轮带系统横向振动的行波消去法

考虑作动器中张紧轮质量的影响,研究轴向运动弦线和作动器所组成的耦合系统的横向振动控制。此系统被作动器分成受控和未控两部分,在频域内利用Green函数法求解出系统的响应,采用行波消去法设计出控制律。在初始条件和激励作用下,利用Durbin拉氏变换数值反演法将受控系统的振动响应转化到时域内,并利用Matlab进行数值仿真。算例结果表明:在脉冲激励和正弦激励作用下,系统振动在3秒内分别减小到0和未受控制时的1/5,验证了控制律的有效性。     

轴向运动弦线的纵向振动及其控制

综述轴向运动弦线纵向振动及其控制问题的研究进展.多种工程 系统如动力传送带、磁带、纸带、纺织纤维、带锯、空中缆车索道等均 涉及轴向运动弦线的纵向振动.对线性模型而言,除早期结果外,总结了 运动弦线的模态分析、具有复杂约束和耦合的运动弦线振动和运动弦线 参数振动的近期研究.对非线性模型而言,提出了轴向运动弦线大幅纵向 振动的运动微分方程,概述了离散化和直接近似解析分析、用黏弹性材 料模型化阻尼机制和动力传输系统的耦合振动研究的新进展.讨论了轴 向运动弦线振动主动控制的研究现状,包括能控性和能观性,控制分析的 频域方法和能量方法,振动的自适应控制和非线性振动的控制.最后指出 该研究方向今后需要研究的若干重要问题,包括运动弦线的非线性动力学 行为、黏弹性运动弦线的振动、含运动弦线的混杂系统的控制和轴向运 动弦线非线性振动的控制.     

一种逆优化设计振动控制作动器的数目和位置的方法

在建立了悬臂梁上粘贴压电陶瓷片实现振动控制的动力学方程的基础上，研究了一种逆优化设计作动器／传感器的数目和位置的方法；用压电陶瓷作为自传感器作动器，以悬臂梁的振动控制为研究对象，要求振动控制系统具有一定的模态阻尼比，并以作动器控制力最小为目标函数，优化设计作动器／传感器的数目和位置。最后通过数值算例证明了该方法的有效性。     

轴向运动弦线横向振动的频域分析

轴向运动弦线是多种工程系统的模型。为明确轴向运动横向振动的频域特性，及探索频域方法的应用特点．本文用频域方法分析轴向运动弦线的横向振动。基于轴向运动弦线横向振动方程和边界条件．通过Laplace变换导出频率域中的控制方程，并将该控制方程和边界条件用状态变量表示。由状态空间中的控制方程导出特征方程，从而求出固有频率。由轴向运动弦线的矩阵函数计算得到系统的传递函数，然后用留数定理计算传递函数的Laplace逆变换．这样就可以得到时域响应。最后分析了轴向运动弦线的横向共振，若简谐外激励的频率与系统固有频率相同，系统响应将随时间无限增加。     

层叠式PVDF压电作动器及圆柱壳的振动主动控制

设计了一个层叠式PVDF压电作动器用于壳结构的振动控制。考虑压电层、粘接层、壳体耦合关系,推导了表面局部粘贴层叠式PVDF压电作动器的圆柱壳的振动控制方程,给出了作动力与压电层和粘接层层数、厚度之间的关系以及作动力与作动器粘贴位置之间的关系。针对一端固定、另一端自由的圆柱壳,进行了振动控制仿真。结果表明层叠式PVDF压电作动器作动力与作动器层数近似成线性关系,增大作动器层数能有效增大作动力,在低控制电压下能显著抑制圆柱壳振动,作动器周向不完全粘贴时,在径向产生的径向作动力对壳体横向振动控制非常有利。说明了层叠式PVDF压电作动器是一种可用于壳体结构振动并具有良好作动效果的作动器。     

基于多体系统传递矩阵法的多管火箭定向器振动控制

应用多体系统传递矩阵法,建立了全新的多管火箭发射动力学控制模型,以二次型性能指标为成本函数, 设计了脉冲推力器为控制执行机构的振动主动控制律,并设计了多管火箭发射系统在燃气流冲击下定向器的振动主动控制系统,获得了最优脉冲控制力幅值和脉冲推力器工作次数. 应用设计的控制律数值仿真了某多管火箭定向器无控和受控状态下的振动响应,仿真结果表明该法可有效地降低定向器的振动.该方法易于工程实现,对控制多管火箭发射系统的振动、提高多管火箭射击的精度具有重要意义.      

振动主动控制系统降级工作模式研究

振动主动控制系统是通过获取振动传感器信号、驱动作动器施加作动力以降低平台振动水平的机电综合系统。对于振动环境恶劣的装备平台,振动主动控制系统工作的稳定性直接影响平台使用体验。当系统内硬件数量较多时,系统对部件可靠度敏感度较高。为了提高系统功能可靠性,保证装备平台安全,在不改变硬件的前提下,本研究从优化控制策略出发,提出了两种系统降级模式,并对其进行可靠性分析;在降级模式的基础上,基于切换系统方法,针对硬件故障数量的不同设计不同等级的降级模式;针对不同降级模式下系统控制参数,对作动器进行最优组合设计,得到在不同降级模式下系统减振控制的最优高维度模型矩阵;最后在实验室内,基于振动主动控制系统实验环境,针对作动单元降级模式进行了实验验证,通过模拟部件故障状态,验证系统降级工作策略与控制模型优选设计的正确性,提高了系统功能可靠性。     

振动控制作动器的数目和位置优化设计

提出一种确定作动器的数目和优化设计作动器位置的方法。以独立模态最优控制方法为基础,将模态控制力和作动器作动力处理为随机变量,建立了模态控制力能量的自相关矩阵和作动器作动力能量的自相关矩阵。进一步通过作动力能量的自相关阵包含的能量确定了作动器的数目,在此基础上,建立了基于控制系统作动力消耗能量最小,优化设计控制系统的作动器最优位置。通过数值算例证明了该方法的有效性。     

考虑激励确定作动器优化布置方法的研究

作动器优化布置是振动主动控制中的一个重要问题。本文考虑了外部激励的作用,提出了一种与独立模态空间控制方法结合使用的作动器位置优化准则。为使系统具有最大可控度,依据被控结构动态响应中各阶模态贡献的大小,建立相应的目标函数通过求其极大值,可得出作动器优化布置方案。最后通过一个算例验证了所提出理论与方法的有效性,从算例中可以看出,作动器的优化位置与激振力的位置和频率有直接联系。     

主动振动控制中的非线性研究

本文采用磁致伸缩作动器进行了主动隔振的研究,分析,试验的结果表明,由于磁致缩材料的伸长率与磁场强度之间的非线性特性,导致了该作动器的输出具有谐波成分,激励激的运动亦可表示为杜芬方程的形式,试验证实,由于非线性的存在,主动振动控制效果受到影响。文中通过对激励源的振动信号进行分析,发现这一运动可能是混沌的。     

Vibration control and boundary tension constraint of an axially moving string system

This paper is concerned with vibration control and boundary tension constraint of an axially moving string system. The main control objectives are to suppress the vibration of the string system and ensure the boundary tension in a constrained region. To this end, a boundary control strategy is developed via constructing a proper barrier Lyapunov function. In addition, the disturbance observer including the barrier term is introduced to tackle the effects of unknown boundary disturbance. With the proposed control strategy, the states of the closed-loop system are proven to be uniformly ultimately bounded through rigorous Lyapunov analysis and the boundary tension constraint is not violated. Finally, in order to validate the effectiveness of the proposed control, the simulation results are presented by choosing appropriate control design parameters.     

Energetics and conserved quantity of an axially moving string undergoing three-dimensional nonlinear vibration

Nonlinear three-dimensional vibration of axially moving strings is investigated in the view of energetics. The governing equation is derived from the Eulerian equation of motion of a continuum for axially accelerating strings. The time-rate of the total mechanical energy associated with the vibration is calculated for the string with its ends moving in a prescribed way. For a string moving in a constant axial speed and constrained by two fixed ends, a conserved quantity is proved to remain unchanged during three-dimensional vibration, while the string energy is not conserved. An approximate conserved quantity is derived from the conserved quantity in the neighborhood of the straight equilibrium configuration. The approximate conserved quantity is applied to verify the Lyapunov stability of the straight equilibrium configuration. Numerical simulations are performed for a rubber string and a steel string. The results demonstrate the variation of the total mechanical energy and the invariance of the conserved quantity.     

Dynamic response of axially moving Timoshenko beams: integral transform solution

The generalized integral transform technique (GITT) is used to find a semianalytical numerical solution for dynamic response of an axially moving Timoshenko beam with clamped-clamped and simply-supported boundary conditions, respectively. The implementation of GITT approach for analyzing the forced vibration equation eliminates the space variable and leads to systems of second-order ordinary differential equations (ODEs) in time. The MATHEMATICA built-in function, NDSolve, is used to numerically solve the resulting transformed ODE system. The good convergence behavior of the suggested eigenfunction expansions is demonstrated for calculating the transverse deflection and the angle of rotation of the beam cross-section. Moreover, parametric studies are performed to analyze the effects of the axially moving speed, the axial tension, and the amplitude of external distributed force on the vibration amplitude of axially moving Timoshenko beams.     

Complex-mode Galerkin approach in transverse vibration of an axially accelerating viscoelastic string

Under the consideration of harmonic fluctuations of initial tension and axially velocity, a nonlinear governing equation for transverse vibration of an axially accelerating string is set up by using the equation of motion for a 3-dimensional deformable body with initial stresses. The Kelvin model is used to describe viscoelastic behaviors of the material. The basis function of the complex-mode Galerkin method for axially accelerating nonlinear strings is constructed by using the modal function of linear moving strings with constant axially transport velocity. By the constructed basis functions, the application of the complex-mode Galerkin method in nonlinear vibration analysis of an axially accelerating viscoelastic string is investigated. Numerical results show that the convergence velocity of the complex-mode Galerkin method is higher than that of the real-mode Galerkin method for a variable coefficient gyroscopic system.     

Natural frequencies of nonlinear vibration of axially moving beams

Axially moving beam-typed structures are of technical importance and present in a wide class of engineering problem. In the present paper, natural frequencies of nonlinear planar vibration of axially moving beams are numerically investigated via the fast Fourier transform (FFT). The FFT is a computational tool for efficiently calculating the discrete Fourier transform of a series of data samples by means of digital computers. The governing equations of coupled planar of an axially moving beam are reduced to two nonlinear models of transverse vibration. Numerical schemes are respectively presented for the governing equations via the finite difference method under the simple support boundary condition. In this paper, time series of the discrete Fourier transform is defined as numerically solutions of three nonlinear governing equations, respectively. The standard FFT scheme is used to investigate the natural frequencies of nonlinear free transverse vibration of axially moving beams. The numerical results are compared with the first two natural frequencies of linear free transverse vibration of an axially moving beam. And results indicate that the effect of the nonlinear coefficient on the first natural frequencies of nonlinear free transverse vibration of axially moving beams. The numerical results also illustrate the three models predict qualitatively the same tendencies of the natural frequencies with the changing parameters.     

Nonlinear vibrations of axially moving multi-supported strings having non-ideal support conditions

In this study, nonlinear vibrations of an axially moving multi-supported string have been investigated. The main difference of this study from the others is in that there are non-ideal supports allowing minimal deflections between ideal supports at both ends of the string. Nonlinear equations of the motion and boundary conditions have been obtained using Hamilton’s Principle. Dependence of the equations of motion and boundary conditions on geometry and material of the string have been eliminated by non-dimensionalizing. Method of multiple scales, a perturbation technique, has been employed for solving the equations of motion. Axial velocity has been assumed a harmonically varying function about a constant value. Axially moving string has been investigated in three regions. Vibrations have been examined for three different cases of the velocity variation frequency. Stability has been analyzed and stability boundaries have been established for the principal parametric resonance case. Effects of the non-ideal support conditions on stability boundaries and vibration amplitudes have been investigated.

     

Steady-state responses and their stability of nonlinear vibration of an axially accelerating string

The steady-state transverse vibration of an axtally movmg strmg wtm geometric nonlinearity was investigated. The transport speed was assumed to be a constant mean speed with small harmonic variations, The nonlinear partial-differential equation that governs the transverse vibration of the string was derived by use of the Hamilton principle. The method of multiple scales was applied directly to the equation. The solvability condition of eliminating the secular terms was established, Closed form solutions for the amplitude and the existence conditions of nontrivial steady-state response of the two-to-one parametricresonance were obtained. Some numerical examples showing effects of the mean .transport speed, the amplitude and the frequency of speed variation were presented. The Liapunov linearized stability theory was employed to derive the instability conditions of the trivial solution and the nontrivial solutions for the two-to-one parametric resonance. Some numerical examples highlighting influences of the related parameters on the instability conditions were presented.     

轴向移动系统的参数振动问题研究进展

对近二十年来轴向移动系统(移动弦，移动梁和移动带等)的参数振动研究进展进行了详细的评述，特别关注了轴向张紧力和移动速度随时间改变时轴向移动系统的参数振动特性和稳定性等问题。文章首先讨论了所研究问题的控制方程。然后详细说明了目前研究中人们较为关注的几个重点问题，如参数激励的形式，求解方法和所研究的问题等。接着在其后的两节中，分别评述了在张紧力和移动速度随时间变化时，轴向移动弦和轴向移动梁的振动问题近年来的研究进展，详细、深入讨论了模型的类型、张紧力和轴向移动速度随时间变化的形式以及在研究中使用的解题方法和系统的振动特性(振动响应、固有频率和动态稳定性)等；最后给出了在此领域今后研究中应关注的问题。