力密度找形分析方法及计算机实现

本文通过对力密度法的分析研究，概括了力密度法的基本原理和找形分析的过程，用矩阵形式给出了力密度的基本列式。通过对各个矩阵基本元素分析，找到了力密度矩阵的组装规律和一维变带宽存储的规则及实现算法和过程，并给出了详细的力密度矩阵的装配过程。通过基于C 语言的系统框架的程序，实现了该基于一维变带宽存储的力密度找形分析方法。最后，通过几个数值算例表明了，力密度法找形理论的先进性，及本文提出的算法过程实现的可行性和正确性。由于本文的算法是基于效率比较高的一维变带宽压缩存储格式，因此，可以实现大型索膜结构的找形分析。     

A computational framework for the form-finding and design of tensegrity structures

A new computational framework is proposed for the form-finding and design of tensegrity structures with or without super-stability. The form-finding of tensegrities is formulated as two unconstrained minimisation problems where their objective functions are defined based on eigenvalues of a modified force density matrix. The Nelder–Mead simplex method is then used to solve the minimisation problems. Furthermore, another efficient method is suggested for the interactive form-finding and design of tensegrities with geometrical and force constraints. Examples of the form-finding of tensegrities are presented and the results obtained are compared and contrasted with those analytical results documented in the literature, to verify the accuracy and efficiency of the developed methods.     

基于动力松弛法的松弛索杆体系找形分析

索杆张力结构施工成形分析需要解决一个松弛态索杆系统的平衡形态求解问题,该问题可归结为一个给定构件原长的受荷索杆机构系统的找形问题。文中利用动力松弛法进行该类松弛索杆体系的找形分析。由于不建立刚度矩阵,避免了体系几何不稳定性所引起的刚度矩阵奇异问题。该方法采用悬链线索单元模型,可以考虑索大垂度效应。文中还推导了反映索原长和内力之间关系的悬链线索单元协调方程。通过一个正交松弛索网算例分析,考察了该找形方法的计算精度和收敛性。最后还模拟了一个索穹顶的施工成形过程,表明了该找形方法用于索杆张力结构施工成形分析的有效性。     

Advanced form-finding for cable-strut structures

A numerical method is presented for form-finding of cable-strut structures. The topology and the types of members are the only information that is required in this form-finding process. Dummy members are used to transform the cable-strut structure with supports into self-stressed system without supports. The requirement on rank deficiencies of the force density and equilibrium matrices for the purpose of obtaining a non-degenerate d-dimensional self-stressed structure has been explicitly discussed. The spectral decomposition of the force density matrix and the singular value decomposition of the equilibrium matrix are performed iteratively to find the feasible sets of nodal coordinates and force densities which satisfy the minimum required rank deficiencies of the force density and equilibrium matrices, respectively. Based on numerical examples it is found that the proposed method is very efficient, robust and versatile in searching self-equilibrium configurations of cable-strut structures.     

A novel method of determining the sole configuration of tensegrity structures

A novel analysis method is presented for form-finding of tensegrity structures. The spectral decomposition of the force density matrix and the singular value decomposition of the equilibrium matrix are performed iteratively to find the feasible sets of nodal coordinates and force densities. An algorithm of determining the sole configuration of free-form tensegrities is provided by specifying an independent set of nodal coordinates, which indicates the geometrical and mechanical properties of the structures can be at least partly controlled by the proposed method. Several illustrative examples are presented to demonstrate the efficiency and robustness in finding self-equilibrium configurations of tensegrity structures.     

含可动机构的杆系结构非线性力法分析

推导了基于矩阵奇异值分解的小变形条件下杆系结构的力法分析（LFM）过程，并采用杆件内力修正的方法，提出了考虑大位移的几何非线性力法分析（NFM）方法思想和步骤。该方法有效地解决了结构中同时存在刚体位移、弹性位移的结构分析问题，适合计算机编程，结构的强度计算、机构分析和形态分析，讨论了力法与位移法的优缺点，给出的算例表明所提出的方法是正确的、有效的。     

Finite element based form-finding algorithm for tensegrity structures

This paper presents a novel form-finding algorithm for tensegrity structures that is based on the finite element method. The required data for the form-finding is the topology of the structure, undeformed bar lengths, total cable length, prestress of cables and stiffness of bars. The form-finding is done by modifying the single cable lengths such that the total cable length is preserved and the potential energy of the system is minimized. Two- and three-dimensional examples are presented that demonstrate the excellent performance of the proposed algorithm.     

考虑支承的大跨度索膜结构整体分析与设计

基于修正的拉格朗日法,建立非线性有限元平衡方程,介绍了空间梁单元非线性刚度矩阵。针对此类结构在形态分析及设计中的难点问题,提出利用定力单元、定形单元和微调单元建立数值模型。采用AutoCAD二次开发工具ObjectARX编制有限元软件,能够进行考虑支承的大跨度索膜结构整体分析与设计。以芜湖体育场为工程背景,进行了形态分析和长期荷载组合下的反应。计算结果表明,本文所提方法和有限元软件显著地提高了设计工作的效率,并能准确地获得满足设计要求的结构初始形态及受力分析数据,便于实际工程的设计应用。     

A Monte Carlo form-finding method for large scale regular and irregular tensegrity structures

We propose a Monte Carlo form-finding method that employs a stochastic procedure to determine equilibrium configurations of a tensegrity structure. This method does not involve complicated matrix operations or symmetry analysis, works for arbitrary initial configurations, and can handle large scale regular or irregular tensegrity structures with or without material/geometrical constraints.     

GEOMETRIC DRAWING METHOD FOR FORM-FINDING AND FORCE-FINDING FOR TRIANGULAR PRISM OF TENSEGRITY

力学和几何学是密不可分的,本文给出了一种几何作图法进行端面平行时张拉整体三棱柱的找形方法和作图确定自平衡内力大小的找力方法,并推导出找形后张拉整体三棱柱自平衡内力的力密度计算公式,通过算例验证了几何作图法找形与找力的正确性。几何作图法找形和找力方法操作简单,直观可控,可以在CAD软件中实现,甚至可以纸上手绘实现;自平衡力密度公式简单,表达直观,是力密度法的一种几何实现。     

Form-finding of tensegrity structures via genetic algorithm

We propose an efficient method for the form-finding of tensegrity structures. The force densities of each tensegrity are obtained by the minimisation of a particular objective function, leading to a semi-positive definite force density matrix (a super-stable tensegrity) with a required rank deficiency. A genetic algorithm is used as a global search technique for the minimisation. The geometry of a tensegrity is subsequently formed based on those eigenvectors of the force density matrix corresponding to zero eigenvalues. Furthermore, two other methods are introduced to convert the asymmetrical geometry obtained from the main algorithm into its symmetrical counterparts. This transformation in geometry is performed by finding a suitable linear combination of the mentioned eigenvectors. Examples from well-known tensegrities including prismatic, truncated tetrahedron, expandable octahedron and truncated icosahedron tensegrities are studied using the present method, and the results obtained are compared with those documented in the literature to verify the efficiency of the present method.     

Adaptive force density method for form-finding problem of tensegrity structures

A numerical method is presented for form-finding of tensegrity structures. Eigenvalue analysis and spectral decomposition are carried out iteratively to find the feasible set of force densities that satisfies the requirement on rank deficiency of the equilibrium matrix with respect to the nodal coordinates. The equilibrium matrix is shown to correspond to the geometrical stiffness matrix in the conventional finite element formulation. A unique and non-degenerate configuration of the structure can then be obtained by specifying an independent set of nodal coordinates. A simple explanation is given for the required rank deficiency of the equilibrium matrix that leads to a non-degenerate structure. Several numerical examples are presented to illustrate the robustness as well as the strong ability of searching new configurations of the proposed method.     

Form-finding of a new kind of tensegrity tori using overlapping modules

In the past decades, the form-finding of tensegrity structures of regular geometric shapes, such as cylindrical tensegrities, polyhedral tensegrities, spherical tensegrities and so on, has been systematically studied. However, seldom studies on the form-finding of tensegrity tori have been reported. Considering the potential applications of the tensegrity tori in a number of fields, including architecture, sculpture, and other relevant fields, this paper carries out an exploration on a new kind of tensegrity tori. The topology of the new kind of tensegrity tori is based on the well-known cylindrical tensegrities and overlapping between every two adjacent tensegrity modules is allowed. Incorporating the singular value decomposition of equilibrium matrix with a force-finding algorithm, a general procedure for determining the feasible configurations for the new kind of tensegrity tori is proposed. Parametric analyses on several typical forms of the tensegrity tori are conducted and the feasible ranges of the design parameters and applicability of the feasible configurations are discussed.     

Large deflections of bars bent through frictionless supports

A procedure enabling the numerically exact solution of the deflected shape of a bar bent through frictionless supports is presented. It is shown that the axial force at any point is proportional to the square of the bending moment, and based on this property, coefficients relating end rotations and end moments for a single member are presented. A non-linear analysis using Newton-Raphson iteration is then adopted for solving the overall problem.     

Algebraic tensegrity form-finding

This paper concerns the form-finding problem for general and symmetric tensegrity structures with shape constraints. A number of different geometries are treated and several fundamental properties of tensegrity structures are identified that simplify the form-finding problem. The concept of a tensegrity invariance (similarity) transformation is defined and it is shown that tensegrity equilibrium is preserved under affine node position transformations. This result provides the basis for a new tensegrity form-finding tool. The generality of the problem formulation makes it suitable for the automated generation of the equations and their derivatives. State-of-the-art numerical algorithms are applied to solve several example problems. Examples are given for tensegrity plates, shell-class symmetric tensegrity structures and structures generated by applying similarity transformation.     

Numerical investigations of the XFEM for solving two-phase incompressible flows

This paper discusses the application of the extended finite element method (XFEM) to solve two-phase incompressible flows. The Navier–Stokes equations are discretised using the Taylor–Hood finite element. To capture the different discontinuities across the interface, kink or jump enrichments are used for the velocity and/or pressure fields. However, these enrichments may lead to an inappropriate combination of interpolations. Different polynomial enrichment orders and different enrichment functions are investigated; only the stable combination will be used afterward.

In cases with a surface tension force, the accuracy mainly relies on the precise computation of the normal and curvature. A novel method for computing normal vectors to the interface is proposed. This method employs successive mesh refinements inside the cut elements. Comparisons with analytical and numerical solutions demonstrate that the method is effective. Moreover, the mesh refinement improves the sub-integration in the XFEM and allows for a precise re-initialisation procedure.     

索网天线找形分析的参变量变分有限元法

针对柔性空间索网天线的非线性特点,建立了基于参变量变分描述索网拉压非线性和共旋列式描述几何非线性的有限元控制方程,应用Lernke与改进牛顿法进行求解.通过对索网预张力平衡计算,证明改进牛顿法比Newton-Raphson法具有更强的收敛能力.进一步将力密度法迭代原理与有限元法结合应用于索网天线的非线性找形分析中,获得了理想的索网构型.本文的索网找形方法可广泛应用于空间索网天线结构的设计.     

Geometrically exact curved beam element using internal force field defined in deformed configuration

This paper presents a study on the development of high-performance finite elements for geometrically nonlinear analysis of frame structures with curved members. Based on the geometrically exact beam theory, a highly efficient and accurate mixed finite element is developed. A new approach is proposed for constructing the independent internal force field by including major terms satisfying equilibrium conditions in the deformed configuration. An element-level equilibrium iteration procedure is employed for the condensation of element internal degrees of freedom during the nonlinear solution. Numerical results are presented to demonstrate the excellent performance of the element developed, and it is shown that even when each structural member is modelled with just one element, accurate solutions can still be achieved.     

Direct measurements of controlled aerodynamic forces on a wire-suspended axisymmetric body

A novel in-line miniature force transducer is developed for direct measurements of the net aerodynamic forces and moments on a bluff body. The force transducers are integrated into each of the eight mounting wires that are utilized for suspension of an axisymmetric model in a wind tunnel having minimal wake interference. The aerodynamic forces and moments on the model are altered by induced active local attachment of the separated base flow. Fluidic control is effected by an array of four integrated aft-facing synthetic jet actuators that emanate from narrow, azimuthally segmented slots, equally distributed around the perimeter of the circular tail end. The jet orifices are embedded within a small backward-facing step that extends into a Coanda surface. The altered flow dynamics associated with both quasi-steady and transitory asymmetric activation of the flow control effect is characterized by direct force and PIV measurements.     

A biaxial hysteretic model for a structural system incorporating strength deterioration and pinching phenomena

A biaxial hysteretic model is developed to take into account the commonly observed hysteretic characteristics of strength and stiffness degradation, pinching and biaxial interaction. The concept of zero force point is proposed to develop the biaxial hysteretic model. Two non-linear inelastic springs and one linear elastic spring are connected in parallel to define the cyclic behavior of the proposed biaxial hysteretic model. The proposed biaxial hysteretic model is rate-independent and capable of simulating not only global (such as story shear force versus story drift response of the whole structure) but also the local hysteretic behavior of structural member (such as moment versus curvature or plastic rotation response of a structural element). The biaxial cyclic loading test data of six reinforced concrete columns, which are designed for flexural failure and shear failure, are used to validate the proposed biaxial hysteretic model.