考虑等效曲率的超二次曲面单元非线性接触模型

基于连续函数包络的超二次曲面单元可有效地描述自然界和工业生产中的非球体颗粒形态, 并通过非线性迭代方法精确计算单元间的接触力. 对于具有复杂几何形态的超二次曲面单元, 线性接触模型不能准确地计算不同接触模式下的作用力. 考虑超二次曲面单元相互作用时不同颗粒形状及表面曲率的影响, 本文发展了相应的非线性黏弹性接触模型. 该模型将不同接触模式下的法向刚度和黏滞力统一表述为单元间局部接触点处等效曲率半径的函数; 切向接触作用则借鉴基于Mohr-Coulomb摩擦定律的球体单元非线性接触模型的计算方法. 为检验超二次曲面单元接触模型的可靠性, 对球形颗粒间的法向碰撞、椭球体颗粒间的斜冲击过程、圆柱体的静态堆积和椭球体的动态卸料过程进行离散元模拟, 并与有限元数值结果及试验结果进行对比验证. 计算表明, 考虑接触点处等效曲率半径的超二次曲面非线性接触模型可准确地计算单元间的接触碰撞作用, 并合理地反映非球形颗粒体系的运动规律. 在此基础上进一步分析了不同长宽比和表面尖锐度对卸料过程中颗粒流动特性的影响, 为非球形颗粒材料的流动特性分析提供了一种有效的离散元方法.      

考虑粗糙结合面弹塑性接触的黏滑摩擦建模

提出一种同时考虑粗糙面上微凸体弹性变形和塑性接触的切向黏滑摩擦建模方法。采用Hertz弹性理论和Mindlin解描述弹性接触微凸体的切向载荷和相对变形的关系;采用AF(Abbott-Firstone)塑性理论和Fujimoto模型描述塑性接触微凸体切向载荷和相对变形的关系。再利用GW(Greenwood-Williamson)模型统计分析方法建立粗糙表面切向载荷和相对变形之间的关系。将模型与仅考虑微凸体弹性接触情况的模型进行对比,并研究了不同塑性指数对切向载荷和相对变形关系的影响。结果表明：与完全弹性接触模型相比,本文模型引入了塑性接触理论,能够更好地描述粗糙表面切向载荷和相对变形关系,并且考虑不同接触条件下弹性变形微凸体和塑性变形微凸体对切向接触载荷的贡献,在微滑移阶段,主要由弹性接触变形影响,而在进入宏观滑移阶段之后,切向行为主要由塑性变形影响。界面切向载荷由黏着和滑移接触作用共同决定,随着切向变形的增加,滑移接触力逐渐增加,而黏着接触力先增加后减少,反映了界面由微滑移逐渐向宏滑移演化的过程。随着塑性指数的增加,粗糙面上发生塑性接触的微凸体数目逐渐增加,切向黏滑行为主要受到塑性接触特征的控制。     

考虑等效曲率的超二次曲面单元非线性接触模型

基于连续函数包络的超二次曲面单元可有效地描述自然界和工业生产中的非球体颗粒形态,并通过非线性迭代方法精确计算单元间的接触力.对于具有复杂几何形态的超二次曲面单元,线性接触模型不能准确地计算不同接触模式下的作用力.考虑超二次曲面单元相互作用时不同颗粒形状及表面曲率的影响,本文发展了相应的非线性黏弹性接触模型.该模型将不同接触模式下的法向刚度和黏滞力统一表述为单元间局部接触点处等效曲率半径的函数;切向接触作用则借鉴基于Mohr-Coulomb摩擦定律的球体单元非线性接触模型的计算方法.为检验超二次曲面单元接触模型的可靠性,对球形颗粒间的法向碰撞、椭球体颗粒间的斜冲击过程、圆柱体的静态堆积和椭球体的动态卸料过程进行离散元模拟,并与有限元数值结果及试验结果进行对比验证.计算表明,考虑接触点处等效曲率半径的超二次曲面非线性接触模型可准确地计算单元间的接触碰撞作用,并合理地反映非球形颗粒体系的运动规律.在此基础上进一步分析了不同长宽比和表面尖锐度对卸料过程中颗粒流动特性的影响,为非球形颗粒材料的流动特性分析提供了一种有效的离散元方法.     

多体系统碰撞动力学中接触力模型的研究进展

接触碰撞行为作为大自然与多体系统中的常见现象, 其接触力模型对于多体系统的碰撞行为机理研究与性能预测至关重要. 静态弹塑性接触模型与考虑能量耗散的连续接触力模型是研究接触碰撞行为的两类不同方法, 在多体系统碰撞动力学中存在诸多共性与差异. 本文分别从上述两类接触模型的发展历程入手, 详细介绍了两类模型的区别与联系. 首先, 根据阻尼项分母中是否含有初始碰撞速度将连续接触力模型分为黏性接触力模型与迟滞接触力模型, 讨论了能量指数与Hertz接触刚度之间的关系, 阐述了现有连续接触力模型在计算弹塑性材料接触碰撞行为时存在的问题. 其次, 着重介绍了分段连续的准静态弹塑性接触力模型(可连续从完全弹性转换到完全塑性接触阶段), 分析了利用此类弹塑性接触力模型计算碰撞行为的技术特点. 同时, 以恢复系数为桥梁和借助线性化的弹塑性接触刚度, 避免了Hertz刚度对弹塑性接触刚度的计算误差, 根据碰撞前后多体系统的能量与动能守恒推导了弹塑性接触模型等效的迟滞阻尼因子. 探索了连续接触力模型与准静态弹塑性接触力模型之间的内在联系, 数值计算结果定量说明了人为阻尼项代表的能量耗散与弹塑性接触力模型中加卸载路径代表的能量耗散具有等效性. 另外, 为了避免阻尼项分母中初始碰撞速度在计算颗粒物质动态性能时导致的数值奇异问题, 通过求解等效的线性单自由度欠阻尼非受迫振动方程获得了阻尼项分母中不含初始碰撞速度的连续接触力模型, 并以一维球链为例, 证明了该模型相比EDEM软件使用的连续接触力模型具有更高的精度. 最后, 本文分析了当前多体系统碰撞动力学的研究现状, 并简要展望了多体系统碰撞动力学中接触力模型的发展趋势与面临的挑战.      

基于LuGre摩擦模型的接触约束法旋转柔性梁斜碰撞研究

基于接触约束法和LuGre摩擦模型对在重力场作用下作大范围旋转运动的柔性梁系统和斜坡发生含摩擦斜碰撞的动力学问题进行研究. 首先运用刚柔耦合的多体系统动力学理论对大范围运动的柔性梁进行离散化和动力学建模, 在碰撞时采用冲量动量法求出跳跃速度, 其次在法向上引入接触约束求解出碰撞力, 在切向上采用LuGre摩擦模型分两种方式求解摩擦力, 第一种是在滑动时摩擦力由摩擦系数和碰撞力计算得出, 黏滞状态下引入切向约束计算拉格朗日乘子反应实际摩擦力, 根据黏滞/滑动切换判断计算出碰撞过程摩擦力(与Coulomb摩擦模型计算摩擦力一致); 第二种根据LuGre摩擦模型摩擦系数和法向碰撞力计算其摩擦力, 从而在碰撞时无需黏滞/滑动切换, 采用相同的摩擦力计算公式. 通过与Coulomb摩擦模型对比发现, LuGre摩擦模型描述碰撞切向摩擦过程更精确, LuGre摩擦模型黏滞时建立约束方程和碰撞采用统一的摩擦力公式这两种建模方式描述的斜碰撞动力学特性没有区别, 进而说明采用法向接触约束和LuGre摩擦模型具有满足碰撞非嵌入情况、避免黏滞/滑动切换、描述摩擦力相对准确的优势.      

水沙流中离散颗粒流动应力关系

在已有的基于膨胀体模型、动理论模型和连续介质理论得到的关系式基础上,分析了水沙流中颗粒流动的应力关系应由摩擦应力、滑动应力和碰撞应力3部分组成,并将颗粒弹性恢复系数引入,对颗粒碰撞项进行了修正。根据颗粒碰撞时间间隔T_c和颗粒弛豫时间T_e的对比,提出了颗粒流动进入碰撞惯性区的临界值,即当T_c/T_e<0.02时,水沙流中颗粒流动碰撞作用占优,可忽略摩擦应力和滑动应力,并将提出的临界值与实验资料进行了比较。利用修正后的水沙流中颗粒流动应力关系,对缓槽水沙流动进行了模拟计算,获得了与实测资料一致的结果。     

双轴压缩下颗粒物质接触力与力链特性研究

为探究双轴压缩过程中颗粒物质接触力与力链特性,采用离散元法研究双轴压缩过程,得到双轴压缩过程中颗粒体系宏观力学特性,即偏应力、体积应变变化规律,并通过对接触力大小分布规律、接触力角度分布规律等细观层次分析,完成接触力大小、力链方向性量化描述,同时探究围压对颗粒物质力学特性的影响。研究表明,双轴压缩过程经历应力强化、应力软化、应力波动三个阶段。在各阶段,强接触与总体接触的各类型接触力大小分布规律可采用高斯函数或指数函数拟合,弱接触的法向与总接触力分布较为均匀;直径较大颗粒上具有接触力集中现象,集中程度随着围压升高而加强;力链网络形态经历"鱼鳞"状-"柱"状-"拱"状-"龟壳"状演变,由初始时基本各向同性,逐渐向最大主应力y向偏转,表现出强烈各向异性,最后又经历小幅度偏转偏离y向。不同围压下力链分量比变化规律证实了该发现,接触力角度分布规律也从力链承载方向验证了此结论。研究结果将为探究双轴压缩中颗粒物质力学特性提供理论基础。     

基于FEM-DEM的三体摩擦界面中接触行为与应力的多尺度分析

为了研究三体摩擦界面中第一体变形与第三体状态的相互影响,利用耦合有限元法和离散元法的多尺度法模拟了平行板剪切颗粒第三体的过程。整个模型分为两个区域：有限元区域（上板）和离散元区域（第三体和下板）,上板在一定的外载荷压应力下挤压颗粒第三体,下板以恒定的速度剪切颗粒第三体。为实现两个子区域间的相互联系,建立了子区域间应力应变的传递机制。实现了三体摩擦界面的多尺度分析,模拟了平行板剪切颗粒第三体的过程。模拟结果表明：当外载荷压应力低于10MPa时,颗粒间的碰撞增多使得第三体内量纲归一化平均应力增大,宏观摩擦系数也随之增大;在剪切过程中,第三体内部颗粒间的接触随接触角度的分布呈现出一定的规律性,0~90°各区间内的强接触较多,尤其在54°~72°之间;颗粒接触随接触力大小的分布也具有一定的规律性,接触力与第三体颗粒平均接触力的比值在0~0.6之间内的接触较多,随后接触力越大,接触数越少。同时,第一体内压应力分布与第三体内力链的分布相对应,力链越强则与其接触的第一体的压应力越大。     

基于颗粒物质力学的铁粉末压制中摩擦特性对力链演化影响

结合颗粒物质力学理论,通过离散元法实现铁粉末压制过程模拟并通过压制方程进行验证,针对粉末体系中的力链演化问题,提出力链特征定量分析方式,进一步通过分析不同颗粒间摩擦系数、侧壁摩擦系数与颗粒运动状态转变的方式,探讨摩擦特性对力链量化特征的影响,从而建立摩擦行为与力链演化间的联系. 研究结果表明:随颗粒间摩擦系数增大,整体力链数目变少,力链方向系数、承载不均匀度及单位屈曲度均变大,而随侧壁摩擦系数增大,力链特征差异较小,则颗粒间摩擦系数较侧壁摩擦系数对力链特征演化具有更显著影响. 同时发现,颗粒接触状态的改变与力链特征演化间具有对应性. 研究成果将进一步拓展粉末压制中考虑摩擦行为及力链演化过程在内的粉体致密化行为理论.      

颗粒流润滑的现状和展望

颗粒流润滑的思路是将固体材料以颗粒（粉末）状态直接导入摩擦副,使摩擦间隙充满固体颗粒,利用微小颗粒的摩擦、变形、碰撞、挤压和滑滚等微观运动,减少作相对运动两表面微凸体的直接接触,从而达到减少摩擦和保护表面的目的.总结了颗粒流润滑在航天磁悬浮备用轴承、径向轴承、制动器、磨削加工、压铸加工等工程领域中的研究和应用现状.分析和对比了已有的颗粒流润滑理论如类流体润滑理论、碰撞动理学润滑理论、离散单元和元胞自动机理论,指出摩擦间隙中颗粒流行为和颗粒接触模型是颗粒流润滑理论的关键问题.最后,从多尺度特性、非连续特性、环保等角度对颗粒流润滑在未来的进一步发展进行了展望.     

Assessing continuum postulates in simulations of granular flow

Continuum mechanics relies on the fundamental notion of a mesoscopic volume “element” in which properties averaged over discrete particles obey deterministic relationships. Recent work on granular materials suggests that a continuum law may be inapplicable, revealing inhomogeneities at the particle level, such as force chains and slow cage breaking. Here, we analyze large-scale three-dimensional discrete-element method (DEM) simulations of different granular flows and show that an approximate “granular element” defined at the scale of observed dynamical correlations (roughly three to five particle diameters) has a reasonable continuum interpretation. By viewing all the simulations as an ensemble of granular elements which deform and move with the flow, we can track material evolution at a local level. Our results confirm some of the hypotheses of classical plasticity theory while contradicting others and suggest a subtle physical picture of granular failure, combining liquid-like dependence on deformation rate and solid-like dependence on strain. Our computational methods and results can be used to guide the development of more realistic continuum models, based on observed local relationships between average variables.     

DISCRETE AND CONTINUUM MODELLING OF GRANULAR FLOW

This paper analyses three popular methods simulating granular flow at different time and length scales： discrete element method （DEM）, averaging method and viscous, elastic-plastic continuum model. The theoretical models of these methods and their applications to hopper flows are discussed. It is shown that DEM is an effective method to study the fundamentals of granular flow at a particle or microscopic scale. By use of the continuum approach, granular flow can also be described at a continuum or macroscopic scale. Macroscopic quantities such as velocity and stress can be obtained by use of such computational method as FEM. However, this approach depends on the constitutive relationship of materials and ignores the effect of microscopic structure of granular flow. The combined approach of DEM and averaging method can overcome this problem. The approach takes into account the discrete nature of granular materials and does not require any global assumption and thus allows a better understanding of the fundamental mechanisms of granular flow. However, it is difficult to adapt this approach to process modelling because of the limited number of particles which can be handled with the present computational capacity, and the difficulty in handling non-spherical particles. Further work is needed to develoo an aoorooriate aooroach to overcome these problems.     

Prediction of draft forces in cohesionless soil with the Discrete Element Method

The Discrete Element Method (DEM) is applied to predict draft forces of a simple implement in cohesionless granular material. Results are compared with small-scale laboratory tests in which the horizontal force is measured at a straight blade. This study is focused on the case of cohesionless material under quasi-static conditions.The DEM requires the calibration of the local contact parameters between particles to adjust the bulk material properties. The most important bulk property is the angle of internal friction ?. In the DEM, the shear resistance is limited in the case of spherical particles due to excessive particle rotations. This is cured by retaining rotations of the particles. Although this is known to prevent the material from developing shear bands, the model still turns out to be capable of predicting the reaction force on the blade.In contrast to empirical formulas for this kind of application, the DEM model can easily be extended to more complex tool geometries and trajectories. This study helps to find a simple and numerically efficient setup for the numerical model, capable of predicting draft forces correctly and so allowing for large-scale industrial simulations.     

A study of influence of gravity on bulk behaviour of particulate solid

This paper examines the influence of gravity on the bulk responses of a granular solid. The loading scenarios in this study include confined compression, rod penetration into a granular medium and discharging through an orifice. Similar loading and flow conditions are likely to be encountered in the stress and deformation regimes that regoliths are subjected to in extraterrestrial exploration activities including in situ resource utilisation processes. Both spherical and non-spherical particles were studied using the discrete element method （DEM）. Whilst DEM is increasingly used to model granular solids, careful validations of the simulation outcomes are rather rare. Thus in addition to exploring the effect of gravity, this paper also compares DEM simulations with experiments under terrestrial condition to verify whether DEM can produce satisfactory predictions. The terrestrial experiments were conducted with great care and simulated closely using DEM. The key mechanical and geometrical properties for the particles were measured in laboratory tests for use in the DEM simulations. A series of DEM computations were then performed under reduced gravity to simulate these experiments under extraterrestrial environment. It was found that gravity has no noticeable effect on the force transmission in the confined compression case; the loading gradient in the rod penetration is linearly proportional to the gravity; the mass flow rate in silo discharge is proportional to square root of the gravity and the angle of repose increases with reducing gravity. These findings are in agreement with expectation and existing scientific evidence.     

A study of influence of gravity on bulk behavior of particulate solid

This paper examines the influence of gravity on the bulk responses of a granular solid. The loading scenarios in this study include confined compression, rod penetration into a granular medium and discharging through an orifice. Similar loading and flow conditions are likely to be encountered in the stress and deformation regimes that regoliths are subjected to in extraterrestrial exploration activities including in situ resource utilisation processes. Both spherical and non-spherical particles were studied using the discrete element method (DEM). Whilst DEM is increasingly used to model granular solids, careful validations of the simulation outcomes are rather rare. Thus in addition to exploring the effect of gravity, this paper also compares DEM simulations with experiments under terrestrial condition to verify whether DEM can produce satisfactory predictions.The terrestrial experiments were conducted with great care and simulated closely using DEM. The key mechanical and geometrical properties for the particles were measured in laboratory tests for use in the DEM simulations. A series of DEM computations were then performed under reduced gravity to simulate these experiments under extraterrestrial environment. It was found that gravity has no noticeable effect on the force transmission in the confined compression case; the loading gradient in the rod penetration is linearly proportional to the gravity; the mass flow rate in silo discharge is proportional to square root of the gravity and the angle of repose increases with reducing gravity. These findings are in agreement with expectation and existing scientific evidence.     

A modified discrete element method for concave granular materials based on energy-conserving contact model

The development of a general discrete element method for irregularly shaped particles is the core issue of the simulation of the dynamic behavior of granular materials. The general energy-conserving contact theory is used to establish a universal discrete element method suitable for particle contact of arbitrary shape. In this study, three dimentional (3D) modeling and scanning techniques are used to obtain a triangular mesh representation of the true particles containing typical concave particles. The contact volume-based energy-conserving model is used to realize the contact detection between irregularly shaped particles, and the contact force model is refined and modified to describe the contact under real conditions. The inelastic collision processes between the particles and boundaries are simulated to verify the robustness of the modified contact force model and its applicability to the multi-point contact mode. In addition, the packing process and the flow process of a large number of irregular particles are simulated with the modified discrete element method (DEM) to illustrate the applicability of the method of complex problems.     

考虑颗粒转矩的接触网络诱发各向异性分析

颗粒材料的宏观力学行为与接触网络的组构各向异性密切相关, 根据接触点的滑动与否、转动与否和强弱力情况, 可以将颗粒间的接触系统分为不同的子接触网络. 一般而言, 不同的子接触网络在颗粒体系中的传力机制不同, 对宏观力学响应的贡献也有不同. 采用离散单元法(discrete element method, DEM)模拟了不同抗转动系数$\mu_r$下颗粒材料三轴剪切试验, 分析了剪切过程中不同子接触网络的组构张量的演变规律, 并探究了颗粒抗转动效应对子接触网络各向异性指标演变规律的影响. 研究发现: 剪切过程中转动、非转动接触的组构张量变化不是独立的, 受到颗粒间滑动与否的影响; 非滑动、强接触网络是颗粒间的主要传力结构, 非滑动接触网络的接触法向和法向接触力各向异性均随$\mu_r$的增大而增大, 其对宏观应力的贡献程度随$\mu_r$的增大而减小;强接触网络的接触法向各向异性随$\mu_r$的增大而增大, 但法向接触力各向异性随$\mu_r$的增大无明显变化, 强接触网络对宏观应力的贡献程度在不同$\mu_r$情况下均相同.      

Automatic extraction method of force chain information and its application in the flow photoelastic experiment of granular matter

The force chain is the core of the multi-scale analysis of granular matter. Accurately extracting the force chain information among particles is of great significance to the study of particle mechanics and geological hazards caused by particle flow. However, in the photoelastic experiment, the precise identification of the branching points of force chains has not been effectively realized. Therefore, this study proposes an automatic extraction method of force chain key information. First, based on the Hough transform and the Euclidean distance, a particle geometric information identification model is established and geometric information such as particle circle center coordinates, radius, contact point location, and contact angle is extracted. Then, a particle contact force information identification model is established following the color gradient mean square method. The model realizes the rapid calibration and extraction of a large number of particle media contact force information. Next, combined with the force chain composition criterion and its quasilinear feature, an automatic extraction method of force chain information is established, which solves the problem of the accurate identification of the force chain branch points. Finally, in the photoelastic experiment of ore drawing from a single drawpoint, the automatic extraction method of force chain information is verified. The results show that the macroscopic distribution of force chains during ore drawing from a single drawpoint is left–right symmetrical. Strong force chains are mostly located on the two sides of the model but in small numbers and they mainly develop vertically. Additionally, the ends are mostly in a combination of Y and inverted Y shapes, while the middle is mostly quasilinear. Weak force chains are abundant and mostly distributed in the middle of the model, and develop in different directions. The proposed extraction method accurately extracts the force chain network from the photoelastic experiment images and dynamically characterizes the force chains of granular matter, which has significant advantages in particle geometry information extraction, force chain branch point discrimination, force chain retrieval, and force chain distribution and its azimuthal characterization. The results provide a scientific basis for studying the macroscopic and microscopic mechanical parameters of granular matter.     

On flows of granular materials

This article reviews the behavior of materials made up of a large assemblage of solid particles under rapid and quasi static deformations. The focus is on flows at relatively high concentrations and for conditions when the interstitial fluid plays an insignificant role. The momentum and energy exchange processes are then primarily governed by interparticle collisions and Coulomb-type frictional contact. We first discuss some physical behavior —dilatancy, internal friction, fluidization and particle segregation — that are typical to the understanding of granular flows. Bagnold's seminal Couette flow experiments and his simple stress analysis are then used to motivate the first constitutive theories that use a microstructural variable — the fluctuation energy or granular temperature — governing the subscale fluctuating motion. The kinetic theories formalize the derivation of the field equations of bulk mass, momentum and energy, and permit derivation of constitutive relations for stress, flux of fluctuation energy and its dissipation rate for simple particle assemblages and when frictional rubbing contact can be ignored. These statistical considerations also show that formulation of boundary conditions needs special attention. The frictional-collisional constitutive behavior in which both Coulomb-type rubbing contact and collisional encounters are significant are discussed. There is as yet no rigorous formulation. We finally present a phenomenological approach that describes rapid flows of granular materials under simultaneous transport of heat and close with a summary of stability analyses of the basic flow down an inclined plane.Dedicated to Professor Dr.-Ing. Franz Gustav Kollmann on the occasion of his sixtieth brithday