Primary resonance of fractional-order van der Pol oscillator

In this paper the primary resonance of van der Pol (VDP) oscillator with fractional-order derivative is studied analytically and numerically. At first the approximately analytical solution is obtained by the averaging method, and it is found that the fractional-order derivative could affect the dynamical properties of VDP oscillator, which is characterized by the equivalent damping coefficient and the equivalent stiffness coefficient. Moreover, the amplitude–frequency equation for steady-state solution is established, and the corresponding stability condition is also presented based on Lyapunov theory. Then, the comparisons of several different amplitude–frequency curves by the approximately analytical solution and the numerical integration are fulfilled, and the results certify the correctness and satisfactory precision of the approximately analytical solution. At last, the effects of the two fractional parameters, i.e., the fractional coefficient and the fractional order, on the amplitude–frequency curves are investigated for some typical excitation amplitudes, which are different from the traditional integer-order VDP oscillator.     

Dynamical analysis of Mathieu equation with two kinds of van der Pol fractional-order terms

In this paper the dynamics of Mathieu equation with two kinds of van der Pol (VDP) fractional-order terms is investigated. The approximately analytical solution is obtained by the averaging method. The steady-state solution, existence conditions and stability condition for the steady-state solution are presented, and it is found that the two kinds of VDP fractional coefficients and fractional orders remarkably affect the steady-state solution, which is characterized by the additional damping coefficient (ADC) and additional stiffness coefficient (ASC). The comparisons between the analytical and numerical solutions verify the correctness and satisfactory precision of the approximately analytical solution. The presented typical amplitude–frequency curves illustrate the important effects of two kinds of VDP fractional-order terms on system dynamics. The application of two VDP fractional-order terms in vibration control is discussed. At last, the detailed results are summarized and the conclusions are made.     

分数阶达芬振子的超谐与亚谐联合共振

研究了含分数阶微分项的达芬(Duffing)振子的超谐与亚谐联合共振.采用平均法得到了系统的一阶近似解析解,提出了超、亚谐联合共振时等效线性阻尼和等效线性刚度的概念.建立了联合共振定常解幅频曲线的解析表达式,并对联合共振幅频响应的近似解析解和数值解进行了比较,二者吻合良好,证明了求解过程及近似解析解的正确性.然后,将等效线性阻尼和等效线性刚度的概念与传统整数阶系统进行比较,证明分数阶微分项不仅起着阻尼的作用同时还起着刚度的作用.最后,通过数值仿真研究了不同的分数阶微分项系数和阶次对联合共振幅频曲线多值性和跳跃现象的影响,并与单一频率下超谐共振或亚谐共振进行了对比.研究发现,分数阶微分项系数与阶次不仅影响着系统的响应幅值、共振频率,同时还对系统的周期解个数、发生区域面积、发生先后等有重要影响.并且,在不同的基本参数下该系统分别表现出单独超谐共振、单独亚谐共振以及超谐共振和亚谐共振同时存在的现象.这些结果对系统动力学特性的研究具有重要意义.     

分数阶拟周期Mathieu方程的动力学分析

分数阶微积分有着诸多优异的特点, 目前在动力学领域主要用来提高非线性系统振动特性研究的准确性. 本文在拟周期Mathieu方程的基础上, 引入分数阶微积分理论, 研究了分数阶微分项参数对方程稳定性的影响. 首先, 采用摄动法得到方程稳定区和非稳定区分界线(即过渡曲线)近似表达式, 利用数值方法验证了解析结果的准确性, 图像显示两者吻合较好. 随后, 通过归纳总结不同情况下的过渡曲线近似表达式, 发现在系统中分数阶微分项以等效线性刚度和等效线性阻尼的方式存在. 根据这一特点, 得到了系统等效线性阻尼和等效线性刚度的一般形式, 并且定义了非稳定区域厚度. 最后, 通过数值仿真直观地分析了分数阶微分项参数对方程稳定区域大小和过渡曲线位置的影响. 结果发现, 分数阶微分项不仅具有阻尼特性还具有刚度特性, 并且以等效线性刚度和等效线性阻尼的方式影响着方程稳定区域大小和过渡曲线位置. 合理选择分数阶微分项参数可以使其呈现不同程度的刚度特性或阻尼特性, 方程稳定区域的大小和过渡曲线的位置也因此产生了不同程度的变化.      

基于速度反馈分数阶PID控制的达芬振子的主共振.

与传统整数阶比例-积分-微分(PID)控制器相比,分数阶比例-积分-微分控制器由于增加了两个控制参数,因此能够更灵活地控制受控对象.研究了基于速度反馈分数阶比例-积分-微分控制的达芬振子的主共振,利用平均法获得了系统的近似解析解.研究发现分数阶比例-积分-微分控制器的比例环节以等效线性阻尼的形式影响系统的共振振幅,积分环节以等效线性阻尼和等效线性刚度的形式影响系统的动力学特性,微分环节以等效线性阻尼和等效质量的形式影响系统的动力学特性.建立了主共振幅频响应方程的解析表达式和稳定性判断准则,并对主共振幅频响应的近似解析解和数值解进行了比较,二者吻合良好,验证了求解过程和近似解析解的正确性.分析了分数阶比例-积分-微分控制器的比例环节系数、积分环节系数、微分环节系数以及分数阶阶次变化时,对系统主共振幅频响应的影响.对分数阶比例-积分-微分控制器与传统整数阶比例-积分-微分控制器的控制效果进行了对比,发现当控制器各个环节的系数相同时,基于速度反馈的分数阶比例-积分-微分控制对达芬振子主共振的控制效果要优于传统整数阶比例-积分-微分控制.      

分数阶Duffng振子的超谐共振

研究了含分数阶微分项的Duffing振子的超谐共振,通过平均法得到了系统的一阶近似解. 提出了超谐共振时等效线性 阻尼和等效线性刚度的概念,分析了分数阶微分项的系数和阶次对等效线性阻尼和等效线性刚度的影响. 建立了超谐共振解的幅频曲线的解析表达式和稳定性判断准则,对分数阶Duffing振子与传统整数阶Duffing振子的超谐共振解进行了比较. 最后通过数值仿真研究了分数阶微分项的参数对超谐共振幅频曲线的影响.     

含分数阶Bingham模型的阻尼减振系统时滞半主动控制

针对基于磁流变液阻尼器的半主动控制系统中存在的时滞问题, 采用了一种将可控的时滞变量引入半主动控制切换条件的控制策略, 研究了考虑时滞的天棚阻尼控制切换条件对半主动阻尼减振系统的影响, 分析了含有分数阶Bingham模型的线性刚度系统在基础激励下的振动特性. 利用平均法得到了系统在含时滞半主动控制策略下主共振响应的近似解析解, 根据Lyapunov理论分析了系统的稳定性. 通过数值解验证了近似解析解的准确性, 二者具有较好的一致性. 利用近似解析解分析了固定激励频率下时滞对系统幅频响应特性的影响, 以及主共振峰值响应和共振频率随时滞变化的特性规律. 结果表明, 含时滞的半主动控制系统存在一个小时滞区间, 使得系统的振幅在主共振峰对应的频率附近低于不考虑时滞时系统的振幅, 且存在最优时滞使得系统的振幅大幅度降低; 而大时滞的引入会加剧系统的振动, 导致系统的颤振. 确定了基于分数阶Bingham模型的线性刚度系统在天棚阻尼半主动控制下的时滞选取原则, 为振动系统半主动阻尼控制中的时滞选取提供了参考.      

端承粘弹性桩纵向振动的轴对称解析解

将桩和土体视为粘弹性介质,在频率域求得了桩轴对称纵向振动时动力响应的解析解,进而得到桩头复刚度的解析表达式.通过数值计算,给出了桩头动刚度因子和等效阻尼随激励频率的响应,考察了土层粘性、桩长径比、桩土模量比、桩泊松比和粘性等参数对桩头刚度因子和等效阻尼的影响.研究表明:由于考虑了桩的径向变形效应以及土层对桩的径向力作用...     

On fallacies in the decision between the Caputo and Riemann–Liouville fractional derivatives for the analysis of the dynamic response of a nonlinear viscoelastic oscillator

Recently Dal [Dal, F., 2011. Multiple time scale solution of an equation with quadratic and cubic nonlinearities having fractional-order derivative. Mathematical and Computational Applications 16 (1), 301–308] presented ‘a new analytical scheme’ to calculate the dynamic response of a fractionally damped nonlinear oscillator possessing both quadratic and cubic nonlinearities via the method of multiple time scales. It has been claimed that damping features are modeled via the Caputo fractional derivative. In the present paper, it is shown that both the scheme and the object of investigation are not new, and moreover, the above mentioned author's statement is inconsistent, since under the assumptions made in the paper under consideration these two fractional-order derivatives coincide. Besides, the utilized procedure was inconsequential. It has been proved that the investigation of the dynamic response of a nonlinear viscoelastic oscillator presents the case that, with some minimal restrictions, the Riemann–Liouville and Caputo definitions produce completely equivalent mathematical models of the nonlinear viscoelastic phenomenon.     

Research on linear/nonlinear viscous damping and hysteretic damping in nonlinear vibration isolation systems

A nonlinear vibration isolation system is promising to provide a high-efficient broadband isolation performance. In this paper, a generalized vibration isolation system is established with nonlinear stiffness, nonlinear viscous damping, and Bouc-Wen(BW)hysteretic damping. An approximate analytical analysis is performed based on a harmonic balance method(HBM) and an alternating frequency/time(AFT) domain technique.To evaluate the damping effect, a generalized equivalent damping ratio is defined with the stiffness-varying characteristics. A comprehensive comparison of different kinds of damping is made through numerical simulations. It is found that the damping ratio of the linear damping is related to the stiffness-varying characteristics while the damping ratios of two kinds of nonlinear damping are related to the responding amplitudes. The linear damping, hysteretic damping, and nonlinear viscous damping are suitable for the small-amplitude, medium-amplitude, and large-amplitude conditions, respectively. The hysteretic damping has an extra advantage of broadband isolation.     

一种含惯容和接地刚度的动力吸振器参数优化

大多数机械振动属于有害振动, 不仅会产生噪声还会降低设备的使用寿命和工作性能. 接地刚度和惯容这两种器件均能改变系统的固有频率, 在振动控制领域中有着良好的效果. 但目前的大部分研究仅着眼于单一元件对系统产生的影响, 而此类吸振器逐渐难以满足设备对振动控制需求的增长. 在Voigt型动力吸振器模型的基础上, 提出了一种含有惯容和接地刚度的新型动力吸振器模型, 详细研究了该模型的最优设计参数, 推导出最优设计公式的解析解. 首先通过牛顿第二定律建立起二自由度系统的运动微分方程, 计算出系统解析解, 发现系统存在3个与阻尼比无关的固定点, 利用固定点理论得到了动力吸振器的最优频率比. 为保证系统稳定性, 筛选最优接地刚度比时, 发现不恰当的惯容系数会导致系统产生失稳现象, 进而推导出惯容最佳工作范围, 最终得到了最优接地刚度比和近似最优阻尼比. 分析了惯容系数取值在最佳范围以外时系统的工作情况, 并给出了实际应用中的建议. 通过数值仿真验证了推导得到解析解的正确性. 与多种已有的动力吸振器在简谐激励和随机激励的工况下进行对比, 说明了该模型能够大幅降低主系统振幅, 拓宽减振频带, 为设计新型吸振器提供了理论依据.      

Rheological–dynamical analogy: Prediction of damping parameters of hysteresis damper

This research aims to predict the damping parameters of hysteresis damper based on an analytical rheological–dynamical (RDA) visco-elasto-plastic solution of one-dimensional longitudinal continuous vibrations of a bar. A visco-elasto-plastic bar or damper is an energy dissipation device. An attempt is made to estimate quantitatively the influence of material physical parameters of materials on the damping ratio in both the linear visco-elastic analysis and the nonlinear visco-elasto-plastic analysis of damper subjected to external vibration forces. Two types of damping are considered: viscous damping in the case of linear analysis, defined as stiffness and/or mass proportional and, in the case of nonlinear analysis, hysteresis damping caused by inelastic deformations of damper. Owing to the visco-elastic nature of the materials of the damper and the frequency dependence of the viscous damping ratio ξ, it is useful to consider separately the situations arising when ξ is positive (the system is stable) and when it is negative. A negative damping ratio means that the complementary solution of the response would not die away (the system is unstable because of factor e^{ξ · ω · t}). In the case of nonlinear analysis, the force–displacement relation is nonlinear, so it is very difficult to predict the actual damping and stiffness coefficients, even if the force–displacement characteristic is simply perfect elasto-plastic. Using the RDA method, which takes into account the rate of release of visco-elasto-plastic energy of the dissipation devices; nonlinear behaviors are linearized, enabling to obtain the equivalent damping and stiffness coefficients and the effective period for the damper.     

AN EXPERIMENTAL STUDY ON THE FLUIDELASTIC FORCES ACTING ON A SQUARE TUBE BUNDLE IN TWO-PHASE CROSS-FLOW

A tube in a square tube bundle of P/D=1·42 was oscillated in the lift direction in air–water two-phase cross-flow, and fluidelastic forces acting on the oscillated tube were measured. First, the tube amplitude was fixed to 3 mm (=0·136 D), and added mass, damping, and stiffness coefficients were obtained as a function of two-phase mixture characteristics such as nondimensional gap velocity and void fraction. When reference mixture density and velocity were estimated, the drift–flux model, in which the relative velocity between the gas and liquid phases was estimated, generated better results than the homogeneous model. The added mass coefficient was obtained from quiescent two-phase flow as a function of void fraction. Using the added mass coefficient, the added stiffness coefficient converged to zero with decreasing nondimensional gap velocity. This overcame the contradiction in the added stiffness estimation without added mass, in which the added stiffness coefficient did not converge to zero with decreasing nondimensional gap velocity. Next, the effects of the vibration amplitude on the fluidelastic force coefficients were considered. When the tube amplitude was 3 mm (=0·136 D) or less, the equivalent added stiffness and damping coefficients were almost constant and nonlinearity was small. This showed the validity of the fluidelastic force coefficients obtained based on the data of amplitude of 3 mm. The linearity did not exist when the tube displacement amplitude was 4·5 mm (=0·205 D) or more; a remarkable nonlinearity appeared in the equivalent added damping coefficient. A method to estimate the limit-cycle amplitude of the fluidelastic vibration was proposed when only one tube in the tube bundle was able to vibrate in the lift direction. The amplitude could be obtained from the amplitude at which the equivalent added damping coefficient changed from negative to positive with increase in the tube amplitude.     

负刚度时滞反馈控制动力吸振器的等峰优化

相比于传统动力吸振器, 负刚度动力吸振器同时具有更好的减振能力和更宽的有效减振频带宽度, 为了进一步降低共振峰幅值, 在负刚度吸振器系统耦合时滞反馈控制. 对负刚度时滞反馈控制动力吸振器系统进行等峰优化设计, 优化设计的准则是:第一和第二共振峰的峰值相等; 同时兼顾两个目标, 一个目标是在优化时的最大共振峰幅值小于被动负刚度吸振器系统的反共振峰幅值, 另一目标是在优化时共振峰幅值与反共振峰幅值差小于被动吸振器系统. 接着, 通过设计和调节负刚度系数、吸振器阻尼系数和时滞反馈控制系数对控制系统进行等峰优化设计. 最后, 在降低幅值的同时, 分析结构参数对有效减振频带宽度的影响. 经过等峰优化之后, 选择本文的一组结构参数与两个典型的模型进行对比. 为了定量比较不同模型的降幅效果, 定义了减幅百分比, 研究发现在有效减振频带区间内减幅百分比超过40%以上. 结果表明, 通过等峰优化准则对结构参数进行优化设计和调节增益系数和时滞量, 共振峰幅值的减幅百分比也近似达到40%, 也可以调节增益系数和时滞量, 使得幅频响应曲线具有较宽的有效减振频带和较低的共振峰幅值与反共振峰幅值的差值.      

一种含负刚度元件的新型动力吸振器的参数优化

提出了一种含有负刚度弹簧元件的新型动力吸振器模型,对该模型的最优参数进行了详细研究. 通过拉氏变换得到了系统的解析解,发现该系统存在着两个固定点,利用固定点理论得到了动力吸振器的最优阻尼比和最优频率比. 进一步研究发现接地刚度取负值时能够得到更好的减振效果,根据负刚度的特性得到了在保证系统稳定情况下的最优负刚度比. 通过数值解与解析解的对比证明了解析解的正确性. 通过与两种已有的典型动力吸振器模型在简谐激励和随机激励情况下的对比,说明了负刚度模型在主系统减振方面具有很大的优势,减振效果远优于两种已有动力吸振器模型,从而为设计新型动力吸振器模型提出了理论上的依据.      

Oscillators with a power-form restoring force and fractional derivative damping: Application of averaging

In this paper free oscillators with a power-form restoring force and with a fractional derivative damping term are considered. An analytical approach based on the averaging method is adjusted to derive analytical expressions for the amplitude and phase of oscillations. Effects of the fractional-order derivative on the amplitude and frequency of oscillations are discussed in several examples, including a generalized van der Pol oscillator, purely nonlinear oscillators and a linear oscillator.     

不同类型水平弹簧组合刚度非线性吸振器的性能分析及稳定性研究

动力吸振器作为一种振动控制单元被广泛运用于各种工程场合,但传统的线性吸振器只能实现窄带振动控制.文章在线性吸振器的基础上引入对称水平弹簧构建线性刚度与非线性刚度相结合的组合刚度非线性吸振器,以提升吸振器的吸振性能.考虑实际工程中可能的安装方式,分别建立水平弹簧接地安装和不接地安装的组合刚度非线性吸振器模型,利用谐波平衡法结合弧长延拓法解析求解动力学响应,并与数值结果相互验证,证明了求解结果的准确性.随后分析比较两种组合刚度非线性吸振器与线性吸振器以及非线性能量阱之间的吸振性能,发现水平弹簧接地安装类型的组合刚度非线性吸振器在保留线性吸振器优势的同时又改善其吸振频带窄的缺点,且与非线性能量阱相比在主共振频率附近的较宽频内吸振性能更优.在此基础上,讨论了水平弹簧参数以及吸振器阻尼对主结构振动幅频响应和稳定性的影响,最后观察分析主结构幅频响应曲线不稳定区内的复杂动力学行为.研究结果表明合适的设计参数能够使得主结构振动峰值较低的同时,频响曲线不稳定运动区域的范围也较小.     

基于分数阶磁流变液阻尼器模型的车辆悬架组合控制

磁流变液阻尼器的分数阶Bingham模型结构形式简单, 而且可以更好地描述系统的滞回特性. 建立了含有分数阶Bingham模型的单自由度1/4车辆悬架系统模型, 利用磁流变液阻尼器对在路面简谐激励下的非线性车辆悬架系统进行振动控制. 研究了含有分数阶Bingham模型的悬架系统在天棚阻尼半主动控制下的主共振响应, 利用平均法得到了系统的近似解析解. 求解了系统定常解的幅频响应方程, 并根据李雅普诺夫稳定性理论得到了悬架系统的稳定性条件. 通过绘制数值解和解析解的幅频响应曲线对比图, 验证了近似解析解的正确性. 利用簧载质量垂直方向的加速度均方根值分析了半主动控制对车辆乘坐舒适性的影响, 发现天棚阻尼半主动控制策略在低频激励区域反而会降低车辆的乘坐舒适性. 因此提出了一种被动控制与半主动控制相结合的组合控制策略, 并分析了半主动控制参数对振动控制效果的影响. 分析结果表明, 该组合控制策略不但能够提高车辆的乘坐舒适性, 而且能有效抑制悬架系统的主共振振动幅值.      

Analysis of Duffing oscillator with time-delayed fractional-order PID controller

The free vibration of Duffing oscillator with time-delayed fractional-order Proportional-Integral-Derivative (FOPID) controller based on displacement feedback is studied. The second-order approximate analytical solution is obtained by KBM asymptotic method. The effects of the parameters in FOPID controller on the dynamical properties are characterized by some equivalent parameters. The correctness of the approximate analytical results is verified by the numerical results. The effects of the time-delayed FOPID controller with displacement feedback on control performances of Duffing oscillator are analyzed in detail by time response, and the stability conditions of zero solution and periodic motions are also presented. Finally, the control performances on Duffing oscillator with large damping are further analyzed. And the results show that one could take the advantage of time delay, when the parameters of time-delayed FOPID controller are chosen reasonably.     

VIBRATION OF CAVITATING ELASTIC WING IN A PERIODICALLY PERTURBED FLOW: EXCITATION OF SUBHARMONICS

The vibration of an elastic wing with an attached cavity in periodically perturbed flows is analyzed. Because the cavity thickness and length L also are perturbed, an excitation with a fixed frequency ω leads to a parametric vibration of the wing, and the amplitudes and spectra of its vibration have nonlinear dependencies on the amplitude of the perturbation. Numerical analysis was carried out for a two-dimensional flow of ideal fluid. Wing vibration was described by means of the beam equation. As a result, two frequency bands of a significant vibration increase were found. A high-frequency band is associated mainly with an elastic resonance of the wing, and a cavity can add a certain damping. A low-frequency band is associated with cavity-volume oscillations. The governing parameter for the low-frequency vibration is the cavity length-based Strouhal number St_C=ωL/U, where U is the free-stream speed. The most significant vibration in the low-frequency band corresponds to approximately constant values of Sh_Cand has the most extensive subharmonics.