Redundant actuators to achieve minimal vibration trajectory tracking of flexible multibodies: Theory and application

We address the problem of inverse dynamics for flexible multibodies, which arises, in trajectory tracking control of flexible multibodies such as space manipulators and articulated flexible structures. Previous research has resolved this trajectory tracking problem by computing the system inputs for feedforward control of actuators at the joints. Recently, the use of distributed actuators like electro-strictive actuators in flexible structures has introduced a new dimension to this trajectory tracking problem. In this paper we optimally utilize such actuators to aid joint actuators for tracking control, and introduce a new inverse dynamics scheme for simultaneously (1) tracking a prescribed trajectory and (2) minimizing ensuing elastic deflections. We apply this scheme for trajectory tracking of a two-link two-joint planar manipulator with joint motors and distributed electro-strictive actuators. Experimental results are presented to contrast our new scheme with other existing methods.     

Singularity-free augmented Lagrangian algorithms for constrained multibody dynamics

After a general review of the methods currently available for the dynamics of constrained multibody systems in the context of numerical efficiency and ability to solve the differential equations of motion in singular positions, we examine the acceleration based augmented Lagrangian formulations, and propose a new one for holonomic and non-holonomic systems that is based on the canonical equations of Hamilton. This new one proves to be more stable and accurate that the acceleration based counterpart under repetitive singular positions. The proposed algorithms are numerically efficient, can use standard conditionally stable numerical integrators and do not fail in singular positions, as the classical formulations do. The reason for the numerical efficiency and better behavior under singularities relies on the fact that the leading matrix of the resultant system of ODEs is sparse, symmetric, positive definite, and its rank is independent of that of the Jacobian of the constraint equations. The latter fact makes the proposed method particularly suitable for singular configurations.     

A new approximate solution technique for randomly excited non-linear oscillators—II

The method of weighted residuals is applied to the reduced Fokker-Planck equation associated with a non-linear oscillator, which is subjected to both additive and multiplicative Gaussian white noise excitations. A set of constraints are deduced for obtaining an approximate stationary probability density for the system response. One of the constraints coincides with the previously proposed criterion of dissipation energy balancing, and the others are useful for calculating the equivalent conservative force. It is shown that these constraints imply certain relationships among certain statistical moments; their imposition guarantees that such moments computed from the approximate probability density satisfy the corresponding exact equations derived from the original equation of motion. Moreover, the well-known procedure of stochastic linearization and its improved version of partial linearization are shown to be special cases of this scheme, and they are less accurate since the approximations are not chosen from the entire set of the solution pool of generalized stationary potential. Applications of the scheme are illustrated by examples, and its accuracy is substantiated by Monte Carlo simulation results.     

Stability of a nonorthogonal stagnation flow to three-dimensional disturbances

A similarity solution for a low Mach number nonorthogonal flow impinging on a hot or cold plate is presented. For the constant-density case, it is known that the stagnation point shifts in the direction of the incoming flow and that this shift increases as the angle of attack decreases. When the effects of density variations are included, a critical plate temperature exists; above this temperature the stagnation point shifts away from the incoming stream as the angle is decreased. This flow field is believed to have applications to the reattachment zone of certain separated flows or to a lifting body at a high angle of attack. Finally, we examine the stability of this nonorthogonal flow to self-similar, three-dimensional disturbances. Stability characteristics of the flow are given as a function of the parameters of this study: ratio of the plate temperature to that of the outer potential flow and angle of attack. In particular, it is shown that the angle of attack can be scaled out by a suitable definition of an equivalent wave number and temporal growth rate, and the stability problem for the nonorthogonal case is identical to the stability problem for the orthogonal case. By use of this scaling, it can be shown that decreasing the angle of attack decreases the wave number and the magnitude of the temporal decay rate, thus making nonlinear effects important. For small wave numbers, it is shown that cooling the plate decreases the temporal decay of the least-stable mode, while heating the plate has the opposite effect. For moderate to large wave numbers, density variations have little effect except that there exists a range of cool plate temperatures for which these disturbances are extremely stable.This work was supported by the National Aeronautics and Space Administration under NASA Contract NAS1-18605 while the authors were in residence at the Institute for Compute Applications in Science and Engineering, NASA Langley Research Center, Hampton, VA 23665, U.S.A.     

Near-wall turbulence closure modeling without “damping functions”

An elliptic relaxation model is proposed for the strongly inhomogeneous region near the wall in wall-bounded turbulent shear flow. This model enables the correct kinematic boundary condition to be imposed on the normal component of turbulent intensity. Hence, wall blocking is represented. Means for enforcing the correct boundary conditions on the other components of intensity and on the k — equations are discussed. The present model agrees quite well with direct numerical simulation (DNS) data. The virtue of the present approach is that arbitrary damping functions are not required.     

Necking of biaxially stretched elastic-plastic circular plates

The necking of an elastic-plastic circular plate under uniform radial tensile loading is investigated both within the framework of the three-dimensional theory and within the context of the plane-stress approximation. Attention is restricted to axisymmetric deformations of the plate. The material behavior is described by two different constitutive laws. One is a finite-strain version of the simplest flow-theory of plasticity and the other is a finite-strain generalization of the simplest deformationtheory, which is employed as a simple model of a solid with a vertex on its yield surface. For an initially uniform plate made of an incompressible material, bifurcation from the uniformly stretched state is studied analytically. The regimes of stress and moduli where the governing axisymmetric three-dimensional equations are elliptic, parabolic or hyperbolic are identified. The plane-stress local-necking mode emerges as the appropriate limiting mode from the bifurcation modes available in the elliptic regime. In the elliptic regime, the main qualitative features of the bifurcation behavior are revealed by the plane-stress analysis, although three-dimensional effects delay the onset of necking somewhat. For the deformation theory employed here, the first bifurcation modes are encountered in the parabolic regime if the hardening-rate is sufficiently high. These bifurcations are not revealed by a plane-stress analysis. For a plate with an initial inhomogeneity, the growth of an imperfection is studied by a perturbation method, by a plane-stress analysis of localized necking, and by numerical computations within the framework of the three-dimensional theory. When bifurcation of the corresponding perfect plate takes place in the elliptic regime, the finite element results show that the plane-stress analysis gives reasonably good agreement with the numerical results. When bifurcation of the corresponding perfect plate first occurs in the parabolic regime, then a bifurcation of the imperfect plate is encountered, that is, the finite element stiffness matrix ceases to be positive definite.     

Designing a Linear Structure with a Local Nonlinear Attachment for Enhanced Energy Pumping

We present a design procedure for enhancing nonlinear energy pumping from a mode of a linear-damped substructure to a weakly coupled, essentially nonlinear oscillator. By this we denote the one way, irreversible passive transfer of vibrational energy from the mode to the nonlinear attachment. The design relies in the asymptotic expansion for large energies of a nonlinear normal mode of the underlying conservative system that provides an analytic estimate of the level of the amplitude reached by the nonlinear attachment in the energy pumping regime. The analytical findings are validated by direct numerical simulations.     

Low Order Modelling of Freely Vibrating Flexible Cables

A highly efficient, low-order model for vortex-induced vibration of flexible cables at low Reynolds number has been developed. A coupled map lattice (CML) wake model, based on circle maps, is combined with a cable model (linear wave equation). With this model, both the self-excited response of the cable oscillation in the crossflow direction and the resulting wake structures are examined at Re = 100. This represents an improvement over earlier CML models capable of only modelling wakes behind externally forced cables. For comparison, spectral-element based numerical simulations, in addition to experiments on a freely vibrating cable flow, were conducted. The freely vibrating CML model predicted lace-like structures consistent with these numerical simulations and experimental results. Little difference was noted between the vortex shedding wake patterns determined for forced cables (from previous CML models) and freely vibrating cables. The freely vibrating CML matched experimental data for maximum cable amplitude reasonably well over a range of mass-damping parameter employed in offshore structural applications.