Homoclinic,subharmonic, and superharmonic bifurcations for a pendulum with periodically varying length

Dynamic behavior of a weightless rod with a point mass sliding along the rod axis according to periodic law is studied. This is the simplest model of child’s swing. Melnikov’s analysis is carried out to find bifurcations of homoclinic, subharmonic oscillatory, and subharmonic rotational orbits. For the analysis of superharmonic rotational orbits, the averaging method is used and stability of obtained approximate solution is checked. The analytical results are compared with numerical simulation results.     

基于有限时间收敛的双臂空间机器人捕获卫星主动对接力/位姿阻抗控制

针对双臂空间机器人捕获卫星主动对接力/位姿阻抗控制进行了研究. 为防止捕获过程中机械臂末端执行器与卫星接触、碰撞时产生的冲击载荷对机器人关节造成冲击破坏, 在各关节电机与机械臂之间加入了一种弹簧阻尼缓冲机构. 该机构可通过弹簧实现冲击力矩的卸载, 阻尼器则用于因弹簧引起的柔性振动的抑制. 为解决捕获过程中的非完整动力学约束及捕获后混合体系统的协调控制问题, 结合牛顿第三定律、捕获点的速度约束及闭链几何约束, 获得捕获后混合体系统的动力学方程, 且通过动量守恒关系计算碰撞冲击效应与碰撞冲击力. 通过分析对接装置在载体坐标系下的运动学关系, 建立对接装置相对载体的运动雅可比矩阵, 并基于此建立基于力的二阶线性阻抗模型, 实现对接装置输出力的精确控制. 考虑到主动对接操作过程要求控制器具有收敛速度快, 控制精度高的特点, 通过结合终端滑模与超扭滑模的特点, 提出一种非奇异快速终端滑模阻抗控制策略. 该策略即能实现主动对接操作中位姿与输出力的快速响应, 又能有效地抑制滑模的抖振以保证控制精度. 通过Lyapunov定理证明系统的稳定性; 利用数值模拟验证缓冲装置的抗冲击性能及所提阻抗控制策略的有效性.      

Modeling and analysis of sliding joints with clearances in flexible multibody systems

The modeling of the sliding joint with clearance between a flexible beam and a rigid hole is investigated in this paper. The flexible beam is discretized using the three-dimensional curved Euler–Bernoulli beam element of the Absolute Nodal Coordinate Formulation, while the motion of the rigid hole is described by the Cartesian coordinates. Moreover, the cross sections of both the flexible beam and the rigid hole are assumed to be circular. The existing joints with clearances are mainly rigid joints with small clearances, and the contact detection algorithm adopted can solve only one pair of potential contact points within one section. In order to model the contact problem in the sliding joint with clearance, a new contact detection method based on the intersection of the rigid hole’s cross section and the flexible beam is proposed, which yields a two-dimensional contact detection problem. Based on the common-normal concept, the ellipse–circle contact detection problem within the hole’s cross section can be solved. The potential contact point on the hole’s cross section will be determined, and the closest point projection on the beam’s neutral axis can be defined further. The proposed contact detection method can deal with the sliding joint with large clearance and the multiple-point contact problem within one section. In addition, the penalty method is adopted to model the frictionless contact between the flexible beam and the rigid hole. Finally, two numerical examples about sliding joints with clearances, one with an initially curved beam under gravity and the other with a straight beam under zero gravity, are presented to demonstrate the influence of the clearance of sliding joint on the dynamic performance of flexible multibody systems.     

Frictional sliding modes along an interface between identical elastic plates subject to shear impact loading

Frictional sliding along an interface between two identical isotropic elastic plates under impact shear loading is investigated experimentally and numerically. The plates are held together by a compressive stress and one plate is subject to edge impact near the interface. The experiments exhibit both a crack-like and a pulse-like mode of sliding. Plane stress finite element calculations modeling the experimental configuration are carried out, with the interface characterized by a rate and state dependent frictional law. A variety of sliding modes are obtained in the calculations depending on the impact velocity, the initial compressive stress and the values of interface variables. For low values of the initial compressive stress and impact velocity, sliding occurs in a crack-like mode. For higher values of the initial compressive stress and/or impact velocity, sliding takes place in a pulse-like mode. One pulse-like mode involves well-separated pulses with the pulse amplitude increasing with propagation distance. Another pulse-like mode involves a pulse train of essentially constant amplitude. The propagation speed of the leading pulse (or of the tip of the crack-like sliding region) is near the longitudinal wave speed and never less than times the shear wave speed. Supersonic trailing pulses are seen both experimentally and computationally. The trends in the calculations are compared with those seen in the experiments.     

Transition from stick to slip in Hertzian contact with “Griffith” friction: The Cattaneo–Mindlin problem revisited

Classically, the transition from stick to slip is modelled with Amonton–Coulomb law, leading to the Cattaneo–Mindlin problem, which is amenable to quite general solutions using the idea of superposing normal contact pressure distributions – in particular superposing the full sliding component of shear with a corrective distribution in the stick region. However, faults model in geophysics and recent high-speed measurements of the real contact area and the strain fields in dry (nominally flat) rough interfaces at macroscopic but laboratory scale, all suggest that the transition from ‘static’ to ‘dynamic’ friction can be described, rather than by Coulomb law, by classical fracture mechanics singular solutions of shear cracks. Here, we introduce an ‘adhesive’ model for friction in a Hertzian spherical contact, maintaining the Hertzian solution for the normal pressures, but where the inception of slip is given by a Griffith condition. In the slip region, the standard Coulomb law continues to hold. This leads to a very simple solution for the Cattaneo–Mindlin problem, in which the “corrective” solution in the stick area is in fact similar to the mode II equivalent of a JKR singular solution for adhesive contact. The model departs from the standard Cattaneo–Mindlin solution, showing an increased size of the stick zone relative to the contact area, and a sudden transition to slip when the stick region reaches a critical size (the equivalent of the pull-off contact size of the JKR solution). The apparent static friction coefficient before sliding can be much higher than the sliding friction coefficient and, for a given friction fracture “energy”, the process results in size and normal load dependence of the apparent static friction coefficient. Some qualitative agreement with Fineberg's group experiments for friction exists, namely the stick–slip boundary quasi-static prediction may correspond to the arrest of their slip “precursors”, and the rapid collapse to global sliding when the precursors arrest front has reached about half the interface may correspond to the reach of the “critical” size for the stick zone.     

与冲蚀有关的粘着与犁沟摩擦系数

提出一种与冲击磨损有关的有效摩擦系数，它被定义为冲击过程中，每一瞬间的切向有效摩擦力与法向载荷之比．有效摩擦力被表示为剪切项与犁沟项之组合．剪切项依赖于剪切金屑接合点的状态——滑移或滚动．犁沟项依赖于冲击物在冲击途中使靶材料发生移动的状态．此有效摩擦系数被应用于研究刚性球自由斜冲击延性靶问题．在忽略剪切项仅计及犁沟项的情况下，研究表明，Hutchings实验中的有效冲击摩擦系数是冲击过程与初始冲击角的函数，就时间平均而言，大于Hutchins为拟合计算与实验结果所取的摩擦系数常值0.05．有迹象表明，对于与固粒延性冲蚀有关的刚性球自由斜冲击延性靶问题，在一定条件下，有效摩擦系数主要由犁沟效应确定．     

Numerical Analysis of the Impact of Nanofluids and Vapor Grooves Design on the Performance of Capillary Evaporators

This paper discusses the impact of nanofluids and vapor grooves position on the performance of capillary evaporators. The phase change that occurs within the wick structure is simulated using a 2D transient mathematical model. The model combines Darcy’s law, Langmuir’s law, and energy equations to describe the heat and mass transfers inside the wick and the metallic wall. A comparison with experimental visualizations and numerical simulations is proposed. The analysis was performed for water and aluminum oxide nanoparticles with three volume concentrations of nanoparticles. Also, the effect of the vapor grooves configuration on the capillary evaporator performance is studied. The numerical results show that substituting water with nanofluids had a significant effect in reducing the evaporator temperature and the pressure drop in the whole loop. The present work has also shown that the contact between the metallic wall and the wick is an important element that must be taken into account in the design of the evaporator.     

低密度脆性微流星体撞击航天器防护结构损伤效应研究

采用硅酸盐质弹丸模拟低密度脆性微流星体,开展了航天器典型Whipple 防护结构撞击实验研究,获得了低密度微流星体弹丸损伤模式和损伤规律,实验表明,当弹丸撞击速度在1.1~1.4 km/s,前板损伤模式从花瓣式开裂转变为穿孔,当速度为1.4 km/s 时后板鼓包头上出现裂纹;随着弹丸速度的进一步增加,后板出现剥落现象,并形成花瓣撕裂,当弹丸撞击速度达到1.95 km/s 时后板被击穿,导致防护结构受到破坏.     

拦截高超声速飞行器的三维有限时间制导律设计

由于高超声速飞行器具有飞行速度快、机动能力强等特点,因此,传统的制导方式难以保证拦截弹拦截高超声速飞行器时的制导精度。为了减小弹目相对速度,降低对拦截弹的过载能力要求,按照前向制导方式,设计了有限时间收敛的三维前向滑模制导律。该制导律采用了连续的快速双幂次趋近律,不仅保证收敛速度快,同时削弱了传统制导律中存在的抖振现象。在此基础上为了处理系统扰动的上界未知的问题,又设计了自适应滑模制导律,该制导律既可以处理未知上界的外部扰动又可以保证第一种制导律所具有的良好特性。运用李雅普诺夫稳定性理论对所设计的滑模制导律进行了理论证明,最后,通过数值仿真验证了所设计制导律的有效性及优越性。     

平面棱柱铰内考虑摩擦效应的接触分析

研究了多体系统中平面棱柱铰内的摩擦接触分析。在忽略铰内的碰撞效应的前提下,根据接触力系与约束反力的等效关系,以及各个角点接触力自身满足的互补关系,得到了接触力系关于摩擦力的线性互补方程。结合库仑摩擦定律,确定了铰内角点处的接触反力以及摩擦合力;另外,由接触力曲线可以得到铰内的接触形式,以及各个接触形式发生改变的时刻。通过ADAMS算例验证,这些接触形式转换的时刻就是铰内发生碰撞的时刻,为高效率地研究铰内碰撞提供了可能。     

Evaluating the Impact of the Covariance of the Friction and Potential Gradient on Describing the Infiltration Process

During infiltration of water in soil, menisci form at the interface of water, grains, and air in the pores, inducing suction due to surface tension. Due to the random distribution of interconnected pores of different sizes, characteristic of porous media, differences in suction and friction inside pores give a diffusing infiltration front. The process of infiltration is often simulated by solving Richards’ equation in which the water flux is calculated with Darcy’s law. Underlying Darcy’s law is the assumption that the gradients in flow potential and the flow resistance due to viscous forces are independent from each other. This paper shows that these parameters are dependent and negatively correlated. A new method for calculating flows in unsaturated porous media has been developed to evaluate the impact of the covariance on infiltration predictions. The results show that the impact is significant and leads to a reduction in infiltration rate and mean friction experienced during infiltration. The method thereby provides a physical explanation for the subdiffusion observed during water infiltration in soil and is consequently expected to provide more insights into the processes of infiltration.     

Forced sliding mode control for chaotic systems synchronization

Synchronization of chaotic systems is considered to be a common engineering problem. However, the proposed laws of synchronization control do not always provide robustness toward the parametric perturbations. The purpose of this article is to show the use of synergy-cybernetic approach for the construction of robust law for Arneodo chaotic systems synchronization. As the main method of design of robust control, the method of design of control with forced sliding mode of the synergetic control theory is considered. To illustrate the effectiveness of the proposed law, in this article it is compared with the classical sliding mode control and adaptive backstepping. The distinctive features of suggested robust control law are the more good compensation of parametric perturbations (better performance indexes—the root-mean-square error (RMSE), average absolute value (AVG) of error) without designing perturbation observers, the ability to exclude the chattering effect, less energy consuming and a simpler analysis of the stability of a closed-loop system. The study of the proposed control law and the change of its parameters and the place of parametric perturbation’s application is carried out. It is possible to significantly reduce the synchronization error and RMSE, as well as AVG of error by reducing some parameters, but that leads to an increase in control signal amplitude. The place of application of parametric disturbances (slave or master system) has no effect on the RMSE and AVG of error. Offered approach will allow a new consideration for the design of robust control laws for chaotic systems, taking into account the ideas of directed self-organization and robust control. It can be used for synchronization other chaotic systems.

     

On indentation of a pair of rigid punches connected by an elastic beam into an elastic half-plane with regard to the friction and adhesion forces in the contact region

The contact problem of indentation of a pair of rigid punches with plane bases connected by an elastic beam into the boundary of an elastic half-plane is considered under the conditions of plane strain state. The external load is generated by lumped forces applied to the punches and a uniformly distributed normal load acting on the beam.It is assumed that the contact between the punch and the elastic half-plane can be described by L. A. Galin’s statement, i.e., it is assumed that the adhesion acts in the interior part of each of the contact regions and the tangential stresses obeying the Coulomb law act on their boundaries.With the symmetry taken into account, the problem is stated only for a single punch, and solving this problem is reduced to a system of four singular integral equations for the tangential and normal stresses in the adhesion region and the contact pressure in the sliding zones. The solution of the constitutive system together with three conditions of equilibrium of the system of punches connected by a beam is constructed by direct numerical integration by the method of mechanical quadratures.As a result of the numerical analysis, the contact stress distribution functions were constructed and the values of the sliding zones and the punch rotation angle were determined for various values of the geometric, elastic, and force characteristics.     

Micromechanical analysis of damage in saturated quasi brittle materials

In this paper, we propose a micromechanical analysis of damage and related inelastic deformation in saturated porous quasi brittle materials. The materials are weakened by randomly distributed microcracks and saturated by interstitial fluid with drained and undrained conditions. The emphasis is put on the closed cracks under compression-dominated stresses. The material damage is related to the frictional sliding on crack surface and described by a local scalar variable. The effective properties of the materials are determined using a linear homogenization approach, based on the extension of Eshelby’s inclusion solution to penny shaped cracks. The inelastic behavior induced by microcracks is described in the framework of the irreversible thermodynamics. As an original contribution, the potential energy of the saturated materials weakened by closed frictional microcracks is determined and formulated as a sum of an elastic part and a plastic part, the latter entirely induced by frictional sliding of microcracks. The influence of fluid pressure is accounted for in the friction criterion through the concept of local effective stress at microcracks. We show that the Biot’s effective stress controls the evolution of total strain while the local Terzaghi’s effective stress controls the evolution of plastic strain. Further, the frictional sliding between crack lips generates volumetric dilatancy and reduction in fluid pressure. Applications of the proposed model to typical brittle rocks are presented with comparisons between numerical results and experimental data in both drained and undrained triaxial tests.     

离散滑模变结构控制在磁悬浮球系统中的应用

磁悬浮球实验装置是典型的非线性系统,该装置提供了常规PID控制,但难以达到理想的控制效果,由此提出采用离散滑模变结构控制来研究该系统。文中首先分析了离散滑模切换面和趋近率,然后设计了存在系统干扰和抖动情况下的离散滑模控制器,并研究了其收敛性,在此基础上提出了克服干扰和抖动的积分补偿离散滑模控制器,最后将所提出的控制方法在磁悬浮球实验装置上进行验证。试验验证结果表明,系统响应时间由PID控制的15 s减小到5 s,控制偏差也有所减小,控制效果优于PID控制,适合磁悬浮球系统的控制,为该实验装置提供了一套新的实验方法。     

Elastoplastic contact of rough surfaces: a line contact model for boundary regime of lubrication

This paper introduces an improved friction model accounting for elastoplastic behavior of interacting asperities along contiguous rough surfaces for a line contact solution. It is based on Greenwood and Tripp’s original boundary friction model and specifically tailored for a boundary regime of lubrication. The numerical solution of Reynolds’ equation is achieved by implementing Elrod’s cavitation algorithm for a one dimensional line contact. The transience in the numerical solution is retained by accounting for the squeeze film term in Reynolds’ equation under fixed loading conditions and varying sliding motion. A sliding bearing rig is used to measure friction and compare the results with the prediction made using the approach highlighted above. The numerical/experimental results show good agreement.     

基于神经网络的间隙机构运动副磨损预测

应用BP神经网络建立了磨损率与接触应力、滑动速度和材料硬度之间的非线性关系模型,并对该网络模型进行了验证和测试,结果表明,训练良好的神经网络模型能够准确反映样本所蕴含的内在磨损规律,且具有较好的预测效果。基于非线性弹簧阻尼模型和修正的Coulomb摩擦力模型对含间隙曲柄滑块机构进行数值仿真分析,获得间隙机构运动副的接触应力和相对滑动速度,利用训练好的神经网络磨损模型对轴套的磨损进行迭代磨损预测分析,发现随着曲柄转数的增加,轴套表面一些特定位置处的磨损越来越严重,最终导致轴套表面出现非均匀磨损现象,其原因是间隙机构运转过程在一些特定位置处产生了较大接触应力和碰撞力。     

缠绕提升钢丝绳绕入冲击摩擦特性研究

为掌握多层缠绕提升钢丝绳层与层之间滑动摩擦磨损特性,在自制缠绕式矿井提升机钢丝绳层间摩擦试验台上,以6×19热镀锌钢丝绳为研究对象,对不同载荷、滑移速度、冲击速度下钢丝绳滑动摩擦磨损规律及接触区域温升变化规律进行试验探究.研究结果表明:摩擦系数变化分为快速增长阶段、过渡阶段、稳定阶段;摩擦系数随载荷增加小幅减小,随滑移速度增大总体呈降低趋势;缠绕钢丝绳滑动摩擦温升集中于接触区域,最大温升受滑移速度影响明显,随速度增加而增大;冲击摩擦系数明显低于稳定滑动摩擦系数,最大冲击摩擦系数随冲击速度、滑移速度增大而增大,随着冲击载荷增大出现多次冲击摩擦.     

Impact friction test method by applying stress wave

To understand the dynamic response of two bodies in contact, kinetic friction during impact presently is focused on. A new testing technique, which provides the normal and the tangential impact force independently, is developed by modifying the split Hopkinson pressure bar method. Normal and torsional stress wave propagation in a one-dimensional framework of an axial impact of an input tube on a rotating output tube is analyzed and is experimentally verified. Kinetic friction of brass was clarified at a high rate of sliding up to 5 m/s and is found to be almost constant independent of normal force and sliding velocity. The present technique provides direct measurement of kinetic friction with simple configuration and data analysis.     

存在关节死区的空间机器人无扰快速终端滑模控制

针对机械臂一般操作过程中运动学的非完整特性进行运动规划时没有考虑机械臂与待抓取目标之间的关系与关节的实际特性, 研究了存在关节死区的漂浮基平面三连杆空间机械臂拦截目标前最后阶段的载体无扰动空间规划与控制. 首先根据拉格朗日第二类方程, 建立存在关节死区的载体位姿均不受控的漂浮基平面三连杆空间机械臂的动力学模型, 推导出三连杆空间机械臂反作用零空间的数学模型, 并对反作用零空间进行向量范数约束算法研究; 进而提出了一种具有抗干扰性与高收敛性的非奇异快速终端滑模控制算法实现系统的姿态无扰控制, 该方法采用变系数双幂次趋近率与非奇异快速终端滑模面相结合的方式, 提高系统状态收敛速度与抗干扰性. 为了消除机械臂关节存在的死区特性, 设计了自适应死区补偿器, 通过自适应控制来逼近死区特性的上界, 以消除关节死区对系统带来的影响, 确保跟踪控制的有效执行. 最后基于Lyapunov函数法证明了系统的稳定性, 并通过系统数值仿真结果验证了存在死区情况下机械臂的各关节角跟踪上无反应空间下的期望轨迹的同时载体的姿态处于稳定状态, 验证了所提方法的有效性.