具有区域极点约束的柔性梁鲁棒H∞振动主动控制

本文基于H∞控制理论研究了传感器和作动器非同位配置情况下,柔性悬臂梁的多模态振动抑制问题。采用频域辨识方法获取低阶名义模型,合理选取加性不确定权函数和性能权函数,将鲁棒H∞控制问题转化为标准H∞控制问题。为了避免H∞控制器设计过程中产生的零极点对消问题,在求解过程中引入区域极点约束。比较了鲁棒H∞控制器和不考虑高阶未建模动态的非鲁棒H∞控制器的控制效果,实验结果表明,设计的鲁棒H∞控制器能够有效抑制柔性梁的前三阶模态振动,而且不会发生溢出问题。     

Equivalence Theorems on the Propagation of Small-Amplitude Waves in Prestressed Linearly Elastic Materials with Internal Constraints

By extending the procedure of linearization for constrained elastic materials in the papers by Marlow and Chadwick et al., we set up a linearized theory of constrained materials with initial stress (not necessarily based on a nonlinear theory). The conditions of propagation are characterized for small-displacement waves that may be either of discontinuity type of any given order or, in the homogeneous case, plane progressive. We see that, just as in the unconstrained case, the laws of propagation of discontinuity waves are the same as those of progressive waves. Waves are classified as mixed, kinematic, or ghost. Then we prove that the analogues of Truesdell"s two equivalence theorems on wave propagation in finite elasticity hold for each type of wave. This revised version was published online in August 2006 with corrections to the Cover Date.     

Jacobi's multiplier for Poincaré's equations

In this paper we use Poincaré's equations in group variables to describe the motion of a holonomic mechanical system and to determine Jacobi's multiplier for the equations of motion.     

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.     

Effects of boundary conditions and anisotropy on elastically bent silicon

In four-point bending, the rollers that are used for load application impose additional constraints on the specimen that affect the anticlastic specimen curvature and cause the specimen displacement and stress profiles to deviate from the pure beam bending case. In this study, x-ray microdiffraction is used to map both the principal and anticlastic curvatures of elastically bent, rectangular (100)-type Si strips possessing width:thickness ratios of 40:1. We quantify the amount of roller constraint and show that the region over which the anticlastic specimen curvature is affected away from the roller is approximately five times the roller diameter. Consequently, for bending tests used to determine Poisson's ratio, if a region on the sample that is free from roller effects is not chosen, measurement errors as high as 46% can occur. Furthermore, we show that, due to the anisotropy of single crystal Si, this roller-constraining effect depends on crystallographic orientation and is more pronounced when the principal bending axis lies along the <100> direction as compared with the <100> direction.     

二维边界元奇异积分和多域缩聚法分析

基于基本解的一种新的表达式，对二维边界元分析中奇异积分的精确求解进行了讨论，从几何方面对基本解的奇异性进行了分析，给出了超参非连续元离散位势和弹性力学问题边界积分方程时奇异积分计算的精确式，从而为判断各种近似方法的优劣和间接方法的精度提供了依据，也为精确地分析了大规模问题提供了一条有效的途径。     

非连续边界元——有限元耦合方法分析

对边界元－有限元耦合方法进行了分析，采用非连续元离散边界积分方程，解决了耦合分析中自由度约束问题，给出了非连续边界元同有限元耦合的具体实施步骤，通过对二维弹性力学和流＝固耦合问题分析，表明了该文方法的有效性。     

Motion Planning for a Wheeled Robot (Kinematic Approximation)

The motion-planning problem for a wheeled robot is solved in kinematic approximation. The solution is given for robots with one and two steering wheels. The results of solving the problem for a specific system are compared with the results obtained by other authors__________Translated from Prikladnaya Mekhanika, Vol. 41, No. 2, pp. 91–102, February 2005.     

A method for calculating rheological and morphological properties of constant-volume polymer blend models in inhomogeneous shear fields

We show how to formulate two-point boundary-value problems in order to compute fully-developed laminar channel and tube flow profiles for viscoelastic fluid models. The formulation is applied to Couette and pressure-driven flows separately, or a combination of both. The application of this methodology is illustrated analytically for the Upper-Convected Maxwell Model, and it is applied computationally for the Phan-Thien/Tanner and Giesekus Models. Numerical solutions exist for the last two models [J.Y. Yoo, H.C. Choi, On the steady simple shear flows of the one-mode Giesekus fluid, Rheol. Acta 28 (1989) 13–24; P.J. Oliveira, F.T. Pinho, Analytical solution for fully developed channel and pipe flow of Phan-Thien–Tanner fluids, J. Fluid Mech. 387 (1999) 271–280; M.A. Alves, F.T. Pinho, P.J. Oliveira, Study of steady pipe and channel flows of a single-mode Phan-Thien–Tanner fluid, J. Non-Newtonian Fluid Mech. 101 (2001) 55–76], allowing verification of the computational technique. Subsequently, the computational algorithm is applied to the constant-volume polymer blend models of Maffettone and Minale [P.L. Maffettone, M. Minale, Equation of change for ellipsoidal drops in viscous flow, J. Non-Newtonian Fluid Mech. 84 (1999) 105–106 (Erratum), J. Non-Newtonian Fluid Mech. 78 (1998) 227–241] and Dressler and Edwards [M. Dressler, B.J. Edwards, The influence of matrix viscoelasticity on the rheology of polymer blends, Rheol. Acta 43 (2004) 257–282; M. Dressler, B.J. Edwards, Rheology of polymer blends with matrix-phase viscoelasticity and a narrow droplet size distribution, J. Non-Newtonian Fluid Mech. 120 (2004) 189–205]. Rheological and morphological properties of the model blends are thus obtained as functions of the spatial position within the channel, applied pressure drop, and shear rate at the wall.