具有对称循环结构线性大系统的分散镇定特征

研究一类具有对称循环结构的连续和离散线性大系统的分散镇定特征,充分利用对称循环的特点,建立了判断这类系统可分散镇定的充分条件．在连续情形下,通过引进耦合结构模这一概念,揭示了这类系统分散镇定的重要特征,这就是当整个系统的耦合结构模给定之后,系统的分散镇定特性可以完全由各孤立子系统的结构所决定．这表明在这类系统的实际设计中,不管系统内中各子系统之间的耦合结构多么复杂,只要按一定的条件适当设计或修正各孤立子系统的结构参数,就能使所设计的大系统具有分散镇定特征,并提供了相应的分散镇定算法．对离散情形也进行了讨论,结果表明,连续系统与离散系统的分散镇定特征有着很大的差异．     

输入通道有干扰多变量MRAC系统的全局稳定化控制

对具有未建模动态并且输入通道存在干扰的动态不确定多输入多输出(MIMO)模型参考自适应控制(MRAC)系统,应用输出反馈给出了一种变结构模型跟踪控制器设计．系统的已建模部分有大于1的任意相对阶且已建模部分阶的上界是未知的．通过引入辅助信号和带有记忆功能的正规化信号,以及适当选择控制器参数,保证了闭环系统的全局稳定性,且跟踪误差可调整到任意小．     

受冲力作用的非完整系统的运动方程

有关用广义坐标表示的非完整系统的碰撞方程组,在一般分析力学著作中已有详细的叙述,但在这些方程中,都包含有待定乘子,这些未知量的出现使问题变得复杂.本文通过适当的数学处理,推出了用广义坐标表示的、不含待定乘子的非完整系统的碰撞方程组,简化了问题.由于运用了δ函数以及矩阵表示,因而使推导与结论更简洁明瞭.     

一类不确定线性连续随机系统的H∞约束方差变结构控制

基于变结构控制思想,结合H∞优化设计理论及稳态状态协方差配置的系统综合方法,对一类具有参数扰动的不确定线性连续随机系统进行H∞约束方差控制的设计.利用变结构控制的不变性,使受控系统在滑模面上与满足匹配条件的系统不确定性无关.根据伊藤积分设计的控制u(t),综合考虑了变结构控制的滑模阶段与到达阶段;导出的反馈增益矩阵G使在滑模面上,闭环系统的各个状态分量的稳态方差满足预先给定的上界约束,同时从噪声输入到系统输出的传递函数的H∞范数也满足预先给定的指标约束.     

基于ARMA模型和自由振动提取技术的海洋平台结构参数识别

用随机减量方法提取海洋平台结构在随机环境荷载非白噪声输入下的自由振动信号和用ARMA(Auto Regressive Moving Average)模型对自由振动数据建模。为了消除平台输出信号中有色噪声的影响,在随机减量系统中加人了一个虚拟系统,并采用导通条件和前导点技术使自由振动提取过程仍在有色输人的状态下进行。同时为了消除参数识别的多值性,提出了采用MA系数修正技术识别海洋平台结构的频率和阻尼动力参数的方法,最后用该套技术对海洋平台结构试验模型进行了参数识别,结果表明该方法具有较好的效果和在线识别使用价值。     

汽车电磁悬架系统的Noether对称性及其应用

研究了含有电磁悬架汽车振动系统的Noether对称性,给出了系统的守恒量,并通过守恒量求得系统的对称性解.以能量形式,建立汽车不同振动形式下的Lagrange(拉格朗日)方程.选取位移坐标为广义坐标,研究了各种振动形式下系统的Noether对称性,并给出相应的Noether恒等式、Killing方程和广义Noether定理.研究系统守恒量,运用存在的守恒量,给出一种新的求解汽车振动系统响应的方法;并应用到具体的车体振动系统计算中,给出了系统在转弯、制动或加速等情况下的位移响应和速度响应曲线.     

用试验数据修正振动系统的双对称阻尼矩阵与刚度矩阵

讨论用试验数据修正振动系统的双对称阻尼矩阵与刚度矩阵问题.依据特征方程、阻尼矩阵与刚度矩阵的双对称性,利用代数二次特征值反问题的理论和方法,研究了该问题解的存在性与唯一性,提出了修正阻尼矩阵与刚度矩阵的一个新方法.利用双对称矩阵的性质研究了方程的双对称解.给出了二次特征值反问题双对称解的一般表达式,讨论了对任意给定矩阵的最佳逼近问题,并给出了问题的最佳逼近解.用该方法修正的阻尼矩阵与刚度矩阵不仅满足二次特征方程,而且是唯一的双对称矩阵.     

多体系统动力学微分／代数方程组的一类新的数值分析方法

本文讨论了多体系统动力学微分／代数混合方程组的数值离散问题．首先把参数t并入广义坐标讨论，简化了方程组及其隐含条件的结构，并将其化为指标1的方程组．然后利用方程组的特殊结构，引入一种局部离散技巧并构造了相应的算法．算法结构紧凑，易于编程，具有较高的计算效率和良好的数值性态，且其形式适合于各种数值积分方法的的实施．文末给出了具体算例．     

有限元模型修正问题的不精确最速下降迭代解

在结构动力分析中,往往需利用结构振动测试所得的实际测量数据(如振动频率和振型),对结构分析模型进行最优修正,使之更能合理反映结构的实际性能,其实质即为计算数学中的特征值反问题.本文考虑有阻尼结构振动中的-类反问题,用一组不完备的模态测量数据修正系统质量矩阵、刚度矩阵和阻尼矩阵,通过等价正交投影思想将原问题转化成-个闭凸锥上的正交投影问题,构造-个不精确最速下降迭代法求解,并讨论了收敛性.算例表明算法是有效的.     

关于柔性结构动力系统的稳定性与控制

本文考虑了一类具弹性结构的复杂动力学系统的稳定性与控制问题.由于系统的动力学模型为一些常微分与偏微分相互耦合的方程组所描述,且考虑了弹性振动时结构阻尼对运动的影响,从而用传统的方法分析系统的动力学特性时遇到了困难.本文在函数空间中利用泛函分析谱理论与算子半群理论, 论证了系统的解存在、唯一,且适当选取一定的控制之后,能使得系统的弹性振动(包括弯曲振动和扭转振动)指数渐近稳定,亦可保证梁的姿态定位.     

Stabilization of the motions of mechanical systems with variable masses

A holonomic mechanical system with variable masses and cyclic coordinates is considered. Such a system can have generalized steady motions in which the positional coordinates are constant and the cyclic velocities under the action of reactive forces vary according to a given law. Sufficient Routh-Rumyantsev-type conditions for the stability of such motions are determined. The problem of stabilizing a given translational-rotational motion of a symmetric satellite in which its centre of mass moves in a circular orbit and the satellite executes rotational motion about its axis of symmetry is solved.     

The method of slow variables in the problem of the control of the motion of an elastic manipulator

A solution is proposed for the problem of synthesizing the control of a manipulator with deformable members [1–5].³ The motion of the system is described using Routh's equation [6, 7]. The variables are the generalized coordinates, velocities and momenta of the mechanical system under consideration. A control law which depends only on the generalized coordinates and momenta of the system (but not on the generalized velocities) is constructed. Its special feature is that the variables on which it depends are slow. This will be the case when the stiffness of the members of the manipulator is sufficiently high and the generalized velocities contain high-frequency components.     

Vibration analysis of mobile phone mast system by Rayleigh method

To study the vibration of beams and columns, discretization techniques are required because such structures are continuous systems with infinite degrees of freedom. However, one can associate such systems to a system with a single degree of freedom, restricting the form to which the system will deform and describing their properties as a function of generalized coordinates. This technique is called the Rayleigh method. However, actual structures are more complex than simple beams and columns because their properties vary along their length. The objective of this work is to apply the technique recommended by Rayleigh to actual structures and find a single equation and correction factor that can be used to resolve practical problems in engineering. The structural elements selected for this study are metallic high-slenderness poles, for which the frequency of the first vibration mode were calculated analytically, as well as by finite element method-based computer modeling for comparative purposes. The results indicate that the analytical solution is 16% greater and 1% minor than the computational solution, and correction factors of 1.4 and 1.32 were found, respectively.     

Chaos control and generalized projective synchronization of heavy symmetric chaotic gyroscope systems via Gaussian radial basis adaptive variable structure control

This paper proposes the chaos control and the generalized projective synchronization methods for heavy symmetric gyroscope systems via Gaussian radial basis adaptive variable structure control. Because of the nonlinear terms of the gyroscope system, the system exhibits chaotic motions. Occasionally, the extreme sensitivity to initial states in a system operating in chaotic mode can be very destructive to the system because of unpredictable behavior. In order to improve the performance of a dynamic system or avoid the chaotic phenomena, it is necessary to control a chaotic system with a periodic motion beneficial for working with a particular condition. As chaotic signals are usually broadband and noise like, synchronized chaotic systems can be used as cipher generators for secure communication. This paper presents chaos synchronization of two identical chaotic motions of symmetric gyroscopes. In this paper, the switching surfaces are adopted to ensure the stability of the error dynamics in variable structure control. Using the neural variable structure control technique, control laws are established which guarantees the chaos control and the generalized projective synchronization of unknown gyroscope systems. In the neural variable structure control, Gaussian radial basis functions are utilized to on-line estimate the system dynamic functions. Also, the adaptation laws of the on-line estimator are derived in the sense of Lyapunov function. Thus, the unknown gyro systems can be guaranteed to be asymptotically stable. Also, the proposed method can achieve the control objectives. Numerical simulations are presented to verify the proposed control and synchronization methods. Finally, the effectiveness of the proposed methods is discussed.     

An interior-point method for generalized linear-fractional programming

We develop an interior-point polynomial-time algorithm for a generalized linear-fractional problem. The latter problem can be regarded as a nonpolyhedral extension of the usual linear-fractional programming; typical example (which is of interest for control theory) is the minimization of the generalized eigenvalue of a pair of symmetric matrices linearly depending on the decision variables.     

Modular modelling of a multiple pendulum with a guided box attached to its end

A modular modelling strategy which combines motion equations in generalized coordinates with those formulated in terms of redundant coordinates is presented. The general idea is illustrated by the planar model of a multiple pendulum in the gravitational field whose upper end is spatially fixed, while its lower end is attached to an elastically guided box. It is shown how the governing differential-algebraic system of equations can be reduced to a system of linear differential equations. (© 2014 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On the influence of gyroscopic forces on the stability of steady-state motion : PMM vol. 39, n 6, 1975, pp. 963–973

The question of the influence of gyroscopic forces on the stability of steady-state motion of a holonomic mechanical system when the forces depend upon the velocities of only the position coordinates was answered by the Kelvin-Chetaev theorems [1] on the influence of gyroscopic and dissipative forces on the stability of equilibrium. However, if the gyroscopic forces depend as well on the velocities of the ignorable coordinates, then their influence on the stability of steady-state motions can, as the two problems in [2] show, prove to be entirely different from the influence of gyroscopic forces depending only on the velocities of the position coordinates. In this paper we investigate the influence of gyroscopic forces depending linearly on the velocities of the generalized coordinates, including the ignorable ones, on the stability of the steady-state motion of a holonomic conservative system. We prove that when the gyroscopic forces applied with respect to the ignorable coordinates are given as total time derivatives of certain functions of the position coordinates, the gyroscopic forces can both stabilize as well as destabilize the steady-state motion. Under certain conditions, this influence is also preserved for the action of dissipative forces depending on the velocities of only the position coordinates. In the case of action of dissipative forces depending also on the velocities of the ignorable coordinates, we have indicated the stability and instability conditions of the steady-state motion. Examples are considered. In conclusion, we discuss the conditions under which the application of gyroscopic forces to the system is equivalent to adding terms depending linearly on the generalized velocities to the Lagrange function.     

An algebraic theory for generalized Jordan chains and partial signatures in the Lagrangian Grassmannian

We discuss an algebraic theory for generalized Jordan chains and partial signatures, that are invariants associated to sequences of symmetric bilinear forms on a vector space. We introduce an intrinsic notion of partial signatures in the Lagrangian Grassmannian of a symplectic space that does not use local coordinates, and we give a formula for the Maslov index of arbitrary real analytic paths in terms of partial signatures.