串联电气设备支架隔震体系地震响应半解析法

通过并联橡胶隔震支座,建立串联高架电气设备支架隔震体系及力学模型,应用分布参数梁振动理论, 通过边界条件引入集中参数,推导其频率方程,并用数值方法求得频率及振型. 应用Betti定律,推导具有集中分布参数柔性节点的多节电瓷型高压电气设备的正交条件,得到广义质量及广义载荷. 将该串联隔震体系的非比例阻尼分解为比例阻尼部分和非比例阻尼部分,应用Hamilton原理推导出非比例阻尼部分等效振型阻尼比,实现串联电气设备支架隔震体系振动方程的解耦,然后通过振型叠加法求得结构的地震响应. 最后应用该半解析法与有限元数值积分法对一330kV电压互感器地震响应进行分析. 结果表明:该隔震体系能显著减小电气设备的地震响应,同时该半解析法求解的地震响应与有限元数值积分求解的结果相一致,说明该隔震体系的有效性与该半解析方法求解非比例阻尼串联电气设备支架隔震体系地震响应的正确性.      

非比例阻尼线性体系平稳随机地震响应计算的虚拟激励法

应用复振型分解方法,将非比例阻尼线性体系在地震作用下的动力方程求解问题转化为若干个广义复振子的求解与叠加问题。通过假定地震地面运动为一零均值的平稳随机激励,应用虚拟激励法原理,推导得到了广义复振子动力坐标的解析计算公式,进而得到了以复振型为基础的非比例阻尼线性体系随机地震响应计算的一般实数解析解答。算例证实了这种方法的可靠性及高效率。     

用虚拟激励法求解非比例阻尼线性体系的非平稳随机地震响应

应用复振型分解方法,将非比例阻尼线性体系在地震作用下的动力方程求解问题转化为若干个广义复振子的求解与叠加问题。通过假定地震地面运动为一零均值的非平稳随机激励,应用虚拟激励法原理,推导得到了广义复振子动力坐标计算的一般公式,进而得到了非比例阻尼线性体系非平稳随机地震响应计算的一般解答。由于可以选择少量共轭复振型的影响进行计算,对于大型复杂非比例阻尼结构,其随机地震响应计算工作量可以大幅度减小。算例证实了这种方法的可靠性及可行性。     

部分潜入水中椭圆柱体的扭振分析

本文研究部分潜入水中椭圆柱体的扭转振动问题.利用 Mathieu 级数以及三角级数的正交完备性,导出了柱水耦联体系振型函数和频率方程的精确解析式.研究还表明,水体对椭圆柱体振动特性的影响等效于一附着在柱体上的广义分布质量.     

基于状态观测器的带分布参数体系地震响应控制

针对带分布参数体系地震响应控制问题,建立带分布参数体系的运动控制方程,推导出应用于带分布参数体系的序列最优模态控制算法。根据序列最优模态控制算法振动控制时对结构全状态反馈的需要,提出了针对序列最优模态控制算法的全维状态观测器,形成基于全维状态观测器的序列最优模态控制算法,然后通过测量容易测量的结构地震响应,由全维状态观...     

含分数阻尼特性元件的多体系统动力学研究

在绝对节点坐标体系下研究了具有分数导数阻尼特性元件的多体系统动力学建模、求解问题. 采用基于绝对节点坐标的无闭锁效应剪变梁单元离散柔性构件,建立了含常数质量矩阵的系统动力学方程, 并采用数值耗散可控的广义a方法求解. 通过数值算例计算,对比研究了算法参数与阻尼项的分数指数对系统动力学响应的影响规律.该方法可以进一步扩展到众多工程实际问题研究中.      

张拉整体结构的动力学等效建模与实验验证

为了实现张拉整体结构高效动力学计算, 并考虑其大范围运动中柔性杆局部动态屈曲, 提出了一种受压细长杆动力学降阶模型, 采用五节点弹/扭簧集中质量离散模型等效连续杆的静力学和动力学特性. 首先, 通过静力学等效分析推导了弹簧拉压刚度和扭簧弯曲刚度表达式, 可准确预测杆件受压屈曲和近似预测其后屈曲行为. 第二, 通过动能等效分析推导了集中质量表达式, 可准确预测杆在线速度场下的运动. 第三, 通过弯曲振动固有模态等效分析确定弯曲刚度和节点质量的分布参数, 合适的分布参数取值组合可将降阶模型前两阶固有频率相对误差均降低至1%以内. 第四, 在全局坐标系下建立张拉整体结构瞬态动力学方程, 并利用静力凝聚法实现方程高效迭代求解. 最后, 分别对球形张拉整体结构准静态压缩、模态分析和碰撞动力学进行仿真和实验对比分析, 证明了提出的动力学降阶模型可有效预测张拉整体结构的静力学行为、固有振动特性及瞬态动力学响应, 并分析了结构参数变化对其力学特性的影响规律. 本文提出的动力学等效建模与计算方法, 可望用于软着陆行星探测器、大型可展开空间结构及点阵材料等复杂张拉整体系统的动力学分析与控制.      

确定性载荷作用下Timoshenko薄壁梁的弯扭耦合动力响应

建立了一种普遍的解析理论用于求解确定性载荷作用下Timoshenko薄壁梁的弯扭耦合动力响应。首先通过直接求解单对称均匀Timoshenko薄壁梁单元弯扭耦合振动的运动偏微分方程，给出了计算其自由振动的精确方法，并导出了Timoshenko弯扭耦合薄壁梁自由振动主模态的正交条件。然后利用简正模态法研究了确定性载荷作用下单对称Timoshenko薄壁梁的弯扭耦合动力响应，该弯扭耦合梁所受到的荷载可以是集中载荷或沿着梁长度分布的分布载荷。最后假定确定性载荷是谐波变化的，得到了各种激励下封闭形式的解，并对动力弯曲位移和扭转位移的数值结果进行了讨论。     

多自由度Maxwell阻尼器减震结构(Ⅰ)——随机响应特性

对多自由度带支撑Maxwell粘滞阻尼器减震结构的随机响应特性进行了系统研究。建立了结构一般运动方程;将运动方程按原结构振型展开,将运动方程化为振型广义坐标的微分和积分混合地震响应方程组;基于多自由度随机平均法理论,获得了结构随机平均It方程组的解析式,推导出耗能结构各振型振子的振幅与相位瞬态联合概率密度函数、位移与速度瞬态联合概率密度函数、位移与速度瞬态响应方差的一般解析解;根据SRSS组合方法,给出了耗能结构随机地震响应方差的一般解析式,从而建立了此类耗能结构随机响应特性分析的完备解析解法。     

基于模态叠加法的航空发动机轮盘振动特性研究

以某型航空发动机轮盘为研究对象,分别通过数值模拟和试验测试获得结构特定振型下的模态参数;提出采用模态置信度开展模态振型的相关度评价;基于模态叠加法开展轮盘结构谐响应分析,并通过理论推导和数值仿真开展结构阻尼和激励量值对振动响应的影响规律研究。结果表明,在轮盘结构三节径振型处,共振频率计算结果与测试结果相差1.7%,验证了模态测试的正确性。模态振型置信度为0.999,说明模态测试与仿真结果吻合较好。通过谐响应分析得到轮盘最危险点的幅频曲线,并基于数值仿真验证了轮盘结构振动响应幅值与模态阻尼呈反比、与激励量值呈正比的理论推导的正确性。     

Hopf bifurcation analysis of a new commensurate fractional-order hyperchaotic system

In this paper, a new fractional-order hyperchaotic system based on the Lorenz system is presented. The chaotic behaviors are validated by the positive Lyapunov exponents. Furthermore, the fractional Hopf bifurcation is investigated. It is found that the system admits Hopf bifurcations with varying fractional order and parameters, respectively. Under different bifurcation parameters, some conditions ensuring the Hopf bifurcations are proposed. Numerical simulations are given to illustrate and verify the results.     

并行加速的局部变分迭代法及其轨道计算应用

为满足航天工程对轨道计算精度和实时性的高要求,近年来发展出了可以通过大步长积分修正实现快速精确求解的积分修正类方法.积分修正类方法有可并行计算的特点,然而在串行计算环境下会受到计算资源的限制,无法充分发挥其可并行加速的优势.此外,合理的计算参数通常难以预先确定,也使积分修正类方法大步长快速计算的优势难以充分体现.针对以上问题,利用积分修正类方法可并行计算的特点,提出了并行加速的局部变分迭代法PA-LVIM,通过将传统局部变分迭代法LVIM的并行计算量均摊到多个计算节点上,显著提高了计算速度.此外,还使用根据系统状态二阶导数分布确定计算参数的打磨法优化了PA-LVIM的计算参数,进一步发挥了其大步长快速计算的优势.求解了三个经典的轨道递推问题,仿真结果表明, PA-LVIM的加速效果明显,且经打磨法优化计算参数后,其计算效率又进一步得到提高,将当前主流方法的计算效率提高了5倍以上.     

A mathematical approach to study fluid-coupled vibration of eccentric annular plates

A mathematical method is proposed to study fluid-coupled vibration of axisymmetric plate structures with asymmetries due to either imperfection or practical reasons, e.g. the weight reduction of structure, natural frequency shifting, and accessibility. The suggested approach makes use of the separation of variables to determine general solutions of the partial differential equation of the plate transverse displacement, whilst defining multiple polar coordinate systems, each of which offers its own formulation of the plate deformation with respect to its coordinate system. Moreover, closed-form geometric equations and the chain rule for determining derivatives are implemented to move from one coordinate system to the other in order to satisfy boundary conditions. The mode shapes of the vibrating plate in the dry condition are determined and in turn used in the Rayleigh–Ritz method to characterize vibrational properties of the fluid-coupled plate structure. While implementing such an energy method, the fluid motion is formulated employing the velocity potential and solved using the separation of variables. Fluid–structure interaction is also taken into account satisfying the compatibility condition on the fluid–plate​ interface. The developed methodology to predict natural frequencies has been validated by comparison with results obtained by a commercial finite element program. It is also found that the eccentricity tends to reduce natural frequencies of the fluid-coupled system for the lower serial mode, but increases them for the higher serial modes regardless of the presence of liquid.     

有限元瞬态响应分析软件的一种并行开发方法

瞬态响应分析是有限元动力分析的重要内容之一，而串行计算机上运行的有限元软件在解题规模和速度上都受到很大限制。为此，基于系统集成思想对串行有限元软件进行并行开发。分析得出了瞬态响应分析并行开发的重点——位移方程组的瞬态响应，给出了线性方程组并行求解的思路和实现方法。用一个实例系统的实现验证了上述开发思路，从而也为并行应用软件开发探索了一条新的途径；最后对并行求解程序进行了算例验证。     

基于多点动态捕捉的机器人关节位移与几何参数标定

机器人关节位移及几何参数误差是导致位姿出现误差的主要原因,对二者进行高精度标定可提高机器人的绝对精度．传统标定方法的精度受机器人位姿的影响,且需多次实验．本文提出一种基于多点动态捕捉测量的标定方法,可通过单次实验,同时标定串联机器人的关节位移和几何参数．首先基于多点动捕测量获取机器人各连杆上靶标点的3D坐标,结合罗德里格斯变换实现关节位移的求解．其次结合机器人运动学模型和坐标转换关系,实现几何参数误差小量的标定．对方程线性化处理以提高计算效率,并用最小二乘法降低噪声对结果的影响．最后通过对6自由度串联机器人进行仿真,验证了该标定方法的可行性．     

Identification,design and kinematic analysis of an earthmoving mechanism

Earthmoving mechanisms in motor graders are critical components for earthwork, compaction and re-handling, and yet they have not received much attention by mechanical engineering research in recent times. In this paper, a comprehensive analysis, from mechanism identification and innovative design to kinematic analysis, is presented. First, the mechanism analysis and synthesis method based on multibody system dynamics is carried out through the analysis of the system topology and connectivity. We conclude that the earthmoving multibody system is a spatial hybrid mechanism, which consists of a spatial parallel mechanism and a spatial serial mechanism. Second, a number of new spatial parallel mechanisms, which are advantageous with respect to the original one under certain conditions, are generated. The kinematic characteristics of the parallel mechanism family are investigated in terms of constraint equations formulated in natural coordinates. Third and last, kinematic simulations and optimization processes are carried out to evaluate the advantages of the presented spatial parallel mechanisms. Simulation results show that these mechanisms can provide better kinematic performance.     

Nonlinear systems synchronization for modeling two-phase microfluidics flows

The aim of this work is to identify a class of models that can represent the two-phase microfluidic flow in different experimental conditions. The identification procedure adopted is based on the nonlinear systems synchronization theory. The experimental time series were assumed as the asymptotic behavior of a generic state variable of an unknown Master system, and this information was used to drive a second Slave system, with a known model and undefined parameters. To reach the convergence between the time evolutions of the two systems, so the flow identification, an error was evaluated and optimized by tuning the parameters of the Slave system, through genetic algorithm. The Chua’s oscillator has been chosen as a Slave model, and an optimal parameters set of Chua’s system was identified for each of the 18 experiments. As proof of concept on approach validity, the changes in the parameters set in the different experimental conditions were discussed taking into account the results of the nonlinear time series analysis. The results confirm the possibility with a single model to identify a variety of flow regimes generated in two-phase microfluidic processes, independently of how the processes have been generated, no directed relations with the input flow rate used are in the model.     

Adaptive nonlinear model predictive control design of a flexible-link manipulator with uncertain parameters

This paper presents a novel adaptive nonlinear model predictive control design for trajectory tracking of flexible-link manipulators consisting of feedback lineariza-tion, linear model predictive control, and unscented Kalman filtering. Reducing the nonlinear system to a linear system by feedback linearization simplifies the optimization prob-lem of the model predictive controller significantly, which, however, is no longer linear in the presence of parame-ter uncertainties and can potentially lead to an undesired dynamical behaviour. An unscented Kalman filter is used to approximate the dynamics of the prediction model by an online parameter estimation, which leads to an adaptation of the optimization problem in each time step and thus to a better prediction and an improved input action. Finally, a detailed fuzzy-arithmetic analysis is performed in order to quantify the effect of the uncertainties on the control structure and to derive robustness assessments. The control structure is applied to a serial manipulator with two flexible links containing uncertain model parameters and acting in three-dimensional space.