结构动力学方程的二次加速度积分法

本文提出了结构动力学方程求解的一类二次加速度逐步积分法，推导了计算公式，分析了积分稳定性和精度。通过理论分析和具体算例表明，这种方法具有相当高的积分精度，但积分是条件稳定的。     

Application of transversely isotropic materials to multi-layer shell elements undergoing finite rotations and large strains

The contribution deals with an extension of a classical Neo–Hookean model for compressible isotropic materials to transverse isotropy. With this enhancement for one preferred material direction there is a possibility to simulate large strains in volume changes of the isotropic basic continuum and supplementary in fiber direction. The integrity basis of polynomial invariants in case of transversely isotropic hyperelasticity consists of three principal invariants of the isotropic basic continuum and additionally of two principal invariants for the preferred material direction. The proposed stored energy function for transverse isotropy contains the classical theory near to the natural state and fulfills the restriction on polyconvexity and coerciveness.By numerical enforcement of the material model into shell kinematics without rotational variables a four-node isoparametric finite element is developed using special concepts to avoid locking. The capability of the algorithms proposed is demonstrated by a numerical example involving large strains as well as finite rotations.     

耦合变形对大范围运动柔性梁动力学建模的影响

柔性梁在作大范围空间运动时,产生弯曲和扭转变形,这些变形的相互耦合形成了梁在纵向以及横向位移的二次耦合变量。本文考虑了变形产生的几何非线性效应对运动柔性梁的影响,在其三个方向的变形中均考虑了二次耦合变量,利用弹性旋转矩阵建立了准确的几何非线性变形方程,通过Lagrange方程导出系统的动力学方程。仿真结果表明,在大范围运动情况下,仅在纵向变形中计及了变形二次耦合量的一次动力学模型,与考虑了完全几何非线性变形的模型具有一定的差异。     

Analysis of the nonlinear deformation of composites with allowance for finite rotations of structural elements

Translated from Zhurnal Prikladnoi Mekhaniki i Tekhnicheskoi Fiziki, No. 4, pp. 161–165, July–August, 1991.     

Explicit dynamics equations of the constrained robotic systems

Recursive matrix relations concerning the kinematics and the dynamics of a constrained robotic system, schematized by several kinematical chains, are established in this paper. Introducing frames and bases, we first analyze the geometrical properties of the mechanism and derive a general set of relations. Kinematics of the vector system of velocities and accelerations for each element of robot are then obtained. Expressed for every independent loop of the robot, useful conditions of connectivity regarding the relative velocities and accelerations are determined for direct or inverse kinematics problem. Based on the general principle of virtual powers, final matrix relations written in a recursive compact form express just the explicit dynamics equations of a constrained robotic system. Establishing active forces or actuator torques in an inverse dynamic problem, these equations are useful in fact for real-time control of a robot.     

Impact dynamics of multibody systems with frictional contact using joint coordinates and canonical equations of motion

This paper presents a methodology in computational dynamics for the analysis of mechanical systems that undergo intermittent motion. A canonical form of the equations of motion is derived with a minimal set of coordinates. These equations are used in a procedure for balancing the momenta of the system over the period of impact, calculating the jump in the body momentum, velocity discontinuities and rebounds. The effect of dry friction is discussed and a contact law is proposed. The present formulation is extended to open and closed-loop mechanical systems where the jumps in the constraints' momenta are also solved. The application of this methodology is illustrated with the study of impact of open-loop and closed-loop examples.     

NUMERICAL ANALYSIS OF THE LARGE DEFLECTION OF AN ELASTIC-PLASTIC BEAM

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Numerical integration of the shallow water equations over a sloping shelf

A finite-difference method is described for the numerical integration of the one-dimensional shallow water equations over a sloping shelf that allows for a continuously moving shoreline. An application of the technique is made to the propagation of non-breaking waves towards the shoreline. The results of the computation are compared with an evaluation based upon an exact analytical treatment of the non-linear equations. Excellent agreement is found for both tsunami and tidal scale oscillations.     

New method for oblique impact dynamics research of a flexible beam with large overall motion considering impact friction force

A flexible beam with large overall rotating motion impacting with a rigid slope is studied in this paper. The tangential friction force caused by the oblique impact is analyzed. The tangential motion of the system is divided into a stick state and a slip state. The contact constraint model and Coulomb friction model are used respectively to deal with the two states. Based on this hybrid mod-eling method, dynamic equations of the system, which include all states (before, during, and after the collision) are obtained. Simulation results of a concrete example are compared with the results obtained from two other models: a nontangential friction model and a modified Coulomb model. Differences in the results from the three models are discussed. The tangential friction force cannot be ignored when an oblique impact occurs. In addition, the results obtained from the model proposed in this paper are more consistent with real movement.     

A field method for solving the equations of motion of nonholonomic systems

In this paper, the field method^[1] for solving the equations of motion of holonomic nonconservative systems is extended to nonholonomic systems with constant mass and with variable mass. Two examples are given to illustrate its application. The project supported by the National Natural Science Foundation of China.     

基于梁平截面假设的复杂细长结构动力模型简化方法

针对纵向尺度显著大于横向的复杂细长结构,提出了一个基于梁平截面假设的模型简化方法,建立了具有物理意义的基向量。同时考虑这类结构截面变形的翘曲模式,增加了翘曲基向量,得到精度较高的简化动力模型。这样的简化模型可以用于原结构在不同边界条件的动力分析。结构频率计算的两个具体算例表明了简化方法的有效性。     

One type of integrals for the equations of motion of higher-order nonholonomic systems

This paper presents one type of integrals and its condition of existence for theequations Of motion of higher-order nonholonomic systems,including I-order integral(generalized energy integral),2-order integral and p-order integral(P>2).All of theseintegrals can be constructed by the Lagrangianfunction of the system.Two examples aregiven to illustrate the application of the suggested method.