced by the bracings entering and exiting the water and the nonlinear coupling induced by the platform motions. For comparison purposes, numerical simulations are also performed using a mathematical model without considering the aforementioned effects. Validated by results of wave basin tests and numerical simulations, the proposed model performs much better in capturing the characteristic resonance features of pitch motion in low-frequency region. The nonlinear hydrostatic effect of bracings leads to the increase of resonance frequency as the motion amplitude increases, while the hydrodynamic force on the bracings and the nonlinear motion coupling only influence the amplitude of resonance spectral peak. In addition, factors influencing the nonlinear effects such as the vertical position and diameter of bracings and the pitch restoring coefficient are further investigated. It is revealed that the deviation of pitch resonance frequency has evident dependence on the ratio between nonlinear and linear volumetric variations, and an empirical formula estimating the resonance frequency is proposed using the observed dependence. Theoretically, both smaller bracing radius and larger pitch restoring coefficient are beneficial for suppressing the resonance induced by the nonlinear effects. The proposed model can be an effective tool for predicting the motion response, and the understanding of the resonance features is helpful for the design of semi-submersibles.